951 lines
38 KiB
C
951 lines
38 KiB
C
#include "app_config.h"
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#include "interface.h"
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#include "app_frm_monitor.h"
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#include "app_frm_signal.h"
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#include "app_frm_timer.h"
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#include "app_param_manage.h"
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#include "app_pid.h"
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#include "app_differential_drive.h"
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#include "app_brake.h"
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#include "app_power.h"
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Timer diff_app_timer;
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// 定义全局变量
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DiffData diff_data;
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PID_t speed_pid;
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PID_t yaw_rate_pid;
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PID_t left_feed_pid;
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PID_t right_feed_pid;
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/**
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* @brief 根据挡位和输入转矩计算输出转矩值
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* @param gear 挡位状态（STATE_FORWARD/STATE_BACKWARD/其他）
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* @param input_torque 输入转矩值
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* @return 处理后的转矩值（已包含偏移量和系数）
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*/
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float calculateTorqueOutput(uint8_t gear, float input_torque)
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{
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const float OFFSET = 300.0f; // 偏移量常量
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const float SCALE_FACTOR = 100.0f; // 缩放系数
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const float DEFAULT_VALUE = 30000.0f; // 默认输出值
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float output_torque;
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if (gear == STATE_FORWARD)
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{
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output_torque = (input_torque + OFFSET) * SCALE_FACTOR;
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}
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else if (gear == STATE_BACKWARD)
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{
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output_torque = (-input_torque + OFFSET) * SCALE_FACTOR;
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}
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else
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{
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output_torque = DEFAULT_VALUE;
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}
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return output_torque;
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}
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/**
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* @brief 车辆状态控制状态机
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* @note 根据车速和扭矩方向切换前进/后退状态，带扭矩回滞保护
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* @param ctx 状态机上下文，包含当前状态(STATE_INIT/FORWARD/BACKWARD)
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* @param speed 当前车速（单位：km/h），0表示静止状态
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* @param torque 当前扭矩（单位：Nm），正数表示前进方向，负数表示后退方向
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*/
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void handleVehicleState(MotorState *ctx, float speed, float torque)
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{
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switch (*ctx)
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{
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// 初始状态：根据扭矩方向初始化
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case STATE_INIT:
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{
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if (torque >= 0.0f)
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{
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*ctx = STATE_FORWARD; // 正扭矩进前进档
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}
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else
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{
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*ctx = STATE_BACKWARD; // 负扭矩进倒档
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}
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break;
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}
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// 前进状态：零速且反向扭矩超阈值切倒档
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case STATE_FORWARD:
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{
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if ( (speed == 0.0f) && (torque <= -TORQUE_HYSTERESIS_THRESHOLD) )
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{
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*ctx = STATE_BACKWARD; // 满足条件切换
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}
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else
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{
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*ctx = STATE_FORWARD; // 否则保持
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}
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break;
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}
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// 倒车状态：零速且正向扭矩超阈值切前进
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case STATE_BACKWARD:
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{
