feat(FOC): 集成ARM数学库优化FOC算法实现
- 引入arm_math.h库以使用ARM优化的数学函数 - 将角度归一化从弧度制改为角度制，使用360.0f替代2*PI - 使用arm_sin_cos_f32替代查找表实现正弦余弦计算 - 移除注释中的ARM Clark和Park变换函数调用 - 修正机械角度计算中的时间常量为TIMER2_FREQUENCY倒数 - 移除传感器角度到弧度的转换，保持原始角度值 - 激活电流环控制中的Iq/Id计算并发送CAN数据
This commit is contained in:
+24
-22
@@ -6,11 +6,11 @@
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#include "config.h"
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#include "motor.h"
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#include "pid.h"
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#include <arm_math.h>
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#include <cmath>
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#include <gd32c10x.h>
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#include <stdint.h>
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FOC_Controlroller FOC; // FOC控制初始化
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extern sampler sampler;
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extern angle_sensor KTH7823;
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@@ -22,16 +22,16 @@ extern CAN_transmiter CAN0_transmiter;
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#define constrain(value, min, max, target_min, target_max) \
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((value - min) / (max - min) * (target_max - target_min))
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/**
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/**@
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* @brief 归一化角度
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*
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* @param angle
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* @return float
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*/
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inline float _normalizeAngle(float angle) {
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float a = fmod(angle, 2 * PI);
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float a = fmod(angle, 360.0f);
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// 取余运算可以用于归一化，列出特殊值例子算便知
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return a >= 0 ? a : (a + 2 * PI);
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return a >= 0 ? a : (a + 360.0f);
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}
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// 通过Ia,Ib,Ic计算Iq,Id(目前仅输出Iq)
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@@ -40,16 +40,19 @@ inline float FOC_Controlroller::cal_Iq_Id(float current_a, float current_b,
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// 计算电气角度
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float angle_el = _normalizeAngle(shaft_angle * PP);
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float I_alpha, I_beta;
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// Clarke变换 (使用三相电流)
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float I_alpha = (2.0f / 3.0f) * current_a - (1.0f / 3.0f) * current_b -
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(1.0f / 3.0f) * current_c;
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float I_beta = _1_SQRT3 * current_b - _1_SQRT3 * current_c;
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// arm_clarke_f32(current_a, current_b, &I_alpha, &I_beta);
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I_alpha = (2.0f / 3.0f) * current_a - (1.0f / 3.0f) * current_b -
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(1.0f / 3.0f) * current_c;
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I_beta = _1_SQRT3 * current_b - _1_SQRT3 * current_c;
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// Park变换
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float sin_el, cos_el;
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cos_el = cos_lut[(u16)(angle_el * LUT_SCALE) & LUT_MASK];
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sin_el = sin_lut[(u16)(angle_el * LUT_SCALE) & LUT_MASK];
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float I_q = I_beta * cos_el - I_alpha * sin_el;
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arm_sin_cos_f32(angle_el, &sin_el, &cos_el);
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float I_q, I_d;
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I_q = I_beta * cos_el - I_alpha * sin_el;
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// arm_park_f32(I_alpha, I_beta, &I_d, &I_q, sin_el, cos_el);
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return I_q * 1000.0f; // 返回Iq值，乘以1000以转换为mA
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}
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@@ -73,8 +76,7 @@ inline void FOC_Controlroller::setPhaseVoltage(float Uq, float Ud) {
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// 帕克逆变换 (直接计算，避免函数调用开销)
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float sin_el, cos_el;
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sin_el = sin_lut[(u16)(angle_el * LUT_SCALE) & LUT_MASK];
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cos_el = cos_lut[(u16)(angle_el * LUT_SCALE) & LUT_MASK];
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arm_sin_cos_f32(angle_el, &sin_el, &cos_el);
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float Ualpha = Ud * cos_el - Uq * sin_el;
