From 2aad8782a707e0665fd479ded00a3450aa8e993f Mon Sep 17 00:00:00 2001
From: wangfq <wangfq@collectpublish.net>
Date: Mon, 29 Jun 2026 17:27:11 +0800
Subject: [PATCH] =?UTF-8?q?fix:=20=E5=BF=AB=E9=80=9F=20IIR=20=E8=BE=93?=
 =?UTF-8?q?=E5=85=A5=E6=94=B9=E4=B8=BA=E9=99=90=E5=B9=85=E5=90=8E=E5=8E=9F?=
 =?UTF-8?q?=E5=A7=8B=E5=80=BC=20(=E5=90=8C=E6=AD=A5=20DLD154V4B)?=
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---
 .../at32f421_freertos_demo/src/TaskLoop.c     | 44 ++++++++++---------
 1 file changed, 24 insertions(+), 20 deletions(-)

diff --git a/vd960Loop/utilities/at32f421_freertos_demo/src/TaskLoop.c b/vd960Loop/utilities/at32f421_freertos_demo/src/TaskLoop.c
index a6c58b2..cbd9198 100644
--- a/vd960Loop/utilities/at32f421_freertos_demo/src/TaskLoop.c
+++ b/vd960Loop/utilities/at32f421_freertos_demo/src/TaskLoop.c
@@ -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;