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if ( (speed == 0.0f) && (torque >= TORQUE_HYSTERESIS_THRESHOLD) )
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{
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*ctx = STATE_FORWARD; // 满足条件切换
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}
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else
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{
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*ctx = STATE_BACKWARD; // 否则保持
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}
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break;
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}
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default:; // 异常处理
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}
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}
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// 设置电机输出
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void setMotorOutput(float *out_torq, float max_torque, uint16_t left_feed_power,uint16_t right_feed_power, uint16_t discharge_power)
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{
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float abs_left_front_speed = 0;
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float abs_right_front_speed = 0;
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float abs_left_rear_speed = 0;
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float abs_right_rear_speed = 0;
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// 档位
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un_motor_output1.bit_data.gear = (out_torq[0] >= 0) ? 1 : 2; // 1 表示前进，2 表示后退
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un_motor_output2.bit_data.gear = (out_torq[1] >= 0) ? 1 : 2;
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un_motor_output3.bit_data.gear = (out_torq[2] >= 0) ? 2 : 1; //20250717 2,3电机反相
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un_motor_output4.bit_data.gear = (out_torq[3] >= 0) ? 2 : 1;
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abs_left_front_speed = fabsf(out_torq[0]); //根据挡位增加转矩方向
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abs_right_front_speed = fabsf(out_torq[1]);
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abs_left_rear_speed = fabsf(out_torq[2]);
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abs_right_rear_speed = fabsf(out_torq[3]);
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// 设置左右电机期望转速
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un_motor_output1.bit_data.set_rotation_speed = ((uint16_t)roundf(abs_left_front_speed) + 30000); // 20240921 增加偏移量 30000
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un_motor_output2.bit_data.set_rotation_speed = ((uint16_t)roundf(abs_right_front_speed) + 30000); // 20240921 增加偏移量 30000
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un_motor_output3.bit_data.set_rotation_speed = ((uint16_t)roundf(abs_left_rear_speed) + 30000); // 20240921 增加偏移量 30000
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un_motor_output4.bit_data.set_rotation_speed = ((uint16_t)roundf(abs_right_rear_speed) + 30000); // 20240921 增加偏移量 30000
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// 设置模式为扭矩模式
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un_motor_output1.bit_data.mode = MOTOR_MODE;
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un_motor_output2.bit_data.mode = MOTOR_MODE;
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un_motor_output3.bit_data.mode = MOTOR_MODE;
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un_motor_output4.bit_data.mode = MOTOR_MODE;
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// 设置扭矩
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un_motor_output1.bit_data.set_torque = (uint16_t)(max_torque + 300) * 100; // 20240921 增加偏移量
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un_motor_output2.bit_data.set_torque = (uint16_t)(max_torque + 300) * 100; // 20240921 增加偏移量
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un_motor_output3.bit_data.set_torque = (uint16_t)(max_torque + 300) * 100; // 20240921 增加偏移量
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un_motor_output4.bit_data.set_torque = (uint16_t)(max_torque + 300) * 100; // 20240921 增加偏移量
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// 设置馈电功率
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un_motor_output1.bit_data.feed_power = left_feed_power;
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un_motor_output2.bit_data.feed_power = right_feed_power;
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un_motor_output3.bit_data.feed_power = left_feed_power;
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un_motor_output4.bit_data.feed_power = right_feed_power;
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// 设置放电功率
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un_motor_output1.bit_data.discharge_power = discharge_power;
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un_motor_output2.bit_data.discharge_power = discharge_power;
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un_motor_output3.bit_data.discharge_power = discharge_power;
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un_motor_output4.bit_data.discharge_power = discharge_power;
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}
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// 限制值在最小值和最大值之间
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float constrain(float value, float min_val, float max_val)
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{
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if (value < min_val)
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{
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return min_val;
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}
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else if (value > max_val)
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{