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float Ubeta = Ud * sin_el + Uq * cos_el;
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@@ -93,7 +95,6 @@ inline void FOC_Controlroller::setPhaseVoltage(float Uq, float Ud) {
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duty_b = duty_b * voltage_exchange;
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duty_c = duty_c * voltage_exchange;
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Set_3Pwm(duty_a, duty_b, duty_c);
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// std::printf("PWM:%f,%f,%f\n", dc_a, dc_b, dc_c);
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}
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/**
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@@ -156,8 +157,8 @@ void FOC_Controlroller::update_power(void) {
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float FOC_Controlroller::velocity_open_loop() {
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// 通过时间间隔和目标速度计算需要转动的机械角度，存储在shaft_angle中，在此之前，还需要对轴角度归一化
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// 预计算常量 1e-4 = 100微秒控制周期
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shaft_angle =
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_normalizeAngle(shaft_angle + target_velocity * ANGLE_FACTOR * 1e-4f);
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shaft_angle = _normalizeAngle(shaft_angle + target_velocity * ANGLE_FACTOR *
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1.0 / TIMER2_FREQUENCY);
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// 因为在开环控制中，Ud始终为0，只控制Uq
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const float Uq = voltage_power_supply / 2.0f;
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@@ -195,7 +196,7 @@ float FOC_Controlroller::angle_control() {
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float Uq = angle_loop(target_angle - rt_angle);
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// 获取电机轴角度
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shaft_angle = KTH7823.getcurrent_sensorangle() * DEG2RAD;
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shaft_angle = KTH7823.getcurrent_sensorangle();
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// 设置相电压
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setPhaseVoltage(Uq, 0.0f);
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return shaft_angle;
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@@ -224,7 +225,7 @@ float FOC_Controlroller::angle_control_with_velocity_limit() {
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// CAN0_transmiter.testfloat_union.f = target_velocity - rt_velocity;
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// 获取电机轴角度
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shaft_angle = KTH7823.getcurrent_sensorangle() * DEG2RAD;
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shaft_angle = KTH7823.getcurrent_sensorangle();
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// 设置相电压
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setPhaseVoltage(Uq, 0.0f);
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@@ -243,12 +244,13 @@ float FOC_Controlroller::velocity_control() {
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float Uq = vel_loop((target_velocity - rt_velocity) * 25);
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// 获取电机轴角度
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shaft_angle = KTH7823.getcurrent_sensorangle() * DEG2RAD;
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shaft_angle = KTH7823.getcurrent_sensorangle();
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// 设置相电压
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setPhaseVoltage(Uq, 0.0f);
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// CAN0_transmiter.testfloat_union.f =
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cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'),
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sampler.get_current('W'));
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CAN0_transmiter.testfloat_union.f =
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cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'),
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sampler.get_current('W'));
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return rt_velocity;
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}
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@@ -259,7 +261,7 @@ float FOC_Controlroller::current_control() {
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float Uq = current_loop(target_current - Iq);
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CAN0_transmiter.testfloat_union.f = Iq;
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// 获取电机轴角度
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shaft_angle = KTH7823.getcurrent_sensorangle() * DEG2RAD;
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shaft_angle = KTH7823.getcurrent_sensorangle();
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// 设置相电压
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setPhaseVoltage(Uq, 0.0f);
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return 1;
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+5
-348
@@ -45,15 +45,15 @@ class FOC_Controlroller {
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float v_half = voltage_power_supply * 0.5f; // 电源电压的一半
