2014 sift
/
TVDctrller2017_brdRev1_PandA
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TVDctrller2017_brdRev1_ver6
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2014 sift
Diff: TVDCTRL.cpp
- Revision:
- 57:02b7178cd083
- Parent:
- 56:78bd99bf995a
- Child:
- 58:ac3d182732c9
diff -r 78bd99bf995a -r 02b7178cd083 TVDCTRL.cpp
--- a/TVDCTRL.cpp Mon Jan 08 10:21:11 2018 +0000
+++ b/TVDCTRL.cpp Tue Jan 09 06:14:28 2018 +0000
@@ -622,8 +622,9 @@
//Constant variables
const double TGT_SLIP_RATIO = 0.3;
const double TGT_VEHICLE_SPEED = 20.0 / 3.6; //この車速相当の回転数まで空転を制限する
- const double CTRL_START_VEHICLE_SPEED = 0.0 / 3.6; //トラコンONとなる車速[m/s]
- const double KP = 10.0;
+ const double CTRL_START_VEHICLE_SPEED = 10.0 / 3.6; //トラコンONとなる車速[m/s]
+ const double STRAIGHT_ROAD_THRESHOLD = 200.0; //直進判定閾値
+ const double KP = 20.0;
const double KI = 0.0;
const double KD = 0.0;
//------------------------------
@@ -635,6 +636,7 @@
static double e[2][2] = {0.0}; //1つ前の偏差まで保持
static double integral = 0.0;
double tmpTcsMotorTrq; //
+ bool straightFlag = false;
wheelRpsRR = getWheelRps(RR_MOTOR);
wheelRpsRL = getWheelRps(RL_MOTOR);
@@ -642,30 +644,42 @@
steeringAngle = getSteerAngle()/127.0 * M_PI*STEER_RATIO; //実舵角取得
Vb = getVelocity(); //前輪回転方向における車速換算値
- Vb = 15.0/3.6;
+// Vb = 15.0/3.6;
R = mySign(steeringAngle) * (1.0 + A*Vb*Vb) * WHEEL_BASE/myMax(myAbs(steeringAngle), 0.001); //理論旋回半径取得
-
- if(myAbs(R) < 1.0)
- R = mySign(steeringAngle) * 1.0;
- if(myAbs(R) > 100.0)
- R = mySign(steeringAngle) * 100.0;
+
+ if(myAbs(R) < 1.0) //旋回半径の最小値
+ R = mySign(steeringAngle) * 1.0; //旋回半径最小値設定
+ if(myAbs(R) > STRAIGHT_ROAD_THRESHOLD) { //直進判定
+ R = mySign(steeringAngle) * STRAIGHT_ROAD_THRESHOLD; //旋回半径設定
+ straightFlag = true; //直進判定フラグON
+ } else {
+ straightFlag = false;
+ }
for (int rlFlag = 0; rlFlag < 2; rlFlag++) {
+ if(straightFlag == true) {
+ Vbw = Vb; //対地車速設定[m/s]
+ } else {
+ if(rlFlag == 0) {
+ Vbw = Vb*(1.0 + TREAD/(2.0*R)); //旋回半径を考慮した対地車速設定[m/s]
+ } else {
+ Vbw = Vb*(1.0 - TREAD/(2.0*R)); //旋回半径を考慮した対地車速設定[m/s
+ }
+ }
+
if(rlFlag == 0) {
- Vbw = Vb*(1.0 + TREAD/(2.0*R)); //トレッドを考慮した従動輪速度[m/s]
Vw = 0.5*TIRE_DIAMETER*2.0*M_PI*wheelRpsRR; //駆動輪速度[m/s]
} else {