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return max_val;
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}
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else
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{
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return value;
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}
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}
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// 计算当前速度、角速度
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uint8_t calculateCurrentSpeedYawRate(void)
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{
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// 获取轮子周长
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float wheel_circumference = (float)getParam("whl_dia") * M_PI;
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// 获取减速比
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float gear_ratio = (float)getParam("gRatio");
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if (fabsf(gear_ratio) < EPSILON)
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{
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return 0; // 避免除以0的情况
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}
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// 将电机转速 (RPM) 转换为线速度 (m/s)，考虑减速比
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float left_speed_mps = (diff_data.left_motor_speed * wheel_circumference) / (60.0f * gear_ratio);
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float right_speed_mps = (diff_data.right_motor_speed * wheel_circumference) / (60.0f * gear_ratio);
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// float left_speed_mps = 0;
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// float right_speed_mps = 0;
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// float left_speed_mps = 0;
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// float right_speed_mps = 0;
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// 计算当前速度
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diff_data.speed = (left_speed_mps + right_speed_mps) / 2.0f;
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// 计算速度差
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float speed_diff = left_speed_mps - right_speed_mps;
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// 计算角速度
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float wheel_base = (float)getParam("whl_bas");
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if (fabsf(wheel_base) < EPSILON)
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{
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return 0; // 避免除以0的情况
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}
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diff_data.yaw_rate = speed_diff / wheel_base;
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return 0;
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}
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// 计算加速度
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float calculateAcceleration(float speed, float previous_speed, float dt)
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{
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if (fabs(dt) < EPSILON)
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{
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return 0; // 避免除以0的情况
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}
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float acceleration = (speed - previous_speed) / dt;
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return acceleration;
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}
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// 计算减速度
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float calculateDeceleration(float speed, float previous_speed, float dt)
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{
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if (fabs(dt) < EPSILON)
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{
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return 0; // 避免除以0的情况
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}
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float deceleration = calculateAcceleration(previous_speed, speed, dt); // 减速度就是负的加速度
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return deceleration;
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}
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// 计算最大速度
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float calculateMaxSpeed()
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{
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// 获取最大电机转速 (RPM)
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float max_rpm = (float)getParam("max_rpm");
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// 获取轮子周长
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float wheel_circumference = (float)getParam("whl_dia") * M_PI;
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// 获取减速比
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float gear_ratio = (float)getParam("gRatio");
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if (fabsf(gear_ratio) < EPSILON)
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{
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return 0; // 避免除以0的情况
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}
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// 将最大电机转速 (RPM) 转换为线速度 (m/s)，考虑减速比
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float max_speed = (max_rpm * wheel_circumference) / (60.0f * gear_ratio);
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return max_speed;
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}
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// 计算最大加速度
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float calculateMaxAcceleration(void)
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{
