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fix: 快速 IIR 斜率限幅参考改为 CAPVD_fast (同步 DLD154V4B)

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wangfq
2026-06-29 17:56:40 +08:00
parent 2aad8782a7
commit 0a5a640195
1 changed files with 16 additions and 6 deletions
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22
vd960Loop/utilities/at32f421_freertos_demo/src/TaskLoop.c
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@@ -449,15 +449,15 @@ void vd1_task_per_channel(Loop154_Unit *unit)
* - 用途: 进入/离开检测判定 * - 用途: 进入/离开检测判定
*================================================================*/ *================================================================*/
/* 1a. 慢速 IIR — 斜率限幅 */ /* 1a. 慢速 IIR — 斜率限幅（参考 CAPVD）*/
{ {
uint32_t fast_input; // 快速 IIR 的输入：限幅后的原始值，不经慢速 IIR 滞后 uint32_t fast_input;
if (unit->loop_CAPVD == 0) { if (unit->loop_CAPVD == 0) {
unit->loop_CAPVD = unit->loop_Value; unit->loop_CAPVD = unit->loop_Value;
fast_input = unit->loop_Value; fast_input = unit->loop_Value;
} else { } else {
/* 斜率限幅: 物理车辆不可能让频率瞬间跳变 > MAX_SLOPE_RATE% */ /*--- 慢速路径：斜率限幅参考 CAPVD (τ=135ms)，保护基线跟踪 ---*/
int32_t raw_delta = (int32_t)unit->loop_Value - (int32_t)unit->loop_CAPVD; int32_t raw_delta = (int32_t)unit->loop_Value - (int32_t)unit->loop_CAPVD;
int32_t max_step = (int32_t)(unit->loop_CAPVD * MAX_SLOPE_RATE / 100); int32_t max_step = (int32_t)(unit->loop_CAPVD * MAX_SLOPE_RATE / 100);
if (max_step < 100) max_step = 100; if (max_step < 100) max_step = 100;
@@ -465,11 +465,21 @@ void vd1_task_per_channel(Loop154_Unit *unit)
if (raw_delta < -max_step) raw_delta = -max_step; if (raw_delta < -max_step) raw_delta = -max_step;
uint32_t clamped_value = (uint32_t)((int32_t)unit->loop_CAPVD + raw_delta); uint32_t clamped_value = (uint32_t)((int32_t)unit->loop_CAPVD + raw_delta);
unit->loop_CAPVD = get_flt_value(clamped_value, unit->loop_CAPVD); unit->loop_CAPVD = get_flt_value(clamped_value, unit->loop_CAPVD);
fast_input = clamped_value;
/*--- 快速路径：斜率限幅参考 CAPVD_fast (τ=28ms)，限幅窗口随快速值扩展 ---*/
if (unit->loop_CAPVD_fast == 0) {
fast_input = clamped_value;
} else {
int32_t f_delta = (int32_t)unit->loop_Value - (int32_t)unit->loop_CAPVD_fast;
int32_t f_max = (int32_t)(unit->loop_CAPVD_fast * MAX_SLOPE_RATE / 100);
if (f_max < 100) f_max = 100;
if (f_delta > f_max) f_delta = f_max;
if (f_delta < -f_max) f_delta = -f_max;
fast_input = (uint32_t)((int32_t)unit->loop_CAPVD_fast + f_delta);
}
} }
/* 1b. 快速 IIR — α=0.5: (old + new) / 2 /* 1b. 快速 IIR — α=0.5: (old + new) / 2 */
* 输入直接用限幅后的原始值，不经过慢速 IIR，保持 τ≈28ms 的响应速度 */
if (unit->loop_CAPVD_fast == 0) { if (unit->loop_CAPVD_fast == 0) {
unit->loop_CAPVD_fast = fast_input; unit->loop_CAPVD_fast = fast_input;
} else { } else {