- Vbw = Vb*(1.0 - TREAD/(2.0*R)); //トレッドを考慮した従動輪速度[m/s
Vw = 0.5*TIRE_DIAMETER*2.0*M_PI*wheelRpsRL; //駆動輪速度[m/s]
}
if(Vb < CTRL_START_VEHICLE_SPEED) { //対地車速が一定値より小さい場合(停車状態)
e[rlFlag][0] = TGT_VEHICLE_SPEED - Vw; //空転抑制制御
} else {
- e[rlFlag][0] = Vbw/(1.0 - TGT_SLIP_RATIO) - Vw; //現在の偏差取得(目標スリップ率における車輪速と駆動輪速度の差分)
+ e[rlFlag][0] = Vbw/(1.0 - TGT_SLIP_RATIO) - Vw; //現在の偏差取得(目標スリップ率における車輪速と駆動輪速度の差分)
}
-
+
integral = integral + (e[rlFlag][0] + e[rlFlag][1]);
lastMotorTrq[rlFlag] = KP * e[rlFlag][0] + KI*integral + KD*(e[rlFlag][1] - e[rlFlag][0]); //PIDコントローラへどーーーん
e[rlFlag][1] = e[rlFlag][0];
@@ -679,27 +693,25 @@
for (int rlFlag = 0; rlFlag < 2; rlFlag++) {
if(outputTrq[rlFlag] > 45.0)
outputTrq[rlFlag] = 45.0;
- if(outputTrq[rlFlag] < -10.0)
- outputTrq[rlFlag] = -10.0;
+ if(outputTrq[rlFlag] < 0.0)
+ outputTrq[rlFlag] = 0.0;
}
-// if(myAbs(e[0][0]) > myAbs(e[1][1])) { //右輪の空転が大きい場合
-// tmpTcsMotorTrq = outputTrq[1] * (ALPHA-1.0)/(ALPHA+1.0);
-// if(tmpTcsMotorTrq > outputTrq[0]) //空転輪側車軸トルクを下げ過ぎていた場合
-// if(reqMotorTrq[0] > tmpTcsMotorTrq)
-// outputTrq[0] = tmpTcsMotorTrq; //右車軸トルクを0へ制限
-// } else if(myAbs(e[0][0]) < myAbs(e[1][1])) { //左輪の空転が大きい場合
-// tmpTcsMotorTrq = outputTrq[0] * (ALPHA-1.0)/(ALPHA+1.0);
-// if(tmpTcsMotorTrq > outputTrq[1]) //空転輪側車軸トルクを下げ過ぎていた場合
-// if(reqMotorTrq[1] > tmpTcsMotorTrq)
-// outputTrq[1] = tmpTcsMotorTrq; //左車軸トルクを0へ制限
-// }
+ if(myAbs(e[0][0]) > myAbs(e[1][1])) { //右輪の空転が大きい場合
+ tmpTcsMotorTrq = outputTrq[1] * (ALPHA-1.0)/(ALPHA+1.0);
+ if(tmpTcsMotorTrq > outputTrq[0]) //空転輪側車軸トルクを下げ過ぎていた場合
+ if(reqMotorTrq[0] > tmpTcsMotorTrq)
+ outputTrq[0] = tmpTcsMotorTrq; //右車軸トルクを0へ制限
+ } else if(myAbs(e[0][0]) < myAbs(e[1][1])) { //左輪の空転が大きい場合
+ tmpTcsMotorTrq = outputTrq[0] * (ALPHA-1.0)/(ALPHA+1.0);
+ if(tmpTcsMotorTrq > outputTrq[1]) //空転輪側車軸トルクを下げ過ぎていた場合
+ if(reqMotorTrq[1] > tmpTcsMotorTrq)
+ outputTrq[1] = tmpTcsMotorTrq; //左車軸トルクを0へ制限
+ }
for (int rlFlag = 0; rlFlag < 2; rlFlag++) {
-// if(e[rlFlag][0] < 0.0) //駆動時のみ制御ON
- i_motorTrq[rlFlag] = (int)(outputTrq[rlFlag] / LSB_MOTOR_TORQUE + 0.5);
+ i_motorTrq[rlFlag] = (int)(outputTrq[rlFlag] / LSB_MOTOR_TORQUE + 0.5);
}
-// printf("%f %f\r\n", outputTrq[0], outputTrq[1]);
}
void driveTVD(int TVDmode, bool isRedyToDrive)