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// 获取车辆参数
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float max_motor_torque = (float)getParam("maxTorq"); // 最大电机扭矩
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float vehicle_mass = (float)getParam("VehMass"); // 车辆质量
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float wheel_radius = (float)getParam("whl_dia") / 2.0f; // 轮子半径
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float gear_ratio = (float)getParam("gRatio"); // 减速比
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if (fabsf(wheel_radius) < EPSILON || fabsf(vehicle_mass) < EPSILON )
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{
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return 0; // 避免除以0的情况
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}
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// 减速比计算扭矩
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float effective_torque = max_motor_torque * gear_ratio;
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// 计算最大加速度
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float max_acceleration = (effective_torque / wheel_radius) / vehicle_mass;
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return max_acceleration;
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}
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// 计算当前状态，包括当前速度、角速度、加速度、减速度、最大速度
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void calculateCurrentState(float dt)
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{
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static float previous_speed = 0.0f;
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// 更新当前速度和当前角速度
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calculateCurrentSpeedYawRate();
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// 更新加速度、减速度等，根据需要计算
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diff_data.acceleration = calculateAcceleration(diff_data.speed, previous_speed, dt);
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diff_data.deceleration = calculateDeceleration(diff_data.speed, previous_speed, dt);
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diff_data.max_speed = calculateMaxSpeed();
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previous_speed = diff_data.speed;
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}
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/**
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* @brief 判断减速状态（最简逻辑） 如果同向或者有一个为0，或者都为0，那么判断绝对值大小，如果期望绝对值小于当前绝对值，那就为减速
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* @param target_speed 期望速度（带方向）
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* @param current_speed 当前速度（带方向）
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* @return 1:减速, 0:加速或保持
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*/
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uint8_t is_Decelerating(float target_speed, float current_speed, float des_yaw_rate)
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{
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// 特殊处理双零状态,双零表示刹车
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if ( (target_speed == 0.0f && current_speed == 0.0f) )//如果又减速的话也刹车 //|| (0 != des_yaw_rate)
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{
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return 2; // 驻车
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}
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// 核心逻辑：方向相反 或 (同向/含零且期望绝对值 < 当前绝对值)
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return (signbit(target_speed) != signbit(current_speed)) ||
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(fabs(target_speed) < fabs(current_speed));
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}
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// 计算左右电机速度
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void computeInverseKinematics(float linear_velocity_x, float yaw_rate, float max_speed, float *motor_speed)
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{
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// 防止速度过低导致不必要的计算
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if (fabs(max_speed) < EPSILON)
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{
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motor_speed[0] = 0.0f;
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motor_speed[1] = 0.0f;
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motor_speed[2] = 0.0f;
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motor_speed[3] = 0.0f;
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return;
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}
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#if THROTTLE_PID_MODE
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float left_speed_mps = 0.0f;
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float right_speed_mps = 0.0f;
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float max_torque = diff_data.max_Torq;
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linear_velocity_x = constrain(linear_velocity_x, -max_torque, max_torque);
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yaw_rate = constrain(yaw_rate, -2*max_torque, 2*max_torque);
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left_speed_mps = linear_velocity_x + yaw_rate;
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right_speed_mps = linear_velocity_x - yaw_rate;
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//扭矩分配
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if(max_torque < left_speed_mps)
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{
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right_speed_mps = right_speed_mps - (left_speed_mps - max_torque);//多减去超出限值得部分，保证转矩差
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left_speed_mps = max_torque;
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}
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else if(-max_torque > left_speed_mps)
