修改其它几个机型的速度环PID参数。

MDK-ARM/QD007A_CTL_APP.uvprojx

@@ -14,8 +14,6 @@
         <TargetCommonOption>
           <Device>STM32F103RB</Device>
           <Vendor>STMicroelectronics</Vendor>
-          <PackID>Keil.STM32F1xx_DFP.1.1.0</PackID>
-          <PackURL>http://www.keil.com/pack/</PackURL>
           <Cpu>IROM(0x08000000,0x20000) IRAM(0x20000000,0x5000) CPUTYPE("Cortex-M3") CLOCK(12000000) ELITTLE</Cpu>
           <FlashUtilSpec></FlashUtilSpec>
           <StartupFile></StartupFile>
@@ -84,8 +82,6 @@
             <UserProg2Name>.\crc_gen_keil.bat</UserProg2Name>
             <UserProg1Dos16Mode>0</UserProg1Dos16Mode>
             <UserProg2Dos16Mode>0</UserProg2Dos16Mode>
-            <nStopA1X>0</nStopA1X>
-            <nStopA2X>0</nStopA2X>
           </AfterMake>
           <SelectedForBatchBuild>0</SelectedForBatchBuild>
           <SVCSIdString></SVCSIdString>
@@ -129,7 +125,7 @@
             <LoadApplicationAtStartup>1</LoadApplicationAtStartup>
             <RunToMain>1</RunToMain>
             <RestoreBreakpoints>1</RestoreBreakpoints>
-            <RestoreWatchpoints>1</RestoreWatchpoints>
+            <RestoreWatchpoints>0</RestoreWatchpoints>
             <RestoreMemoryDisplay>1</RestoreMemoryDisplay>
             <RestoreFunctions>1</RestoreFunctions>
             <RestoreToolbox>1</RestoreToolbox>
@@ -147,9 +143,10 @@
             <RestoreToolbox>1</RestoreToolbox>
             <RestoreTracepoints>1</RestoreTracepoints>
             <RestoreSysVw>1</RestoreSysVw>
+            <UsePdscDebugDescription>1</UsePdscDebugDescription>
           </Target>
           <RunDebugAfterBuild>0</RunDebugAfterBuild>
-          <TargetSelection>12</TargetSelection>
+          <TargetSelection>6</TargetSelection>
           <SimDlls>
             <CpuDll></CpuDll>
             <CpuDllArguments></CpuDllArguments>
@@ -163,7 +160,7 @@
             <PeripheralDll></PeripheralDll>
             <PeripheralDllArguments></PeripheralDllArguments>
             <InitializationFile></InitializationFile>
-            <Driver>BIN\CMSIS_AGDI.dll</Driver>
+            <Driver>Segger\JL2CM3.dll</Driver>
           </TargetDlls>
         </DebugOption>
         <Utilities>
@@ -363,8 +360,6 @@
             <uSurpInc>0</uSurpInc>
             <uC99>1</uC99>
             <useXO>0</useXO>
-            <v6Lang>0</v6Lang>
-            <v6LangP>0</v6LangP>
             <VariousControls>
               <MiscControls></MiscControls>
               <Define>USE_HAL_DRIVER,STM32F103xB,PEGASI_48V</Define>

User/Src/MC_PID_regulators.c

@@ -100,10 +100,10 @@ const PID_Struct_t PID_MotorSpd_Volans =
   (int16_t)0,           //hKd_Gain
   (uint16_t)1024,       //hKd_Divisor
   (int32_t)0,           //wPreviousError
-  (int32_t)-1050,       //hLower_Limit_Output
+  (int32_t)-100,        //hLower_Limit_Output
   (int32_t)1050,        //hUpper_Limit_Output
-  (int32_t)-358400,     //wLower_Limit_Integral
-  (int32_t)358400,      //wUpper_Limit_Integral
+  (int32_t)-102400,     //wLower_Limit_Integral
+  (int32_t)1075200,      //wUpper_Limit_Integral
   (int32_t)0            //wIntegral
 };
 
@@ -197,10 +197,10 @@ const PID_Struct_t PID_MotorSpd_Volans_Plus =
   (int16_t)0,           //hKd_Gain
   (uint16_t)1024,       //hKd_Divisor
   (int32_t)0,           //wPreviousError
-  (int32_t)-1050,       //hLower_Limit_Output
+  (int32_t)-100,        //hLower_Limit_Output
   (int32_t)1050,        //hUpper_Limit_Output
-  (int32_t)-358400,     //wLower_Limit_Integral
-  (int32_t)358400,      //wUpper_Limit_Integral
+  (int32_t)-102400,     //wLower_Limit_Integral
+  (int32_t)1075200,      //wUpper_Limit_Integral
   (int32_t)0            //wIntegral
 };
 
@@ -294,10 +294,10 @@ const PID_Struct_t PID_MotorSpd_Pegasi =
   (int16_t)0,           //hKd_Gain
   (uint16_t)1024,       //hKd_Divisor
   (int32_t)0,           //wPreviousError
-  (int32_t)-100,       //hLower_Limit_Output
+  (int32_t)-100,        //hLower_Limit_Output
   (int32_t)1050,        //hUpper_Limit_Output
-  (int32_t)-358400,     //wLower_Limit_Integral
-  (int32_t)358400,      //wUpper_Limit_Integral
+  (int32_t)-102400,     //wLower_Limit_Integral
+  (int32_t)1075200,      //wUpper_Limit_Integral
   (int32_t)0            //wIntegral
 };