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PIDController vel_loop =
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PIDController{0.028f, 0.2f, 1e-4, 1000000, voltage_power_supply}; // 12V
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PIDController{0.01f, 0.20f, 5e-5, 1000000, voltage_power_supply}; // 12V
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PIDController angle_loop = PIDController{20.0f, 100.0f, 0.2f, 10000000,
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voltage_power_supply}; // 12V
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PIDController current_loop =
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PIDController{0.006f, 0.02f, 0, 100000, voltage_power_supply}; // 12V
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PIDController vel_inVelAngloop =
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PIDController{0.35f, 5.0f, 1e-3, 1000000, voltage_power_supply};
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PIDController{0.12f, 3.0f, 5e-4, 1000000, voltage_power_supply};
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PIDController ang_inVelAngloop =
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PIDController{30.0f, 0.0f, 1e-3, 1000000, 999};
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PIDController{100.0f, 0.0f, 5e-4, 1000000, 999};
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void setPhaseVoltage(float Uq, float Ud);
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float cal_Iq_Id(float current_a, float current_b, float current_c);
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@@ -62,351 +62,8 @@ class FOC_Controlroller {
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// 定义函数指针类型
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typedef float (FOC_Controlroller::*FOCFunctionPtr)(void);
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float _normalizeAngle(float angle);
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inline float _normalizeAngle(float angle);
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inline float _electricalAngle();
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__attribute__((aligned(4))) const float sin_lut[LUT_SIZE] = {
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0.000000f, 0.006136f, 0.012272f, 0.018407f, 0.024541f, 0.030675f,
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0.036807f, 0.042938f, 0.049068f, 0.055195f, 0.061321f, 0.067444f,
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0.073565f, 0.079682f, 0.085797f, 0.091909f, 0.098017f, 0.104122f,
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0.110222f, 0.116319f, 0.122411f, 0.128498f, 0.134581f, 0.140658f,
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0.146730f, 0.152797f, 0.158858f, 0.164913f, 0.170962f, 0.177004f,
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0.183040f, 0.189069f, 0.195090f, 0.201105f, 0.207111f, 0.213110f,
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0.219101f, 0.225084f, 0.231058f, 0.237024f, 0.242980f, 0.248928f,
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0.254866f, 0.260794f, 0.266713f, 0.272621f, 0.278520f, 0.284408f,
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0.290285f, 0.296151f, 0.302006f, 0.307850f, 0.313682f, 0.319502f,
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0.325310f, 0.331106f, 0.336890f, 0.342661f, 0.348419f, 0.354164f,
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0.359895f, 0.365613f, 0.371317f, 0.377007f, 0.382683f, 0.388345f,
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0.393992f, 0.399624f, 0.405241f, 0.410843f, 0.416430f, 0.422000f,
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0.427555f, 0.433094f, 0.438616f, 0.444122f, 0.449611f, 0.455084f,
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0.460539f, 0.465976f, 0.471397f, 0.476799f, 0.482184f, 0.487550f,
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0.492898f, 0.498228f, 0.503538f, 0.508830f, 0.514103f, 0.519356f,
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0.524590f, 0.529804f, 0.534998f, 0.540171f, 0.545325f, 0.550458f,
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0.555570f, 0.560662f, 0.565732f, 0.570781f, 0.575808f, 0.580814f,
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0.585798f, 0.590760f, 0.595699f, 0.600616f, 0.605511f, 0.610383f,
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0.615232f, 0.620057f, 0.624859f, 0.629638f, 0.634393f, 0.639124f,
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0.643832f, 0.648514f, 0.653173f, 0.657807f, 0.662416f, 0.667000f,
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0.671559f, 0.676093f, 0.680601f, 0.685084f, 0.689541f, 0.693971f,
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0.698376f, 0.702755f, 0.707107f, 0.711432f, 0.715731f, 0.720003f,
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0.724247f, 0.728464f, 0.732654f, 0.736817f, 0.740951f, 0.745058f,
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0.749136f, 0.753187f, 0.757209f, 0.761202f, 0.765167f, 0.769103f,
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0.773010f, 0.776888f, 0.780737f, 0.784557f, 0.788346f, 0.792107f,
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0.795837f, 0.799537f, 0.803208f, 0.806848f, 0.810457f, 0.814036f,
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0.817585f, 0.821103f, 0.824589f, 0.828045f, 0.831470f, 0.834863f,