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{
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right_speed_mps = right_speed_mps - (left_speed_mps + max_torque);//多减去超出限值得部分，保证转矩差
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left_speed_mps = -max_torque;
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}
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else if(max_torque < right_speed_mps)
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{
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left_speed_mps = left_speed_mps - (right_speed_mps - max_torque);//多减去超出限值得部分，保证转矩差
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right_speed_mps = max_torque;
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}
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else if(-max_torque > right_speed_mps)
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{
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left_speed_mps = left_speed_mps - (right_speed_mps + max_torque);//多减去超出限值得部分，保证转矩差
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right_speed_mps = -max_torque;
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}
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else{}
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// printf("input_torq: left=%.1f right=%.1f yaw_rate=%.1f\n", left_speed_mps, right_speed_mps, yaw_rate);
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// adjust_torque_by_speed_diff( diff_data.left_front_motor_speed,diff_data.left_rear_motor_speed, &motor_speed[0], &motor_speed[2],100, 5);
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// adjust_torque_by_speed_diff( diff_data.right_front_motor_speed,diff_data.right_rear_motor_speed, &motor_speed[1], &motor_speed[3],100, 5);
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// printf("speed: FL=%.1f FR=%.1f RL=%.1f RR=%.1f\n", diff_data.left_front_motor_speed, diff_data.right_front_motor_speed, diff_data.left_rear_motor_speed, diff_data.right_rear_motor_speed);
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motor_speed[0] = left_speed_mps;//加速状态，没有负扭矩，要么前进加速要么后退加速
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motor_speed[2] = left_speed_mps;
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motor_speed[1] = right_speed_mps;
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motor_speed[3] = right_speed_mps;
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handleVehicleState(&diff_data.motor_state[0], diff_data.left_front_motor_speed, motor_speed[0]); //通过扭矩以及速度来判断挡位
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handleVehicleState(&diff_data.motor_state[1], diff_data.right_front_motor_speed, motor_speed[1]);
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handleVehicleState(&diff_data.motor_state[2], diff_data.left_rear_motor_speed, motor_speed[2]);
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handleVehicleState(&diff_data.motor_state[3], diff_data.right_rear_motor_speed, motor_speed[3]);
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// distributeTorque(diff_data.left_front_motor_speed,diff_data.left_rear_motor_speed,2*left_speed_mps,&motor_speed[0],&motor_speed[2],diff_data.max_Torq,diff_data.min_Torq);
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// distributeTorque(diff_data.right_front_motor_speed,diff_data.right_rear_motor_speed,2*right_speed_mps,&motor_speed[1],&motor_speed[3],diff_data.max_Torq,diff_data.min_Torq);
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#else
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// 限制线速度和偏航率
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linear_velocity_x = constrain(linear_velocity_x, -max_speed, max_speed);
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float max_yaw_rate = max_speed / ((float)getParam("whl_bas") / 2.0f);
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yaw_rate = constrain(yaw_rate, -max_yaw_rate, max_yaw_rate);
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// 计算旋转速度
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float rotational_velocity = ((float)getParam("whl_bas") / 2.0f) * yaw_rate;
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// 计算车辆左右线速度 (m/s)
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float left_speed_mps = linear_velocity_x + rotational_velocity; //20250316 为解决原地转向和直行转向相同，所以把左右输出的速度交换
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float right_speed_mps = linear_velocity_x - rotational_velocity;
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// 计算轮子周长
|
||
float wheel_circumference = (float)getParam("whl_dia") * M_PI;
|
||
|
||
// 将车辆左右线速度转换为轮子转速 (RPM)
|
||
float left_wheel_rpm = (left_speed_mps * 60.0f) / wheel_circumference;
|
||
float right_wheel_rpm = (right_speed_mps * 60.0f) / wheel_circumference;
|
||
|
||
// 获取减速比
|
||
float gear_ratio = (float)getParam("gRatio");
|
||
|
||
// 将轮子转速转换为电机转速，考虑减速比
|
||
float left_motor_rpm = left_wheel_rpm * gear_ratio;
|
||
float right_motor_rpm = right_wheel_rpm * gear_ratio;
|
||
|
||
// 限制电机的最大和最小转速
|
||
float max_motor_rpm = (float)getParam("max_rpm");
|
||
left_motor_rpm = constrain(left_motor_rpm, -max_motor_rpm, max_motor_rpm);
|
||
right_motor_rpm = constrain(right_motor_rpm, -max_motor_rpm, max_motor_rpm);
|
||
|
||
// 当电机转速小于50转时，设置为0
|
||
// if (fabsf(left_motor_rpm) < 20)//速度慢所以设置位10转
|
||
// {
|
||
// left_motor_rpm = 0;
|
||
// }
|
||
// if (fabsf(right_motor_rpm) < 20)//速度慢所以设置位10转
|
||
// {
|
||
// right_motor_rpm = 0;
|
||
// }
|
||
// 左边电机方向反一下，因为电机安装反了，返回来的数据也要反一下
|
||
// left_motor_rpm = -left_motor_rpm;
|
||
// 返回计算结果
|
||
motor_speed[0] = left_motor_rpm;//加速状态，没有负扭矩，要么前进加速要么后退加速
|
||
motor_speed[2] = left_motor_rpm;
|
||
|
||
motor_speed[1] = right_motor_rpm;
|
||
motor_speed[3] = right_motor_rpm;
|
||
|
||
diff_data.left_motor_state = is_Decelerating(left_motor_rpm, diff_data.left_motor_speed, diff_data.desired_yaw_rate);
|
||
diff_data.right_motor_state = is_Decelerating(right_motor_rpm, diff_data.right_motor_speed, diff_data.desired_yaw_rate);
