| 一直想搞一下四轴飞行器，不过总是么有时间，前段时间在家休息，好好研究一下四轴飞行器的PID算法。现在凑个热闹，分享传说中的串级PID，内环为角速度环，外环为角速度。整定PID参数的时候先调外环，再调内环。 |
#include "CONTROL.h"
#include "IMU1.h"
#include "moto.h"
#include "RFdate.h"
#include <math.h>
extern T_RC_Data Rc_D; //遥控通道数据;
extern u8 txbuf[4]; //发送缓冲
extern u8 rxbuf[4]; //接收缓冲
extern u16 test1[3]; //接收到NRf24L01数据
extern S_INT16_XYZ ACC_F,GYRO_F;
PID PID_ROL,PID_PIT,PID_YAW;
extern S_INT16_XYZ MPU6050_ACC_LAST,MPU6050_GYRO_LAST;
int Motor_Ele=0; //俯仰期望
int Motor_Ail=0; //横滚期望
//u8 ARMED = 0;
//float rol_i=0,pit_i=0,yaw_p=0;
float thr=0;
S_FLOAT_XYZ EXP_ANGLE ,DIF_ANGLE;
PID1 PID_Motor;
/*********************************/
float Pitch_i,Roll_i,Yaw_i; //积分项
float Pitch_old,Roll_old,Yaw_old; //角度保存
float Pitch_d,Roll_d,Yaw_d; //微分项
float RC_Pitch,RC_Roll,RC_Yaw; //姿态角
float Pitch_shell_out,Roll_shell_out,Yaw_shell_out;//外环总输出
//外环PID参数
float Pitch_shell_kp=280;//30 140
float Pitch_shell_kd=0;//
float Pitch_shell_ki=0;//
/*********************************/
float Roll_shell_kp=250;//30
float Roll_shell_kd=0;//10
float Roll_shell_ki=0;//0.08
/*********************************/
float Yaw_shell_kp=1.5;//10;//30
float Yaw_shell_kd=0;//10
float Yaw_shell_ki=0;//0.08;//0.08
float Gyro_radian_old_x,Gyro_radian_old_y,Gyro_radian_old_z;//陀螺仪保存
float pitch_core_kp_out,pitch_core_kd_out,Roll_core_kp_out,Roll_core_kd_out,Yaw_core_kp_out,Yaw_core_kd_out;//内环单项输出
float Pitch_core_out,Roll_core_out,Yaw_core_out;//内环总输出
//内环PID参数
//float Pitch_core_kp=0.040;
//float Pitch_core_kd=0.008;////0.007;//0.07;
float Pitch_core_kp=0.040;
float Pitch_core_kd=0.002;////0.007;//0.07;
float Roll_core_kp=0.040;//;
float Roll_core_kd=0.002;////0.007;//06;//0.07;
float Yaw_core_kp=0.046;//;
float Yaw_core_kd=0.012;////0.007;//06;//0.07;
int16_t moto1=0,moto2=0,moto3=0,moto4=0;
float tempjd=0;
void CONTROL(float rol, float pit, float yaw)
{
RC_Pitch=(Rc_D.PITCH-1500)/20;
////////////////////////外环角度环(PID)///////////////////////////////
Pitch_i+=(Q_ANGLE.Pitch-RC_Pitch);
//-------------Pitch积分限幅----------------//
if(Pitch_i>300) Pitch_i=300;
else if(Pitch_i<-300) Pitch_i=-300;
//-------------Pitch微分--------------------//
Pitch_d=Q_ANGLE.Pitch-Pitch_old;
//-------------Pitch PID-------------------//
Pitch_shell_out = Pitch_shell_kp*(Q_ANGLE.Pitch-RC_Pitch) + Pitch_shell_ki*Pitch_i + Pitch_shell_kd*Pitch_d;
//角度保存
Pitch_old=Q_ANGLE.Pitch;
/*********************************************************/
RC_Roll=(Rc_D.ROLL-1500)/20;
Roll_i+=(Q_ANGLE.Rool-RC_Roll);
//-------------Roll积分限幅----------------//
if(Roll_i>300) Roll_i=300;
else if(Roll_i<-300) Roll_i=-300;
//-------------Roll微分--------------------//
Roll_d=Q_ANGLE.Rool-Roll_old;
//-------------Roll PID-------------------//