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0.838225f, 0.841555f, 0.844854f, 0.848120f, 0.851355f, 0.854558f,
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0.857729f, 0.860867f, 0.863973f, 0.867046f, 0.870087f, 0.873095f,
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0.876070f, 0.879012f, 0.881921f, 0.884797f, 0.887640f, 0.890449f,
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0.893224f, 0.895966f, 0.898674f, 0.901349f, 0.903989f, 0.906596f,
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0.909168f, 0.911706f, 0.914210f, 0.916679f, 0.919114f, 0.921514f,
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0.923880f, 0.926210f, 0.928506f, 0.930767f, 0.932993f, 0.935184f,
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0.937339f, 0.939459f, 0.941544f, 0.943593f, 0.945607f, 0.947586f,
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0.949528f, 0.951435f, 0.953306f, 0.955141f, 0.956940f, 0.958703f,
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0.960431f, 0.962121f, 0.963776f, 0.965394f, 0.966976f, 0.968522f,
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0.970031f, 0.971504f, 0.972940f, 0.974339f, 0.975702f, 0.977028f,
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0.978317f, 0.979570f, 0.980785f, 0.981964f, 0.983105f, 0.984210f,
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0.985278f, 0.986308f, 0.987301f, 0.988258f, 0.989177f, 0.990058f,
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0.990903f, 0.991710f, 0.992480f, 0.993212f, 0.993907f, 0.994565f,
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0.995185f, 0.995767f, 0.996313f, 0.996820f, 0.997290f, 0.997723f,
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0.998118f, 0.998476f, 0.998795f, 0.999078f, 0.999322f, 0.999529f,
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0.999699f, 0.999831f, 0.999925f, 0.999981f, 1.000000f, 0.999981f,
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0.999925f, 0.999831f, 0.999699f, 0.999529f, 0.999322f, 0.999078f,
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0.998795f, 0.998476f, 0.998118f, 0.997723f, 0.997290f, 0.996820f,
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0.996313f, 0.995767f, 0.995185f, 0.994565f, 0.993907f, 0.993212f,
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0.992480f, 0.991710f, 0.990903f, 0.990058f, 0.989177f, 0.988258f,
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0.987301f, 0.986308f, 0.985278f, 0.984210f, 0.983105f, 0.981964f,
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0.980785f, 0.979570f, 0.978317f, 0.977028f, 0.975702f, 0.974339f,
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0.972940f, 0.971504f, 0.970031f, 0.968522f, 0.966976f, 0.965394f,
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0.963776f, 0.962121f, 0.960431f, 0.958703f, 0.956940f, 0.955141f,
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0.953306f, 0.951435f, 0.949528f, 0.947586f, 0.945607f, 0.943593f,
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0.941544f, 0.939459f, 0.937339f, 0.935184f, 0.932993f, 0.930767f,
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0.928506f, 0.926210f, 0.923880f, 0.921514f, 0.919114f, 0.916679f,
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0.914210f, 0.911706f, 0.909168f, 0.906596f, 0.903989f, 0.901349f,
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||||
0.898674f, 0.895966f, 0.893224f, 0.890449f, 0.887640f, 0.884797f,
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0.881921f, 0.879012f, 0.876070f, 0.873095f, 0.870087f, 0.867046f,
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0.863973f, 0.860867f, 0.857729f, 0.854558f, 0.851355f, 0.848120f,
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||||
0.844854f, 0.841555f, 0.838225f, 0.834863f, 0.831470f, 0.828045f,
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||||
0.824589f, 0.821103f, 0.817585f, 0.814036f, 0.810457f, 0.806848f,
|
||||
0.803208f, 0.799537f, 0.795837f, 0.792107f, 0.788346f, 0.784557f,
|
||||
0.780737f, 0.776888f, 0.773010f, 0.769103f, 0.765167f, 0.761202f,
|
||||
0.757209f, 0.753187f, 0.749136f, 0.745058f, 0.740951f, 0.736817f,
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||||
0.732654f, 0.728464f, 0.724247f, 0.720003f, 0.715731f, 0.711432f,
|
||||
0.707107f, 0.702755f, 0.698376f, 0.693971f, 0.689541f, 0.685084f,
|
||||
0.680601f, 0.676093f, 0.671559f, 0.667000f, 0.662416f, 0.657807f,
|
||||
0.653173f, 0.648514f, 0.643832f, 0.639124f, 0.634393f, 0.629638f,
|
||||
0.624859f, 0.620057f, 0.615232f, 0.610383f, 0.605511f, 0.600616f,
|
||||
0.595699f, 0.590760f, 0.585798f, 0.580814f, 0.575808f, 0.570781f,
|
||||
0.565732f, 0.560662f, 0.555570f, 0.550458f, 0.545325f, 0.540171f,
|
||||
0.534998f, 0.529804f, 0.524590f, 0.519356f, 0.514103f, 0.508830f,
|
||||
0.503538f, 0.498228f, 0.492898f, 0.487550f, 0.482184f, 0.476799f,
|
||||
0.471397f, 0.465976f, 0.460539f, 0.455084f, 0.449611f, 0.444122f,
|
||||
0.438616f, 0.433094f, 0.427555f, 0.422000f, 0.416430f, 0.410843f,
|
||||
0.405241f, 0.399624f, 0.393992f, 0.388345f, 0.382683f, 0.377007f,
|
||||
0.371317f, 0.365613f, 0.359895f, 0.354164f, 0.348419f, 0.342661f,
|
||||
0.336890f, 0.331106f, 0.325310f, 0.319502f, 0.313682f, 0.307850f,
|
||||
0.302006f, 0.296151f, 0.290285f, 0.284408f, 0.278520f, 0.272621f,
|
||||
0.266713f, 0.260794f, 0.254866f, 0.248928f, 0.242980f, 0.237024f,