|
||
|
||
// printf(" left = %d,%d\n", diff_data.left_motor_state,diff_data.right_motor_state);
|
||
|
||
//馈电PID计算
|
||
static float previous_time11 = 0.0f;
|
||
|
||
float time1 = (float)getCurrentTime();
|
||
float dt = (time1 - previous_time11) / PERIOD_TICK;
|
||
previous_time11 = time1;
|
||
|
||
float left_feed_pwoer = calculatePidOutput(&left_feed_pid, left_motor_rpm, diff_data.left_motor_speed, 0.0f, dt);//左右馈电PID
|
||
float right_feed_pwoer = calculatePidOutput(&right_feed_pid, right_motor_rpm, diff_data.right_motor_speed, 0.0f, dt);
|
||
|
||
if(1 == diff_data.left_motor_state)//根据是否是刹车状态来确定是否设定馈电功率
|
||
{
|
||
diff_data.left_motor_feed_power = diff_data.max_feed_power;//20250723 修改为固定值最大值
|
||
}
|
||
else if(2 == diff_data.left_motor_state)
|
||
{
|
||
diff_data.left_motor_feed_power = diff_data.max_feed_power;
|
||
}
|
||
else
|
||
{
|
||
diff_data.left_motor_feed_power = 0.0f;
|
||
}
|
||
|
||
if(1 == diff_data.right_motor_state)//根据是否是刹车状态来确定是否设定馈电功率
|
||
{
|
||
diff_data.right_motor_feed_power = diff_data.max_feed_power;//20250723 修改为固定值最大值
|
||
}
|
||
else if(2 == diff_data.left_motor_state)
|
||
{
|
||
diff_data.right_motor_feed_power = diff_data.max_feed_power;
|
||
}
|
||
else
|
||
{
|
||
diff_data.right_motor_feed_power = 0.0f;
|
||
}
|
||
|
||
//限制最大馈电功率
|
||
if(diff_data.left_motor_feed_power > diff_data.max_feed_power)
|
||
{
|
||
diff_data.left_motor_feed_power = diff_data.max_feed_power;
|
||
}
|
||
|
||
if(diff_data.right_motor_feed_power > diff_data.max_feed_power)
|
||
{
|
||
diff_data.right_motor_feed_power = diff_data.max_feed_power;
|
||
}
|
||
|
||
#endif
|
||
}
|
||
|
||
// 映射遥控器速度，分为死区、低速区和高速区。
|
||
float mapRemoteControlSpeed(
|
||
float input_speed,
|
||
float deadzone_limit,
|
||
float input_max,
|
||
float output_max,
|
||
float input_slow,
|
||
float output_slow
|
||
)
|
||
{
|
||
float output_speed = 0.0f;
|
||
// 获取输入速度的绝对值
|
||
float abs_input = fabsf(input_speed);
|
||
//diff_data.desired_speed, 0.1, 2, 10, 1, 5
|
||
|
||
// diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0.1, 20, 5, 5, 0.5);
|
||
|
||
if (abs_input < deadzone_limit + EPSILON)
|
||
{
|
||
output_speed = 0.0f;// 死区
|
||
}
|
||
else if (abs_input < input_slow + EPSILON)// 低速区
|
||
{
|
||
output_speed = (abs_input - deadzone_limit) * output_slow / (input_slow - deadzone_limit);//
|
||
}
|
||
else if (abs_input <= input_max + EPSILON)// 高速区
|
||
{
|
||
output_speed = output_slow + (abs_input - input_slow) * (output_max - output_slow) / (input_max - input_slow);// 0.2 + （3 - 0.5）* （15-0.2） / （17 - 0.5）
|
||
}
|
||
else // 超出范围
|
||
{
|
||
output_speed = output_max;
|
||
}
|
||
|
||
// 根据原始输入速度的符号恢复方向
|
||
if (input_speed < 0)
|
||
{
|
||
output_speed = -output_speed;
|
||
}
|
||
return output_speed;
|
||
}
|
||
|
||
|
||
|
||
// 差速处理函数
|
||
static void diffProcess(void *signal_id)
|
||
{
|
||
(void)signal_id;
|
||
static float previous_time1 = 0.0f;
|
||
|
||
float time1 = (float)getCurrentTime();
|
||
float dt = (time1 - previous_time1) / PERIOD_TICK;
|
||
previous_time1 = time1;
|
||
|
||
// 计算当前状态，包括当前速度、角速度、加速度、减速度、最大速度
|
||
calculateCurrentState(dt);
|
||
|
||
// 当速度小于1时，设定为原地转向 20250321 修改为考虑负号
|
||
if( (diff_data.desired_speed >= 0) && (diff_data.desired_speed <= 1.0f) )
|
||
{
|
||
diff_data.desired_yaw_rate = diff_data.desired_curvature * 1.0f;
|
||
}
|
||
else if( (diff_data.desired_speed < 0) && (diff_data.desired_speed >= -1.0f) )
|
||
{
|
||
diff_data.desired_yaw_rate = diff_data.desired_curvature * -1.0f;
|
||
}
|
||
else
|
||
{
|
||
diff_data.desired_yaw_rate = diff_data.desired_curvature * diff_data.desired_speed;
|
||
}
|
||
|
||
// printf("desired_speed: %f, desired_yaw: %f\n", diff_data.desired_speed, diff_data.desired_yaw_rate);
|
||
// 使用 PID 控制器计算输出速度和曲率
|
||
float output_speed = calculatePidOutput(&speed_pid, diff_data.desired_speed, diff_data.speed, 0.0f, dt);
|
||
float output_yaw_rate = calculatePidOutput(&yaw_rate_pid, diff_data.desired_yaw_rate, diff_data.yaw_rate, 0.0f, dt);
|
||
|
||
// 计算最大加速度，用函数计算
|
||
float max_acceleration = calculateMaxAcceleration();
|
||
// 限制输出速度在当前速度和最大加速度计算出来的速度之间
|
||
// output_speed = constrain(output_speed, diff_data.speed - max_acceleration * dt, diff_data.speed + max_acceleration * dt);
|
||
|
||
// if( (0 == diff_data.desired_yaw_rate) && (0 == diff_data.desired_speed) )//手柄回中，速度小的时候清0
|
||
// {
|
||
// resetPidIntegral(&speed_pid);
|
||
// resetPidIntegral(&yaw_rate_pid);
|
||
// output_speed = 0;
|
||
// output_yaw_rate = 0;
|
||
// }
|
||
|
||
// 使用差速车辆动力学模型计算左右电机的期望速度
|
||
computeInverseKinematics(output_speed, output_yaw_rate, diff_data.max_speed, &diff_data.out_torq[0]);
|
||
|
||
|
||
// 设置电机输出
|
||
setMotorOutput(&diff_data.out_torq[0],
|
||
diff_data.max_Torq,//
|
||
diff_data.left_motor_feed_power,
|
||
diff_data.right_motor_feed_power,
|
||
(uint16_t)getParam("dispPwr"));
|
||
// 发布左右电机期望转速,电源在工作状态才能发送
|
||
if (power_data.current_state == POWER_WORKING)
|
||
{
|
||
publishMessage(&un_motor_output1, 1);
|
||
publishMessage(&un_motor_output2, 1);
|
||
publishMessage(&un_motor_output3, 1);
|
||
publishMessage(&un_motor_output4, 1);
|
||
}
|
||
|
||
|
||
un_can_debug_output.bit_data.speed = (uint8_t)(int8_t)(diff_data.speed*10);
|
||
un_can_debug_output.bit_data.desired_speed = (uint8_t)(int8_t)(diff_data.desired_speed*10);
|
||
|
||
un_can_debug_output.bit_data.curvature = (uint8_t)(int8_t)(diff_data.yaw_rate*10);
|
||
un_can_debug_output.bit_data.desired_curvature = (uint8_t)(int8_t)(diff_data.desired_yaw_rate*10);
|
||
|
||
// un_can_debug_output.bit_data.set_left_out = (uint16_t)(int16_t)(diff_data.left_speed_diff);
|
||
// un_can_debug_output.bit_data.set_right_out = (uint16_t)(int16_t)(diff_data.right_speed_diff);
|
||
|
||
publishMessage(&diff_data, 1);
|
||
|
||
}
|
||
// 差速输入处理函数
|
||
static void diffInput(void *signal_id)
|
||
{
|
||
if (signal_id == &un_sw_sample)
|
||
{
|
||
diff_data.emergency_stop_switch = (uint8_t)un_sw_sample.bit_data.emergency_stop_switch;
|
||
}
|
||
