角度环串联角速度环代码
时间: 2024-05-13 13:12:33 浏览: 26
角度环串联角速度环是一种常见的控制算法,其实现原理是通过控制机器人关节的角度和角速度来达到精准的控制效果。下面是一个简单的角度环串联角速度环的伪代码实现:
```
// 定义角度环的PID控制器参数
float angle_Kp = 0.5;
float angle_Ki = 0.1;
float angle_Kd = 0.2;
// 定义角速度环的PID控制器参数
float speed_Kp = 0.3;
float speed_Ki = 0.2;
float speed_Kd = 0.1;
// 初始化PID控制器
float angle_err, angle_last_err, angle_int_err, angle_derivative_err;
float speed_err, speed_last_err, speed_int_err, speed_derivative_err;
float angle_output, speed_output;
float desired_angle, desired_speed, current_angle, current_speed;
while(1) {
// 读取期望角度和期望角速度以及当前角度和当前角速度
desired_angle = read_desired_angle();
desired_speed = read_desired_speed();
current_angle = read_current_angle();
current_speed = read_current_speed();
// 计算角度环的误差和控制输出
angle_err = desired_angle - current_angle;
angle_int_err += angle_err;
angle_derivative_err = angle_err - angle_last_err;
angle_output = angle_Kp * angle_err + angle_Ki * angle_int_err + angle_Kd * angle_derivative_err;
angle_last_err = angle_err;
// 计算角速度环的误差和控制输出
speed_err = desired_speed - current_speed;
speed_int_err += speed_err;
speed_derivative_err = speed_err - speed_last_err;
speed_output = speed_Kp * speed_err + speed_Ki * speed_int_err + speed_Kd * speed_derivative_err;
speed_last_err = speed_err;
// 将角度环的输出作为角速度环的输入
set_speed_reference(angle_output);
// 将角速度环的输出作为电机控制信号输出
set_motor_output(speed_output);
}
```