168 lines
5.1 KiB
C
168 lines
5.1 KiB
C
/*
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限制器
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*/
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#include "limiter.h"
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#include "user_math.h"
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#include <math.h>
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#include <stddef.h>
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#define POWER_BUFF_THRESHOLD 20
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#define CHASSIS_POWER_CHECK_FREQ 10
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#define CHASSIS_POWER_FACTOR_PASS 0.9f
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#define CHASSIS_POWER_FACTOR_NO_PASS 1.5f
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#define CHASSIS_MOTOR_CIRCUMFERENCE 0.12f
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/**
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* @brief 限制底盘功率不超过power_limit
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*
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* @param power_limit 最大功率
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* @param motor_out 电机输出值
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* @param speed 电机转速
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* @param len 电机数量
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* @return int8_t 0对应没有错误
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*/
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int8_t PowerLimit_ChassicOutput(float power_limit, float *motor_out,
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float *speed, uint32_t len) {
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/* power_limit小于0时不进行限制 */
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if (motor_out == NULL || speed == NULL || power_limit < 0) return -1;
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float sum_motor_out = 0.0f;
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for (uint32_t i = 0; i < len; i++) {
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/* 总功率计算 P=F(由转矩电流表示)*V(由转速表示) */
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sum_motor_out +=
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fabsf(motor_out[i]) * fabsf(speed[i]) * CHASSIS_MOTOR_CIRCUMFERENCE;
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}
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/* 保持每个电机输出值缩小时比例不变 */
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if (sum_motor_out > power_limit) {
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for (uint32_t i = 0; i < len; i++) {
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motor_out[i] *= power_limit / sum_motor_out;
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}
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}
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return 0;
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}
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/**
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* @brief 电容输入功率计算
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*
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* @param power_in 底盘当前功率
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* @param power_limit 裁判系统功率限制值
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* @param power_buffer 缓冲能量
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* @return float 裁判系统输出最大值
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*/
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float PowerLimit_CapInput(float power_in, float power_limit,
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float power_buffer) {
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float target_power = 0.0f;
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/* 计算下一个检测周期的剩余缓冲能量 */
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float heat_buff = power_buffer - (float)(power_in - power_limit) /
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(float)CHASSIS_POWER_CHECK_FREQ;
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if (heat_buff < POWER_BUFF_THRESHOLD) { /* 功率限制 */
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target_power = power_limit * CHASSIS_POWER_FACTOR_PASS;
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} else {
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target_power = power_limit * CHASSIS_POWER_FACTOR_NO_PASS;
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}
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return target_power;
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}
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/**
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* @brief 使用缓冲能量计算底盘最大功率
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*
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* @param power_limit 裁判系统功率限制值
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* @param power_buffer 缓冲能量
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* @return float 底盘输出最大值
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*/
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float PowerLimit_TargetPower(float power_limit, float power_buffer) {
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float target_power = 0.0f;
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/* 根据剩余缓冲能量计算输出功率 */
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target_power = power_limit * (power_buffer - 10.0f) / 20.0f;
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if (target_power < 0.0f) target_power = 0.0f;
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return target_power;
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}
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/**
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* @brief 射击频率控制
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*
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* @param heat 当前热量
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* @param heat_limit 热量上限
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* @param cooling_rate 冷却速率
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* @param heat_increase 冷却增加
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* @param shoot_freq 经过热量限制后的射击频率
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* @return float 射击频率
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*/
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float HeatLimit_ShootFreq(float heat, float heat_limit, float cooling_rate,
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float heat_increase, bool is_big) {
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float heat_percent = heat / heat_limit;
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float stable_freq = cooling_rate / heat_increase;
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if (is_big)
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return stable_freq;
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else
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return (heat_percent > 0.7f) ? stable_freq : 3.0f * stable_freq;
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}
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/**
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* @brief 计算电机与IMU坐标系之间的偏差（处理跨越±π的情况）
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* @param motor_angle 电机角度
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* @param imu_angle IMU角度
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* @return 偏差值（已归一化到 -π ~ π）
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*/
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static float CalcMotorImuOffset(float motor_angle, float imu_angle) {
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float offset = motor_angle - imu_angle;
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if (offset > M_PI) offset -= M_2PI;
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if (offset < -M_PI) offset += M_2PI;
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return offset;
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}
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/**
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* @brief 圆周角度限位器 - 考虑电机与IMU坐标系偏差
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*/
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void CircleAngleLimit(float *setpoint, float motor_angle, float imu_angle,
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float limit_max, float limit_min, float range) {
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if (setpoint == NULL) return;
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/* 计算电机与IMU坐标系偏差 */
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float motor_imu_offset = CalcMotorImuOffset(motor_angle, imu_angle);
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/* 将IMU setpoint转换为电机角度后进行限位检查 */
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float motor_target = *setpoint + motor_imu_offset;
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/* 检查是否超过最大限位 */
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if (CircleError(motor_target, limit_max, range) > 0) {
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*setpoint = limit_max - motor_imu_offset;
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}
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/* 检查是否低于最小限位 */
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if (CircleError(motor_target, limit_min, range) < 0) {
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*setpoint = limit_min - motor_imu_offset;
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}
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}
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/**
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* @brief 圆周角度增量限位器 - 考虑电机与IMU坐标系偏差
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*/
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void CircleAngleDeltaLimit(float *delta, float setpoint, float motor_angle,
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float imu_angle, float limit_max, float limit_min,
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float range) {
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if (delta == NULL) return;
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/* 计算电机与IMU坐标系偏差 */
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float motor_imu_offset = CalcMotorImuOffset(motor_angle, imu_angle);
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/* 计算应用增量后在电机坐标系下的目标角度 */
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float motor_target_after_delta = setpoint + motor_imu_offset + *delta;
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/* 计算到限位边界的距离 */
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float delta_max = CircleError(limit_max, motor_target_after_delta, range);
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float delta_min = CircleError(limit_min, motor_target_after_delta, range);
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/* 限制增量 */
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if (*delta > delta_max) *delta = delta_max;
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if (*delta < delta_min) *delta = delta_min;
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}
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