else if ( (signal_id == &un_remote_control_input) && (1 == un_remote_control_input.bit_data.enable) )// 遥控器断线，不更新数据
|
||
{
|
||
diff_data.remote_emergency_stop = !(uint8_t)un_remote_control_input.bit_data.switch_b;
|
||
diff_data.mode = un_remote_control_input.bit_data.switch_c == 1 ? MODE_AUTO : MODE_MANUAL;
|
||
|
||
if (diff_data.mode == MODE_MANUAL)
|
||
{
|
||
diff_data.desired_speed = (float)((int16_t)(un_remote_control_input.bit_data.speed));
|
||
diff_data.desired_curvature = (float)((int16_t)(un_remote_control_input.bit_data.curvature));
|
||
// 单位转换
|
||
diff_data.desired_speed = diff_data.desired_speed * 0.01f;
|
||
diff_data.desired_curvature = diff_data.desired_curvature * 0.0001f;
|
||
// 遥控器速度映射，参数含义为：输入速度，死区，最大输入，最大输出，低速输入，低速输出
|
||
diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0.1, 20, 5, 5, 0.5);
|
||
diff_data.desired_curvature = mapRemoteControlSpeed(diff_data.desired_curvature, 0.1, 2, 2, 1, 0.5);
|
||
|
||
diff_data.desired_curvature = -diff_data.desired_curvature;
|
||
|
||
if(diff_data.desired_speed >= 0)//20250320 增加根据速度大小来决定方向，解决后退时转弯反向的问题
|
||
{
|
||
diff_data.desired_curvature = diff_data.desired_curvature;
|
||
}
|
||
else
|
||
{
|
||
diff_data.desired_curvature = -diff_data.desired_curvature;
|
||
}
|
||
}
|
||
}
|
||
else if ( (signal_id == &un_manual_computer_input) && (diff_data.mode == MODE_AUTO) )
|
||
{
|
||
diff_data.desired_speed = (float)((int16_t)(un_manual_computer_input.bit_data.set_speed));
|
||
diff_data.desired_curvature = (float)((int16_t)(un_manual_computer_input.bit_data.set_curvature));
|
||
// 单位转换
|
||
diff_data.desired_speed = diff_data.desired_speed * 0.01f;
|
||
diff_data.desired_curvature = diff_data.desired_curvature * 0.0001f;
|
||
// 遥控器速度映射，参数含义为：输入速度，死区，最大输入，最大输出，低速输入，低速输出
|
||
diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0.2, 2, 10, 1, 5);//20250320 修改死区为0.2解决停不住的问题
|
||
diff_data.desired_curvature = mapRemoteControlSpeed(diff_data.desired_curvature, 0, 2, 2, 1, 1);
|
||
}
|
||
else if ( (signal_id == &un_auto_computer_input) && (diff_data.mode == MODE_AUTO) )
|
||
{
|
||
diff_data.desired_speed = (float)((int16_t)(un_auto_computer_input.bit_data.set_speed));
|
||
diff_data.desired_curvature = (float)((int16_t)(un_auto_computer_input.bit_data.set_curvature));
|
||
// 单位转换
|
||
diff_data.desired_speed = diff_data.desired_speed * 0.01f;
|
||
diff_data.desired_curvature = - diff_data.desired_curvature * 0.0001f;// 20241016 增加转弯反相
|
||
// 遥控器速度映射，参数含义为：输入速度，死区，最大输入，最大输出，低速输入，低速输出
|
||
diff_data.desired_speed = mapRemoteControlSpeed(diff_data.desired_speed, 0, 5, 10, 2.5, 5);
|
||
diff_data.desired_curvature = mapRemoteControlSpeed(diff_data.desired_curvature, 0, 2, 2, 1, 1);
|
||
}
|
||
else if ( (signal_id == &un_motor_input1) || (signal_id == &un_motor_input3) )// 处理第一个电机速度信号（左电机）
|
||
{
|
||
diff_data.left_front_motor_speed = (float)((int16_t)(un_motor_input1.bit_data.speed - 30000));//20240921 增加偏移量
|
||
diff_data.left_rear_motor_speed = (float)((int16_t)(un_motor_input3.bit_data.speed - 30000));//20240921 增加偏移量
|
||
diff_data.left_rear_motor_speed = - diff_data.left_rear_motor_speed;//20250708 增加反相
|
||
|
||
if( fabs(diff_data.left_front_motor_speed) < 20)//速度死区
|
||
{
|
||
diff_data.left_front_motor_speed = 0;
|
||
}
|
||
|
||
if( fabs(diff_data.left_rear_motor_speed) < 20)//速度死区
|
||
{
|
||
diff_data.left_rear_motor_speed = 0;
|
||
}
|
||
|
||
// if(fabs(diff_data.left_rear_motor_speed) > fabs(diff_data.left_front_motor_speed))//取速度较小的轮速
|
||
// {
|
||
// motor_speed_temp = diff_data.left_front_motor_speed;
|
||
// }
|
||
// else
|
||
// {
|
||
// motor_speed_temp = diff_data.left_rear_motor_speed;
|
||
// }
|
||
// diff_data.left_motor_speed = motor_speed_temp;
|
||
|
||
diff_data.left_motor_speed = (diff_data.left_front_motor_speed + diff_data.left_rear_motor_speed)/2.0f;
|
||
}
|
||
else if( (signal_id == &un_motor_input2) || (signal_id == &un_motor_input4) )// 处理第二个电机速度信号（右电机）
|
||
{
|
||
diff_data.right_front_motor_speed = (float)((int16_t)(un_motor_input2.bit_data.speed - 30000)); // 20250502 1号控制器增加反相
|
||
|
||
diff_data.right_rear_motor_speed = (float)((int16_t)(un_motor_input4.bit_data.speed - 30000));
|
||
diff_data.right_rear_motor_speed = - diff_data.right_rear_motor_speed;//20250708 增加反相
|
||
|
||
if( fabs(diff_data.right_front_motor_speed) < 20)//速度死区
|
||
{
|
||
diff_data.right_front_motor_speed = 0;
|
||
}
|
||
|
||
if( fabs(diff_data.right_rear_motor_speed) < 20)//速度死区
|
||
{
|
||
diff_data.right_rear_motor_speed = 0;
|
||
}
|
||
|
||
|
||
// if(fabs(diff_data.right_front_motor_speed) > fabs(diff_data.right_rear_motor_speed))//取速度较小的轮速
|
||
// {
|
||
// motor_speed_temp = diff_data.right_rear_motor_speed;
|
||
// }
|
||
// else
|
||
// {
|
||
// motor_speed_temp = diff_data.right_front_motor_speed;
|
||
// }
|
||
|
||
diff_data.right_motor_speed = (diff_data.right_rear_motor_speed + diff_data.right_front_motor_speed)/2.0f;
|
||
}
|
||
|
||
// 急停开关
|
||
diff_data.emergency_stop_state = (uint8_t)(diff_data.emergency_stop_switch == app_close() || diff_data.remote_emergency_stop == app_close());
|
||
|
||
// 如果急停被激活,强制设定速度为0,急停包括车上急停开关和遥控器急停开关
|
||
if (diff_data.emergency_stop_state == 1)
|
||
{
|
||
diff_data.desired_speed = 0.0;
|
||
diff_data.desired_curvature = 0.0;
|
||
}
|
||
// 遥控器断线，而且是在手动模式，期望值清0
|
||
if ( (diff_data.mode == MODE_MANUAL) && (0 == un_remote_control_input.bit_data.enable) )
|
||
{
|
||
diff_data.desired_speed = 0.0;
|
||
diff_data.desired_curvature = 0.0;
|
||
}
|
||
|
||
if (diff_data.emergency_stop_state == 1)//刹车 20241017 增加的扭矩限制
|
||
{
|
||
diff_data.max_Torq = 5;//20240403修改。刹车就是5N
|
||
}
|
||
else if ((0 == diff_data.desired_speed) && (0 == diff_data.desired_curvature) && (diff_data.left_motor_speed > -100) && (diff_data.left_motor_speed < 100)&& (((diff_data.right_motor_speed > -100) && (diff_data.right_motor_speed < 100))))//20240330只有当手柄回中，然后当前已经停止的状态才设置为最小停车扭矩
|
||
{
|
||
diff_data.max_Torq = 5;//停车 就为0 20250425 修改为5，解决手柄回中，震荡问题
|
||
}
|
||
else
|
||
{
|
||
diff_data.max_Torq = (uint16_t)getParam("maxTorq");//参数读取设定最大扭矩
|
||
}