|
||||
0.231058f, 0.225084f, 0.219101f, 0.213110f, 0.207111f, 0.201105f,
|
||||
0.195090f, 0.189069f, 0.183040f, 0.177004f, 0.170962f, 0.164913f,
|
||||
0.158858f, 0.152797f, 0.146730f, 0.140658f, 0.134581f, 0.128498f,
|
||||
0.122411f, 0.116319f, 0.110222f, 0.104122f, 0.098017f, 0.091909f,
|
||||
0.085797f, 0.079682f, 0.073565f, 0.067444f, 0.061321f, 0.055195f,
|
||||
0.049068f, 0.042938f, 0.036807f, 0.030675f, 0.024541f, 0.018407f,
|
||||
0.012272f, 0.006136f, 0.000000f, -0.006136f, -0.012272f, -0.018407f,
|
||||
-0.024541f, -0.030675f, -0.036807f, -0.042938f, -0.049068f, -0.055195f,
|
||||
-0.061321f, -0.067444f, -0.073565f, -0.079682f, -0.085797f, -0.091909f,
|
||||
-0.098017f, -0.104122f, -0.110222f, -0.116319f, -0.122411f, -0.128498f,
|
||||
-0.134581f, -0.140658f, -0.146730f, -0.152797f, -0.158858f, -0.164913f,
|
||||
-0.170962f, -0.177004f, -0.183040f, -0.189069f, -0.195090f, -0.201105f,
|
||||
-0.207111f, -0.213110f, -0.219101f, -0.225084f, -0.231058f, -0.237024f,
|
||||
-0.242980f, -0.248928f, -0.254866f, -0.260794f, -0.266713f, -0.272621f,
|
||||
-0.278520f, -0.284408f, -0.290285f, -0.296151f, -0.302006f, -0.307850f,
|
||||
-0.313682f, -0.319502f, -0.325310f, -0.331106f, -0.336890f, -0.342661f,
|
||||
-0.348419f, -0.354164f, -0.359895f, -0.365613f, -0.371317f, -0.377007f,
|
||||
-0.382683f, -0.388345f, -0.393992f, -0.399624f, -0.405241f, -0.410843f,
|
||||
-0.416430f, -0.422000f, -0.427555f, -0.433094f, -0.438616f, -0.444122f,
|
||||
-0.449611f, -0.455084f, -0.460539f, -0.465976f, -0.471397f, -0.476799f,
|
||||
-0.482184f, -0.487550f, -0.492898f, -0.498228f, -0.503538f, -0.508830f,
|
||||
-0.514103f, -0.519356f, -0.524590f, -0.529804f, -0.534998f, -0.540171f,
|
||||
-0.545325f, -0.550458f, -0.555570f, -0.560662f, -0.565732f, -0.570781f,
|
||||
-0.575808f, -0.580814f, -0.585798f, -0.590760f, -0.595699f, -0.600616f,
|
||||
-0.605511f, -0.610383f, -0.615232f, -0.620057f, -0.624859f, -0.629638f,
|
||||
-0.634393f, -0.639124f, -0.643832f, -0.648514f, -0.653173f, -0.657807f,
|
||||
-0.662416f, -0.667000f, -0.671559f, -0.676093f, -0.680601f, -0.685084f,
|
||||
-0.689541f, -0.693971f, -0.698376f, -0.702755f, -0.707107f, -0.711432f,
|
||||
-0.715731f, -0.720003f, -0.724247f, -0.728464f, -0.732654f, -0.736817f,
|
||||
-0.740951f, -0.745058f, -0.749136f, -0.753187f, -0.757209f, -0.761202f,
|
||||
-0.765167f, -0.769103f, -0.773010f, -0.776888f, -0.780737f, -0.784557f,
|
||||
-0.788346f, -0.792107f, -0.795837f, -0.799537f, -0.803208f, -0.806848f,
|
||||
-0.810457f, -0.814036f, -0.817585f, -0.821103f, -0.824589f, -0.828045f,
|
||||
-0.831470f, -0.834863f, -0.838225f, -0.841555f, -0.844854f, -0.848120f,
|
||||
-0.851355f, -0.854558f, -0.857729f, -0.860867f, -0.863973f, -0.867046f,
|
||||
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|
||||
-0.887640f, -0.890449f, -0.893224f, -0.895966f, -0.898674f, -0.901349f,
|
||||
-0.903989f, -0.906596f, -0.909168f, -0.911706f, -0.914210f, -0.916679f,
|
||||
-0.919114f, -0.921514f, -0.923880f, -0.926210f, -0.928506f, -0.930767f,
|
||||
-0.932993f, -0.935184f, -0.937339f, -0.939459f, -0.941544f, -0.943593f,
|
||||
-0.945607f, -0.947586f, -0.949528f, -0.951435f, -0.953306f, -0.955141f,
|
||||
-0.956940f, -0.958703f, -0.960431f, -0.962121f, -0.963776f, -0.965394f,
|
||||
-0.966976f, -0.968522f, -0.970031f, -0.971504f, -0.972940f, -0.974339f,
|
||||
-0.975702f, -0.977028f, -0.978317f, -0.979570f, -0.980785f, -0.981964f,
|
||||
-0.983105f, -0.984210f, -0.985278f, -0.986308f, -0.987301f, -0.988258f,
|
||||
-0.989177f, -0.990058f, -0.990903f, -0.991710f, -0.992480f, -0.993212f,
|
||||
-0.993907f, -0.994565f, -0.995185f, -0.995767f, -0.996313f, -0.996820f,
|
||||
-0.997290f, -0.997723f, -0.998118f, -0.998476f, -0.998795f, -0.999078f,
|
||||
-0.999322f, -0.999529f, -0.999699f, -0.999831f, -0.999925f, -0.999981f,
|
||||
-1.000000f, -0.999981f, -0.999925f, -0.999831f, -0.999699f, -0.999529f,
|
||||
-0.999322f, -0.999078f, -0.998795f, -0.998476f, -0.998118f, -0.997723f,
|
||||
-0.997290f, -0.996820f, -0.996313f, -0.995767f, -0.995185f, -0.994565f,
|
||||
-0.993907f, -0.993212f, -0.992480f, -0.991710f, -0.990903f, -0.990058f,
|
||||
-0.989177f, -0.988258f, -0.987301f, -0.986308f, -0.985278f, -0.984210f,
|
||||
-0.983105f, -0.981964f, -0.980785f, -0.979570f, -0.978317f, -0.977028f,
|
||||
-0.975702f, -0.974339f, -0.972940f, -0.971504f, -0.970031f, -0.968522f,
|
||||
-0.966976f, -0.965394f, -0.963776f, -0.962121f, -0.960431f, -0.958703f,
|
||||
-0.956940f, -0.955141f, -0.953306f, -0.951435f, -0.949528f, -0.947586f,
|
||||
-0.945607f, -0.943593f, -0.941544f, -0.939459f, -0.937339f, -0.935184f,
|
||||
-0.932993f, -0.930767f, -0.928506f, -0.926210f, -0.923880f, -0.921514f,
|
||||
-0.919114f, -0.916679f, -0.914210f, -0.911706f, -0.909168f, -0.906596f,
|
||||
-0.903989f, -0.901349f, -0.898674f, -0.895966f, -0.893224f, -0.890449f,
|
||||
-0.887640f, -0.884797f, -0.881921f, -0.879012f, -0.876070f, -0.873095f,
|
||||
-0.870087f, -0.867046f, -0.863973f, -0.860867f, -0.857729f, -0.854558f,
|
||||
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|
||||
-0.831470f, -0.828045f, -0.824589f, -0.821103f, -0.817585f, -0.814036f,
|
||||
-0.810457f, -0.806848f, -0.803208f, -0.799537f, -0.795837f, -0.792107f,
|
||||
-0.788346f, -0.784557f, -0.780737f, -0.776888f, -0.773010f, -0.769103f,
|
||||
-0.765167f, -0.761202f, -0.757209f, -0.753187f, -0.749136f, -0.745058f,