Roll_shell_out = Roll_shell_kp*(Q_ANGLE.Rool-RC_Roll) + Roll_shell_ki*Roll_i + Roll_shell_kd*Roll_d;
//------------Roll角度保存------------------//
Roll_old=Q_ANGLE.Rool;
RC_Yaw=(Rc_D.YAW-1500)*10;
//-------------Yaw微分--------------------//
Yaw_d=MPU6050_GYRO_LAST.Z-Yaw_old;
//-------------Roll PID-------------------//
Yaw_shell_out = Yaw_shell_kp*(MPU6050_GYRO_LAST.Z-RC_Yaw) + Yaw_shell_ki*Yaw_i + Yaw_shell_kd*Yaw_d;
//------------Roll角度保存------------------//
Yaw_old=MPU6050_GYRO_LAST.Z;
////////////////////////内环角速度环(PD)///////////////////////////////
pitch_core_kp_out = Pitch_core_kp * (Pitch_shell_out + MPU6050_GYRO_LAST.Y * 3.5);
pitch_core_kd_out = Pitch_core_kd * (MPU6050_GYRO_LAST.Y - Gyro_radian_old_y);
Roll_core_kp_out = Roll_core_kp * (Roll_shell_out + MPU6050_GYRO_LAST.X *3.5);
Roll_core_kd_out = Roll_core_kd * (MPU6050_GYRO_LAST.X - Gyro_radian_old_x);
Yaw_core_kp_out = Yaw_core_kp * (Yaw_shell_out + MPU6050_GYRO_LAST.Z * 1);
Yaw_core_kd_out = Yaw_core_kd * (MPU6050_GYRO_LAST.Z - Gyro_radian_old_z);
Pitch_core_out = pitch_core_kp_out + pitch_core_kd_out;
Roll_core_out = Roll_core_kp_out + Roll_core_kd_out;
Yaw_core_out = Yaw_core_kp_out + Yaw_core_kd_out;
Gyro_radian_old_y = MPU6050_GYRO_LAST.X;
Gyro_radian_old_x = MPU6050_GYRO_LAST.Y;
Gyro_radian_old_z = MPU6050_GYRO_LAST.Z; //储存历史值
//--------------------将输出值融合到四个电机--------------------------------//
if(Rc_D.THROTTLE>1020)
{
thr=Rc_D.THROTTLE- 1000;
// if(Rc_D.THROTTLE<=2000)
// {
// moto1=(int16_t)(thr - Pitch_core_out);//- yaw);
// moto2=(int16_t)(thr - Pitch_core_out);//+ yaw);
// moto3=(int16_t)(thr + Pitch_core_out);// - yaw);
// moto4=(int16_t)(thr + Pitch_core_out);//+ yaw);
// moto1=(int16_t)(thr - Roll_core_out);//- yaw);
// moto2=(int16_t)(thr + Roll_core_out);//+ yaw);
// moto3=(int16_t)(thr + Roll_core_out);// - yaw);
// moto4=(int16_t)(thr - Roll_core_out);//+ yaw);
// moto1=(int16_t)(thr - Yaw_core_out);//- yaw);
// moto2=(int16_t)(thr + Yaw_core_out);//+ yaw);
// moto3=(int16_t)(thr - Yaw_core_out);// - yaw);
// moto4=(int16_t)(thr + Yaw_core_out);//+ yaw);
//moto1=(int16_t)(thr - Roll_core_out - Pitch_core_out);
//moto2=(int16_t)(thr + Roll_core_out - Pitch_core_out);
//moto3=(int16_t)(thr + Roll_core_out + Pitch_core_out);
//moto4=(int16_t)(thr - Roll_core_out + Pitch_core_out);
//
moto1=(int16_t)(thr - Roll_core_out - Pitch_core_out- Yaw_core_out);
moto2=(int16_t)(thr + Roll_core_out - Pitch_core_out+ Yaw_core_out);
moto3=(int16_t)(thr + Roll_core_out + Pitch_core_out- Yaw_core_out);
moto4=(int16_t)(thr - Roll_core_out + Pitch_core_out+ Yaw_core_out);
// }
}
else
{
moto1 = 0;
moto2 = 0;
moto3 = 0;
moto4 = 0;
}
MOTO_PWMRFLASH(moto1,moto2,moto3,moto4);// Moto_PwmRflash(moto1,moto2,moto3,moto4);
}