|
||
if((power_data.current_state == POWER_WORKING))//电机上电才运行
|
||
{
|
||
diffProcess(&diff_data);//计算左右电机期望转速
|
||
}
|
||
else
|
||
{
|
||
resetPidIntegral(&speed_pid);
|
||
resetPidIntegral(&yaw_rate_pid);
|
||
}
|
||
|
||
}
|
||
|
||
|
||
|
||
// 预充完成处理函数
|
||
void preChargeFinish(void *signal_id)
|
||
{
|
||
(void)signal_id;
|
||
|
||
float out_torq[4] = {0.0f,0.0f,0.0f,0.0f};
|
||
|
||
setMotorOutput(out_torq, (uint16_t)getParam("maxTorq"), 0,0, (uint16_t)getParam("dispPwr"));
|
||
// 档位
|
||
un_motor_output1.bit_data.gear = 0; // 0表示空挡
|
||
un_motor_output2.bit_data.gear = 0;
|
||
un_motor_output3.bit_data.gear = 0; // 0表示空挡
|
||
un_motor_output4.bit_data.gear = 0;
|
||
|
||
publishMessage(&un_motor_output1, 1);
|
||
publishMessage(&un_motor_output2, 1);
|
||
publishMessage(&un_motor_output3, 1);
|
||
publishMessage(&un_motor_output4, 1);
|
||
}
|
||
|
||
|
||
void diffParametersInit(void *signal_id)
|
||
{
|
||
(void)signal_id; // 标记变量为已使用，避免编译器警告
|
||
|
||
if(diff_data.mode == MODE_AUTO)//20250504 自动模式PID
|
||
{
|
||
setPidParameters(&speed_pid,
|
||
getParam("Ospd_kp"),
|
||
getParam("Ospd_ki"),
|
||
getParam("Ospd_kd"),
|
||
getParam("Ospd_il"),
|
||
getParam("Ospd_ol")
|
||
);
|
||
|
||
setPidParameters(&yaw_rate_pid,
|
||
getParam("Ocrv_kp"),
|
||
getParam("Ocrv_ki"),
|
||
getParam("Ocrv_kd"),
|
||
getParam("Ocrv_il"),
|
||
getParam("Ocrv_ol")
|
||
);
|
||
}
|
||
else//手动模式
|
||
{
|
||
setPidParameters(&speed_pid,
|
||
getParam("spd_kp"),
|
||
getParam("spd_ki"),
|
||
getParam("spd_kd"),
|
||
getParam("spd_il"),
|
||
getParam("spd_ol")
|
||
);
|
||
|
||
setPidParameters(&yaw_rate_pid,
|
||
getParam("crv_kp"),
|
||
getParam("crv_ki"),
|
||
getParam("crv_kd"),
|
||
getParam("crv_il"),
|
||
getParam("crv_ol")
|
||
);
|
||
}
|
||
|
||
// 设置曲率 PID 控制器的参数
|
||
setPidParameters(&left_feed_pid,
|
||
getParam("mot_kp"),
|
||
getParam("mot_ki"),
|
||
getParam("mot_kd"),
|
||
getParam("mot_il"),
|
||
getParam("mot_ol")
|
||
);
|
||
|
||
// 设置曲率 PID 控制器的参数
|
||
setPidParameters(&right_feed_pid,
|
||
left_feed_pid.kp,
|
||
left_feed_pid.ki,
|
||
left_feed_pid.kd,
|
||
left_feed_pid.integral_limit,
|
||
left_feed_pid.output_limit
|
||
);
|
||
|
||
// diff_data.min_Torq = (uint16_t)getParam("minTorq");//参数读取设定最大扭矩
|
||
// diff_data.max_Torq = (float)getParam("maxTorq");
|
||
|
||
diff_data.max_feed_power = (uint16_t)getParam("feedPwr");
|
||
|
||
// if(0 == (float)getParam("diff_sp"))//20250711 防止参数为0，影响计算。
|
||
// {
|
||
// diff_data.diff_dead_zone = 2;
|
||
// }
|
||
// else
|
||
// {
|
||
// diff_data.diff_dead_zone = (float)getParam("diff_sp");//参数读取设定最大扭矩
|
||
// }
|
||
|
||
printf("left_speed: %f, des_speed: %f,left_feed: %d\n", diff_data.left_motor_speed, diff_data.out_torq[0],diff_data.left_motor_feed_power); //left_motor_rpm, diff_data.left_motor_speed
|
||
|
||
printf("desired_speed: %f, desired_yaw_rate: %f\n", diff_data.desired_speed, diff_data.desired_yaw_rate);
|
||
printf("speed: %f, yaw_rate: %f\n", diff_data.speed, diff_data.yaw_rate);
|
||
// printf("speed: %f, yaw_rate: %f\n", diff_data.speed, diff_data.yaw_rate);
|
||
|
||
printf("LF_speed = %f,RF_speed = %f,LR_speed = %f,RR_speed = %f\n",diff_data.left_front_motor_speed,diff_data.right_front_motor_speed,diff_data.left_rear_motor_speed,diff_data.right_rear_motor_speed);
|
||
|
||
// printf("speed: FL=%.1f FR=%.1f RL=%.1f RR=%.1f\n", diff_data.left_front_motor_speed, diff_data.right_front_motor_speed, diff_data.left_rear_motor_speed, diff_data.right_rear_motor_speed);
|
||
printf("torq: FL=%.1fNm FR=%.1fNm RL=%.1fNm RR=%.1fNm\n", diff_data.out_torq[0], diff_data.out_torq[1], diff_data.out_torq[2], diff_data.out_torq[3]);
|
||
|
||
float deffspeed = (float)((int16_t)(un_remote_control_input.bit_data.speed));
|
||
float deffcurvature = (float)((int16_t)(un_remote_control_input.bit_data.curvature));
|
||
// 单位转换
|
||
deffspeed = deffspeed * 0.01f;
|
||
deffcurvature = deffcurvature * 0.0001f;
|
||
|
||
printf("remote_speed: %f, remote_yaw_rate: %f\n", deffspeed, deffcurvature);
|
||
|
||
printf(" left = %d,%d\n", diff_data.left_motor_state,diff_data.right_motor_state);
|
||
|
||
timerStart(&diff_app_timer,1000,1);//1s调用一次
|
||
}
|
||
|
||
// 差速初始化函数
|
||
void diffAppInit(void)
|
||
{
|
||
// 初始化 diff_data
|
||
memset(&diff_data, 0, sizeof(DiffData));
|
||
|
||
// 订阅相关信号
|
||
subscribe(&un_sw_sample, diffInput); // 急停开关、高压开关
|
||
subscribe(&un_motor_input1, diffInput);
|
||
subscribe(&un_motor_input2, diffInput);
|
||
|
||
|
||
subscribe(&un_auto_computer_input, diffInput);
|
||
subscribe(&un_manual_computer_input, diffInput);
|
||
subscribe(&un_remote_control_input, diffInput);
|
||
subscribe(&power_data.pre_charge_finish, preChargeFinish);
|
||
|
||
// 初始化速度 PID 控制器
|
||
initializePid(&speed_pid, PID_MODE_DERIVATIVE_CALC, 0.0001f);
|
||
// 设置速度 PID 控制器的参数
|
||
setPidParameters(&speed_pid,
|
||
getParam("spd_kp"),
|
||
getParam("spd_ki"),
|
||
getParam("spd_kd"),
|
||
getParam("spd_il"),
|
||
getParam("spd_ol")
|
||
);
|
||
|
||
// 初始化曲率 PID 控制器
|
||
initializePid(&yaw_rate_pid, PID_MODE_DERIVATIVE_CALC, 0.0001f);
|
||
// 设置曲率 PID 控制器的参数
|
||
setPidParameters(&yaw_rate_pid,
|
||
getParam("crv_kp"),
|
||
getParam("crv_ki"),
|
||
getParam("crv_kd"),
|
||
getParam("crv_il"),
|
||
getParam("crv_ol")
|
||
);
|
||
|
||
// 初始化减速 PID 控制器
|
||
initializePid(&left_feed_pid, PID_MODE_DERIVATIVE_CALC, 0.0001f);
|
||
// 设置 PID 控制器的参数
|
||
setPidParameters(&left_feed_pid,
|
||
getParam("mot_kp"),
|
||
getParam("mot_ki"),
|
||
getParam("mot_kd"),
|
||
getParam("mot_il"),
|
||
getParam("mot_ol")
|
||
);
|
||
|
||
// 初始化加速 PID 控制器
|
||
initializePid(&right_feed_pid, PID_MODE_DERIVATIVE_CALC, 0.0001f);
|
||
// 设置 PID 控制器的参数
|
||
setPidParameters(&right_feed_pid,
|
||
left_feed_pid.kp,
|
||
left_feed_pid.ki,
|
||
left_feed_pid.kd,
|
||
left_feed_pid.integral_limit,
|
||
left_feed_pid.output_limit
|
||
);
|
||
|
||
|
||
subscribe(&diff_app_timer, diffParametersInit);
|
||
timerStart(&diff_app_timer,1000,1);//1s调用一次
|
||
|
||
printf("diffControl: diffAppInit OK \n");
|
||
}
|