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fix: 快速 IIR 输入改为限幅后原始值 (同步 DLD154V4B)

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wangfq
2026-06-29 17:27:11 +08:00
parent 918287d9da
commit 2aad8782a7
1 changed files with 24 additions and 20 deletions
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44
vd960Loop/utilities/at32f421_freertos_demo/src/TaskLoop.c
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@@ -450,28 +450,32 @@ void vd1_task_per_channel(Loop154_Unit *unit)
*================================================================*/
/* 1a. 慢速 IIR — 斜率限幅 */
if (unit->loop_CAPVD == 0) {
unit->loop_CAPVD = unit->loop_Value;
unit->loop_CAPVD_fast = unit->loop_Value;
} else {
/* 斜率限幅: 物理车辆不可能让频率瞬间跳变 > MAX_SLOPE_RATE% */
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);
if (max_step < 100) max_step = 100;
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);
unit->loop_CAPVD = get_flt_value(clamped_value, unit->loop_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
/* 1b. 快速 IIR — α=0.5: (old + new) / 2 */
if (unit->loop_CAPVD_fast == 0) {
unit->loop_CAPVD_fast = unit->loop_CAPVD; // 首次直接锁定
} else {
unit->loop_CAPVD_fast = (unit->loop_CAPVD_fast + unit->loop_CAPVD) / 2;
}
if (unit->loop_CAPVD == 0) {
unit->loop_CAPVD = unit->loop_Value;
fast_input = unit->loop_Value;
} else {
/* 斜率限幅: 物理车辆不可能让频率瞬间跳变 > MAX_SLOPE_RATE% */
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);
if (max_step < 100) max_step = 100;
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);
unit->loop_CAPVD = get_flt_value(clamped_value, unit->loop_CAPVD);
fast_input = clamped_value;
}
/*--- 2. 稳定期：绕过 IIR 和斜率限幅，直接用 Value 快速收敛 (V2.2) ---*/
/* 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) {
unit->loop_CAPVD_fast = fast_input;
} else {
unit->loop_CAPVD_fast = (unit->loop_CAPVD_fast + fast_input) / 2;
}
}
if (!unit->loop_stable) {
unit->loop_CAPVD = unit->loop_Value;
unit->loop_CAPVD_fast = unit->loop_Value;