|
||||
-0.740951f, -0.736817f, -0.732654f, -0.728464f, -0.724247f, -0.720003f,
|
||||
-0.715731f, -0.711432f, -0.707107f, -0.702755f, -0.698376f, -0.693971f,
|
||||
-0.689541f, -0.685084f, -0.680601f, -0.676093f, -0.671559f, -0.667000f,
|
||||
-0.662416f, -0.657807f, -0.653173f, -0.648514f, -0.643832f, -0.639124f,
|
||||
-0.634393f, -0.629638f, -0.624859f, -0.620057f, -0.615232f, -0.610383f,
|
||||
-0.605511f, -0.600616f, -0.595699f, -0.590760f, -0.585798f, -0.580814f,
|
||||
-0.575808f, -0.570781f, -0.565732f, -0.560662f, -0.555570f, -0.550458f,
|
||||
-0.545325f, -0.540171f, -0.534998f, -0.529804f, -0.524590f, -0.519356f,
|
||||
-0.514103f, -0.508830f, -0.503538f, -0.498228f, -0.492898f, -0.487550f,
|
||||
-0.482184f, -0.476799f, -0.471397f, -0.465976f, -0.460539f, -0.455084f,
|
||||
-0.449611f, -0.444122f, -0.438616f, -0.433094f, -0.427555f, -0.422000f,
|
||||
-0.416430f, -0.410843f, -0.405241f, -0.399624f, -0.393992f, -0.388345f,
|
||||
-0.382683f, -0.377007f, -0.371317f, -0.365613f, -0.359895f, -0.354164f,
|
||||
-0.348419f, -0.342661f, -0.336890f, -0.331106f, -0.325310f, -0.319502f,
|
||||
-0.313682f, -0.307850f, -0.302006f, -0.296151f, -0.290285f, -0.284408f,
|
||||
-0.278520f, -0.272621f, -0.266713f, -0.260794f, -0.254866f, -0.248928f,
|
||||
-0.242980f, -0.237024f, -0.231058f, -0.225084f, -0.219101f, -0.213110f,
|
||||
-0.207111f, -0.201105f, -0.195090f, -0.189069f, -0.183040f, -0.177004f,
|
||||
-0.170962f, -0.164913f, -0.158858f, -0.152797f, -0.146730f, -0.140658f,
|
||||
-0.134581f, -0.128498f, -0.122411f, -0.116319f, -0.110222f, -0.104122f,
|
||||
-0.098017f, -0.091909f, -0.085797f, -0.079682f, -0.073565f, -0.067444f,
|
||||
-0.061321f, -0.055195f, -0.049068f, -0.042938f, -0.036807f, -0.030675f,
|
||||
-0.024541f, -0.018407f, -0.012272f, -0.006136f};
|
||||
__attribute__((aligned(4))) const float cos_lut[LUT_SIZE] = {
|
||||
1.000000f, 0.999981f, 0.999925f, 0.999831f, 0.999699f, 0.999529f,
|
||||
0.999322f, 0.999078f, 0.998795f, 0.998476f, 0.998118f, 0.997723f,
|
||||
0.997290f, 0.996820f, 0.996313f, 0.995767f, 0.995185f, 0.994565f,
|
||||
0.993907f, 0.993212f, 0.992480f, 0.991710f, 0.990903f, 0.990058f,
|
||||
0.989177f, 0.988258f, 0.987301f, 0.986308f, 0.985278f, 0.984210f,
|
||||
0.983105f, 0.981964f, 0.980785f, 0.979570f, 0.978317f, 0.977028f,
|
||||
0.975702f, 0.974339f, 0.972940f, 0.971504f, 0.970031f, 0.968522f,
|
||||
0.966976f, 0.965394f, 0.963776f, 0.962121f, 0.960431f, 0.958703f,
|
||||
0.956940f, 0.955141f, 0.953306f, 0.951435f, 0.949528f, 0.947586f,
|
||||
0.945607f, 0.943593f, 0.941544f, 0.939459f, 0.937339f, 0.935184f,
|
||||
0.932993f, 0.930767f, 0.928506f, 0.926210f, 0.923880f, 0.921514f,
|
||||
0.919114f, 0.916679f, 0.914210f, 0.911706f, 0.909168f, 0.906596f,
|
||||
0.903989f, 0.901349f, 0.898674f, 0.895966f, 0.893224f, 0.890449f,
|
||||
0.887640f, 0.884797f, 0.881921f, 0.879012f, 0.876070f, 0.873095f,
|
||||
0.870087f, 0.867046f, 0.863973f, 0.860867f, 0.857729f, 0.854558f,
|
||||
0.851355f, 0.848120f, 0.844854f, 0.841555f, 0.838225f, 0.834863f,
|
||||
0.831470f, 0.828045f, 0.824589f, 0.821103f, 0.817585f, 0.814036f,
|
||||
0.810457f, 0.806848f, 0.803208f, 0.799537f, 0.795837f, 0.792107f,
|
||||
0.788346f, 0.784557f, 0.780737f, 0.776888f, 0.773010f, 0.769103f,
|
||||
0.765167f, 0.761202f, 0.757209f, 0.753187f, 0.749136f, 0.745058f,
|
||||
0.740951f, 0.736817f, 0.732654f, 0.728464f, 0.724247f, 0.720003f,
|
||||
0.715731f, 0.711432f, 0.707107f, 0.702755f, 0.698376f, 0.693971f,
|
||||
0.689541f, 0.685084f, 0.680601f, 0.676093f, 0.671559f, 0.667000f,
|
||||
0.662416f, 0.657807f, 0.653173f, 0.648514f, 0.643832f, 0.639124f,
|
||||
0.634393f, 0.629638f, 0.624859f, 0.620057f, 0.615232f, 0.610383f,
|
||||
0.605511f, 0.600616f, 0.595699f, 0.590760f, 0.585798f, 0.580814f,
|
||||
0.575808f, 0.570781f, 0.565732f, 0.560662f, 0.555570f, 0.550458f,
|
||||
0.545325f, 0.540171f, 0.534998f, 0.529804f, 0.524590f, 0.519356f,
|
||||
0.514103f, 0.508830f, 0.503538f, 0.498228f, 0.492898f, 0.487550f,
|
||||
0.482184f, 0.476799f, 0.471397f, 0.465976f, 0.460539f, 0.455084f,
|
||||
0.449611f, 0.444122f, 0.438616f, 0.433094f, 0.427555f, 0.422000f,
|
||||
0.416430f, 0.410843f, 0.405241f, 0.399624f, 0.393992f, 0.388345f,
|
||||
0.382683f, 0.377007f, 0.371317f, 0.365613f, 0.359895f, 0.354164f,
|
||||
0.348419f, 0.342661f, 0.336890f, 0.331106f, 0.325310f, 0.319502f,
|
||||
0.313682f, 0.307850f, 0.302006f, 0.296151f, 0.290285f, 0.284408f,
|
||||
0.278520f, 0.272621f, 0.266713f, 0.260794f, 0.254866f, 0.248928f,
|
||||
0.242980f, 0.237024f, 0.231058f, 0.225084f, 0.219101f, 0.213110f,
|
||||
0.207111f, 0.201105f, 0.195090f, 0.189069f, 0.183040f, 0.177004f,
|
||||
0.170962f, 0.164913f, 0.158858f, 0.152797f, 0.146730f, 0.140658f,
|
||||
0.134581f, 0.128498f, 0.122411f, 0.116319f, 0.110222f, 0.104122f,
|
||||
0.098017f, 0.091909f, 0.085797f, 0.079682f, 0.073565f, 0.067444f,
|
||||
0.061321f, 0.055195f, 0.049068f, 0.042938f, 0.036807f, 0.030675f,
|
||||
0.024541f, 0.018407f, 0.012272f, 0.006136f, 0.000000f, -0.006136f,
|
||||
-0.012272f, -0.018407f, -0.024541f, -0.030675f, -0.036807f, -0.042938f,
|
||||
-0.049068f, -0.055195f, -0.061321f, -0.067444f, -0.073565f, -0.079682f,
|
||||
-0.085797f, -0.091909f, -0.098017f, -0.104122f, -0.110222f, -0.116319f,
|
||||
-0.122411f, -0.128498f, -0.134581f, -0.140658f, -0.146730f, -0.152797f,
|
||||
-0.158858f, -0.164913f, -0.170962f, -0.177004f, -0.183040f, -0.189069f,
