_var_pid.h
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/*
* @Author: 李嘉亮 lijialiang@jzdrones.com
* @Date: 2023-12-01 18:53:06
* @LastEditors: 李嘉亮 lijialiang@jzdrones.com
* @LastEditTime: 2024-01-15 17:24:21
* @FilePath: \A1_IMU_Control_Boardd:\JZ_LJL_ESP32_WORKSPACE\STM32_DEV\Three-Axis_MES_BLDC_Gimbal\WorkSpace_ALL\ThreeAxisGimbal_Cre231213\A2_Motor_Board\Hardware\var_pid.h
* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
*/
#ifndef _VAR_PID_
#define _VAR_PID_
#ifdef __cplusplus
extern "C"
{
#endif
// #include "stm32f10x.h"
// #include "math.h"
typedef struct
{
/*比例项*/
float KP_a;
float KP_b;
float KP_c; // 取值范围kp_c=[0,1]
/*积分项*/
float KI_a;
float KI_c; // 取值范围kI_c=[0,1]
/*积分项增益系数*/
float KI_e; // 取值范围ke_0=[0.1,0.5]
float KI_0;
float KI_1;
/*微分项*/
float KD_a; /*a要大于b*/
float KD_b;
float KD_c; // 取值范围kI_c=[0,1]
} transform_pid_conf_t;
float Variable_KP(float err, transform_pid_conf_t conf);
float Variable_KI(float err, transform_pid_conf_t conf);
float Variable_KI_Gain(float err, transform_pid_conf_t conf);
float Variable_KD(float err, transform_pid_conf_t conf);
#ifdef __cplusplus
}
#endif
#endif