102 lines
2.0 KiB
C
102 lines
2.0 KiB
C
/*
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滑膜相关命令
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*/
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#pragma once
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdint.h>
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#include <string.h>
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#include "component/user_math.h"
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/* USER INCLUDE BEGIN */
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/* USER INCLUDE END */
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/* 趋近率选择（滑模面求导） */
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typedef enum {
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EXPONENT,
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POWER,
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TFSMC,
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VELSMC,
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EISMC
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} Smc_mode;
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typedef struct {
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float tar_now;//当前目标值
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float tar_last;//上一次目标值
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float tar_differential;//目标值一阶导
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float tar_differential_last;//上一次目标值一阶导
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float tar_differential_second;//目标值二阶导
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float now_get;//当前
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// float p_error;//位置误差
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float error;//速度误差（位置误差一阶导）
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float error_integral;//误差积分
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// float v_error_integral;//速度误差积分
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float error_integral_max; //积分限幅
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float error_eps; //误差精度
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// float vol_error_eps; //误差精度
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float error_last;
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}Error;
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typedef struct {
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/* 输出限幅 */
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float u_max;
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float J;
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float limit; //饱和函数上下限
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/* 控制器的增益K */
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float K;
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/* 趋于o的速度 */
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float c;
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float c1; //EIsmc参数
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float c2; //EIsmc参数
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float p; //tfsmc参数，正奇数 p>q
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float q; //tfsmc参数，正奇数
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float beta; //tfsmc参数，正数
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float epsilon; //ε噪声上限
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}SlidingParam;
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typedef struct {
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float fun; //控制器输出
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float u; //控制器输出
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float s; //滑模面计算储存
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SlidingParam *param;
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SlidingParam *param_last;
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Smc_mode mode;
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Error position;
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Error velocity;
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float s1,s2,s3,s4;
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}Sliding;
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void SMC_Reset(Sliding *s);
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void SMC_Init(Sliding *s,Smc_mode mode,SlidingParam *param);
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void SMC_PErrorUpdate(Sliding *s,float target, float pos_now, float vol_now,float target_freq);
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void SMC_VErrorUpdate(Sliding *s,float target,float vol_now,float target_freq);
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float Smc_Calc(Sliding *s);
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/* USER DEFINE BEGIN */
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/* USER DEFINE END */
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#ifdef __cplusplus
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}
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#endif |