|
||||
-0.195090f, -0.201105f, -0.207111f, -0.213110f, -0.219101f, -0.225084f,
|
||||
-0.231058f, -0.237024f, -0.242980f, -0.248928f, -0.254866f, -0.260794f,
|
||||
-0.266713f, -0.272621f, -0.278520f, -0.284408f, -0.290285f, -0.296151f,
|
||||
-0.302006f, -0.307850f, -0.313682f, -0.319502f, -0.325310f, -0.331106f,
|
||||
-0.336890f, -0.342661f, -0.348419f, -0.354164f, -0.359895f, -0.365613f,
|
||||
-0.371317f, -0.377007f, -0.382683f, -0.388345f, -0.393992f, -0.399624f,
|
||||
-0.405241f, -0.410843f, -0.416430f, -0.422000f, -0.427555f, -0.433094f,
|
||||
-0.438616f, -0.444122f, -0.449611f, -0.455084f, -0.460539f, -0.465976f,
|
||||
-0.471397f, -0.476799f, -0.482184f, -0.487550f, -0.492898f, -0.498228f,
|
||||
-0.503538f, -0.508830f, -0.514103f, -0.519356f, -0.524590f, -0.529804f,
|
||||
-0.534998f, -0.540171f, -0.545325f, -0.550458f, -0.555570f, -0.560662f,
|
||||
-0.565732f, -0.570781f, -0.575808f, -0.580814f, -0.585798f, -0.590760f,
|
||||
-0.595699f, -0.600616f, -0.605511f, -0.610383f, -0.615232f, -0.620057f,
|
||||
-0.624859f, -0.629638f, -0.634393f, -0.639124f, -0.643832f, -0.648514f,
|
||||
-0.653173f, -0.657807f, -0.662416f, -0.667000f, -0.671559f, -0.676093f,
|
||||
-0.680601f, -0.685084f, -0.689541f, -0.693971f, -0.698376f, -0.702755f,
|
||||
-0.707107f, -0.711432f, -0.715731f, -0.720003f, -0.724247f, -0.728464f,
|
||||
-0.732654f, -0.736817f, -0.740951f, -0.745058f, -0.749136f, -0.753187f,
|
||||
-0.757209f, -0.761202f, -0.765167f, -0.769103f, -0.773010f, -0.776888f,
|
||||
-0.780737f, -0.784557f, -0.788346f, -0.792107f, -0.795837f, -0.799537f,
|
||||
-0.803208f, -0.806848f, -0.810457f, -0.814036f, -0.817585f, -0.821103f,
|
||||
-0.824589f, -0.828045f, -0.831470f, -0.834863f, -0.838225f, -0.841555f,
|
||||
-0.844854f, -0.848120f, -0.851355f, -0.854558f, -0.857729f, -0.860867f,
|
||||
-0.863973f, -0.867046f, -0.870087f, -0.873095f, -0.876070f, -0.879012f,
|
||||
-0.881921f, -0.884797f, -0.887640f, -0.890449f, -0.893224f, -0.895966f,
|
||||
-0.898674f, -0.901349f, -0.903989f, -0.906596f, -0.909168f, -0.911706f,
|
||||
-0.914210f, -0.916679f, -0.919114f, -0.921514f, -0.923880f, -0.926210f,
|
||||
-0.928506f, -0.930767f, -0.932993f, -0.935184f, -0.937339f, -0.939459f,
|
||||
-0.941544f, -0.943593f, -0.945607f, -0.947586f, -0.949528f, -0.951435f,
|
||||
-0.953306f, -0.955141f, -0.956940f, -0.958703f, -0.960431f, -0.962121f,
|
||||
-0.963776f, -0.965394f, -0.966976f, -0.968522f, -0.970031f, -0.971504f,
|
||||
-0.972940f, -0.974339f, -0.975702f, -0.977028f, -0.978317f, -0.979570f,
|
||||
-0.980785f, -0.981964f, -0.983105f, -0.984210f, -0.985278f, -0.986308f,
|
||||
-0.987301f, -0.988258f, -0.989177f, -0.990058f, -0.990903f, -0.991710f,
|
||||
-0.992480f, -0.993212f, -0.993907f, -0.994565f, -0.995185f, -0.995767f,
|
||||
-0.996313f, -0.996820f, -0.997290f, -0.997723f, -0.998118f, -0.998476f,
|
||||
-0.998795f, -0.999078f, -0.999322f, -0.999529f, -0.999699f, -0.999831f,
|
||||
-0.999925f, -0.999981f, -1.000000f, -0.999981f, -0.999925f, -0.999831f,
|
||||
-0.999699f, -0.999529f, -0.999322f, -0.999078f, -0.998795f, -0.998476f,
|
||||
-0.998118f, -0.997723f, -0.997290f, -0.996820f, -0.996313f, -0.995767f,
|
||||
-0.995185f, -0.994565f, -0.993907f, -0.993212f, -0.992480f, -0.991710f,
|
||||
-0.990903f, -0.990058f, -0.989177f, -0.988258f, -0.987301f, -0.986308f,
|
||||
-0.985278f, -0.984210f, -0.983105f, -0.981964f, -0.980785f, -0.979570f,
|
||||
-0.978317f, -0.977028f, -0.975702f, -0.974339f, -0.972940f, -0.971504f,
|
||||
-0.970031f, -0.968522f, -0.966976f, -0.965394f, -0.963776f, -0.962121f,
|
||||
-0.960431f, -0.958703f, -0.956940f, -0.955141f, -0.953306f, -0.951435f,
|
||||
-0.949528f, -0.947586f, -0.945607f, -0.943593f, -0.941544f, -0.939459f,
|
||||
-0.937339f, -0.935184f, -0.932993f, -0.930767f, -0.928506f, -0.926210f,
|
||||
-0.923880f, -0.921514f, -0.919114f, -0.916679f, -0.914210f, -0.911706f,
|
||||
-0.909168f, -0.906596f, -0.903989f, -0.901349f, -0.898674f, -0.895966f,
|
||||
-0.893224f, -0.890449f, -0.887640f, -0.884797f, -0.881921f, -0.879012f,
|
||||
-0.876070f, -0.873095f, -0.870087f, -0.867046f, -0.863973f, -0.860867f,
|
||||
-0.857729f, -0.854558f, -0.851355f, -0.848120f, -0.844854f, -0.841555f,
|
||||
-0.838225f, -0.834863f, -0.831470f, -0.828045f, -0.824589f, -0.821103f,
|
||||
-0.817585f, -0.814036f, -0.810457f, -0.806848f, -0.803208f, -0.799537f,
|
||||
-0.795837f, -0.792107f, -0.788346f, -0.784557f, -0.780737f, -0.776888f,
|
||||
-0.773010f, -0.769103f, -0.765167f, -0.761202f, -0.757209f, -0.753187f,
|
||||
-0.749136f, -0.745058f, -0.740951f, -0.736817f, -0.732654f, -0.728464f,
|
||||
-0.724247f, -0.720003f, -0.715731f, -0.711432f, -0.707107f, -0.702755f,
|
||||
-0.698376f, -0.693971f, -0.689541f, -0.685084f, -0.680601f, -0.676093f,
|
||||
-0.671559f, -0.667000f, -0.662416f, -0.657807f, -0.653173f, -0.648514f,
|
||||
-0.643832f, -0.639124f, -0.634393f, -0.629638f, -0.624859f, -0.620057f,
|
||||
-0.615232f, -0.610383f, -0.605511f, -0.600616f, -0.595699f, -0.590760f,
|
||||
-0.585798f, -0.580814f, -0.575808f, -0.570781f, -0.565732f, -0.560662f,
|
||||
-0.555570f, -0.550458f, -0.545325f, -0.540171f, -0.534998f, -0.529804f,
|
||||
-0.524590f, -0.519356f, -0.514103f, -0.508830f, -0.503538f, -0.498228f,
|
||||
-0.492898f, -0.487550f, -0.482184f, -0.476799f, -0.471397f, -0.465976f,
|
||||
-0.460539f, -0.455084f, -0.449611f, -0.444122f, -0.438616f, -0.433094f,
|
||||
