RMUL2025/User/component/limiter.c

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2025-03-09 17:26:17 +08:00
/*
*/
#include "limiter.h"
#include <math.h>
#include <stddef.h>
#define POWER_BUFF_THRESHOLD 20
#define CHASSIS_POWER_CHECK_FREQ 10
#define CHASSIS_POWER_FACTOR_PASS 0.9f
#define CHASSIS_POWER_FACTOR_NO_PASS 1.5f
#define CHASSIS_MOTOR_CIRCUMFERENCE 0.12f
/**
* @brief power_limit
*
* @param power_limit
* @param motor_out
* @param speed
* @param len
* @return int8_t 0
*/
int8_t PowerLimit_ChassicOutput(float power_limit, float *motor_out,
float *speed, uint32_t len) {
/* power_limit小于0时不进行限制 */
if (motor_out == NULL || speed == NULL || power_limit < 0) return -1;
float sum_motor_out = 0.0f;
for (uint32_t i = 0; i < len; i++) {
/* 总功率计算 P=F(由转矩电流表示)*V(由转速表示) */
sum_motor_out +=
fabsf(motor_out[i]) * fabsf(speed[i]) * CHASSIS_MOTOR_CIRCUMFERENCE;
}
/* 保持每个电机输出值缩小时比例不变 */
if (sum_motor_out > power_limit) {
for (uint32_t i = 0; i < len; i++) {
motor_out[i] *= power_limit / sum_motor_out;
}
}
return 0;
}
/**
* @brief
*
* @param power_in
* @param power_limit
* @param power_buffer
* @return float
*/
float PowerLimit_CapInput(float power_in, float power_limit,
float power_buffer) {
float target_power = 0.0f;
/* 计算下一个检测周期的剩余缓冲能量 */
float heat_buff = power_buffer - (float)(power_in - power_limit) /
(float)CHASSIS_POWER_CHECK_FREQ;
if (heat_buff < POWER_BUFF_THRESHOLD) { /* 功率限制 */
target_power = power_limit * CHASSIS_POWER_FACTOR_PASS;
} else {
target_power = power_limit * CHASSIS_POWER_FACTOR_NO_PASS;
}
return target_power;
}
/**
* @brief 使
*
* @param power_limit
* @param power_buffer
* @return float
*/
float PowerLimit_TargetPower(float power_limit, float power_buffer) {
float target_power = 0.0f;
/* 根据剩余缓冲能量计算输出功率 */
target_power = power_limit * (power_buffer - 10.0f) / 20.0f;
if (target_power < 0.0f) target_power = 0.0f;
return target_power;
}
/**
* @brief
*
* @param heat
* @param heat_limit
* @param cooling_rate
* @param heat_increase
* @param shoot_freq
* @return float
*/
float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate,
float heat_increase, bool is_big) {
float heat_percent = heat / heat_limit;
float stable_freq = cooling_rate / heat_increase;
if (is_big)
return stable_freq;
else
return (heat_percent > 0.7f) ? stable_freq : 3.0f * stable_freq;
}