-0.427555f, -0.422000f, -0.416430f, -0.410843f, -0.405241f, -0.399624f,
|
||||
-0.393992f, -0.388345f, -0.382683f, -0.377007f, -0.371317f, -0.365613f,
|
||||
-0.359895f, -0.354164f, -0.348419f, -0.342661f, -0.336890f, -0.331106f,
|
||||
-0.325310f, -0.319502f, -0.313682f, -0.307850f, -0.302006f, -0.296151f,
|
||||
-0.290285f, -0.284408f, -0.278520f, -0.272621f, -0.266713f, -0.260794f,
|
||||
-0.254866f, -0.248928f, -0.242980f, -0.237024f, -0.231058f, -0.225084f,
|
||||
-0.219101f, -0.213110f, -0.207111f, -0.201105f, -0.195090f, -0.189069f,
|
||||
-0.183040f, -0.177004f, -0.170962f, -0.164913f, -0.158858f, -0.152797f,
|
||||
-0.146730f, -0.140658f, -0.134581f, -0.128498f, -0.122411f, -0.116319f,
|
||||
-0.110222f, -0.104122f, -0.098017f, -0.091909f, -0.085797f, -0.079682f,
|
||||
-0.073565f, -0.067444f, -0.061321f, -0.055195f, -0.049068f, -0.042938f,
|
||||
-0.036807f, -0.030675f, -0.024541f, -0.018407f, -0.012272f, -0.006136f,
|
||||
-0.000000f, 0.006136f, 0.012272f, 0.018407f, 0.024541f, 0.030675f,
|
||||
0.036807f, 0.042938f, 0.049068f, 0.055195f, 0.061321f, 0.067444f,
|
||||
0.073565f, 0.079682f, 0.085797f, 0.091909f, 0.098017f, 0.104122f,
|
||||
0.110222f, 0.116319f, 0.122411f, 0.128498f, 0.134581f, 0.140658f,
|
||||
0.146730f, 0.152797f, 0.158858f, 0.164913f, 0.170962f, 0.177004f,
|
||||
0.183040f, 0.189069f, 0.195090f, 0.201105f, 0.207111f, 0.213110f,
|
||||
0.219101f, 0.225084f, 0.231058f, 0.237024f, 0.242980f, 0.248928f,
|
||||
0.254866f, 0.260794f, 0.266713f, 0.272621f, 0.278520f, 0.284408f,
|
||||
0.290285f, 0.296151f, 0.302006f, 0.307850f, 0.313682f, 0.319502f,
|
||||
0.325310f, 0.331106f, 0.336890f, 0.342661f, 0.348419f, 0.354164f,
|
||||
0.359895f, 0.365613f, 0.371317f, 0.377007f, 0.382683f, 0.388345f,
|
||||
0.393992f, 0.399624f, 0.405241f, 0.410843f, 0.416430f, 0.422000f,
|
||||
0.427555f, 0.433094f, 0.438616f, 0.444122f, 0.449611f, 0.455084f,
|
||||
0.460539f, 0.465976f, 0.471397f, 0.476799f, 0.482184f, 0.487550f,
|
||||
0.492898f, 0.498228f, 0.503538f, 0.508830f, 0.514103f, 0.519356f,
|
||||
0.524590f, 0.529804f, 0.534998f, 0.540171f, 0.545325f, 0.550458f,
|
||||
0.555570f, 0.560662f, 0.565732f, 0.570781f, 0.575808f, 0.580814f,
|
||||
0.585798f, 0.590760f, 0.595699f, 0.600616f, 0.605511f, 0.610383f,
|
||||
0.615232f, 0.620057f, 0.624859f, 0.629638f, 0.634393f, 0.639124f,
|
||||
0.643832f, 0.648514f, 0.653173f, 0.657807f, 0.662416f, 0.667000f,
|
||||
0.671559f, 0.676093f, 0.680601f, 0.685084f, 0.689541f, 0.693971f,
|
||||
0.698376f, 0.702755f, 0.707107f, 0.711432f, 0.715731f, 0.720003f,
|
||||
0.724247f, 0.728464f, 0.732654f, 0.736817f, 0.740951f, 0.745058f,
|
||||
0.749136f, 0.753187f, 0.757209f, 0.761202f, 0.765167f, 0.769103f,
|
||||
0.773010f, 0.776888f, 0.780737f, 0.784557f, 0.788346f, 0.792107f,
|
||||
0.795837f, 0.799537f, 0.803208f, 0.806848f, 0.810457f, 0.814036f,
|
||||
0.817585f, 0.821103f, 0.824589f, 0.828045f, 0.831470f, 0.834863f,
|
||||
0.838225f, 0.841555f, 0.844854f, 0.848120f, 0.851355f, 0.854558f,
|
||||
0.857729f, 0.860867f, 0.863973f, 0.867046f, 0.870087f, 0.873095f,
|
||||
0.876070f, 0.879012f, 0.881921f, 0.884797f, 0.887640f, 0.890449f,
|
||||
0.893224f, 0.895966f, 0.898674f, 0.901349f, 0.903989f, 0.906596f,
|
||||
0.909168f, 0.911706f, 0.914210f, 0.916679f, 0.919114f, 0.921514f,
|
||||
0.923880f, 0.926210f, 0.928506f, 0.930767f, 0.932993f, 0.935184f,
|
||||
0.937339f, 0.939459f, 0.941544f, 0.943593f, 0.945607f, 0.947586f,
|
||||
0.949528f, 0.951435f, 0.953306f, 0.955141f, 0.956940f, 0.958703f,
|
||||
0.960431f, 0.962121f, 0.963776f, 0.965394f, 0.966976f, 0.968522f,
|
||||
0.970031f, 0.971504f, 0.972940f, 0.974339f, 0.975702f, 0.977028f,
|
||||
0.978317f, 0.979570f, 0.980785f, 0.981964f, 0.983105f, 0.984210f,
|
||||
0.985278f, 0.986308f, 0.987301f, 0.988258f, 0.989177f, 0.990058f,
|
||||
0.990903f, 0.991710f, 0.992480f, 0.993212f, 0.993907f, 0.994565f,
|
||||
0.995185f, 0.995767f, 0.996313f, 0.996820f, 0.997290f, 0.997723f,
|
||||
0.998118f, 0.998476f, 0.998795f, 0.999078f, 0.999322f, 0.999529f,
|
||||
0.999699f, 0.999831f, 0.999925f, 0.999981f};
|
||||
|
||||
#endif
|
||||
@@ -1,17 +1,17 @@
|
||||
#include "Filter.h"
|
||||
#include "Can.h"
|
||||
#include "ang_sensor.h"
|
||||
#include "config.h"
|
||||
#include <algorithm>
|
||||
#include <cstring>
|
||||
#include <stdint.h>
|
||||
#include "config.h"
|
||||
|
||||
extern angle_sensor KTH7823;
|
||||
extern CAN_transmiter CAN0_transmiter;
|
||||
extern u32 system_runtime_us;
|
||||
extern u32 motor_runtime_50us;
|
||||
EncoderAngleKalman Angle_kalman(0, 1.0f, 1e-4f, 0.25f);
|
||||
EncoderVelocityKalman Vel_kalman(0, 1e-5f, 1e-6f, 0.02f);
|
||||
|
||||
|
||||
/*!
|
||||
\brief 中值滤波器函数
|
||||
\param[in] values 待滤波的数据数组
|
||||
@@ -126,10 +126,10 @@ float EncoderAngleKalman::getAngle() const { return kalman.getState(); }
|
||||
\retval 当前角度估计值 (degree)
|
||||
*/
|
||||
float EncoderAngleKalman::getVelocity() const {
|
||||
static u32 last_us100_counter = system_runtime_us;
|
||||
float vel = (kalman.getState() - last_angle) * 1e4 *
|
||||
(system_runtime_us - last_us100_counter);
|
||||
last_us100_counter = system_runtime_us;
|
||||
static u32 last_us50_counter = motor_runtime_50us;
|
||||
float vel = (kalman.getState() - last_angle) * TIMER2_FREQUENCY *
|
||||
(motor_runtime_50us - last_us50_counter);
|
||||
last_us50_counter = motor_runtime_50us;
|
||||
return vel;
|
||||
}
|
||||
|
||||
|
||||
Reference in New Issue
Block a user