348 lines
12 KiB
C#
348 lines
12 KiB
C#
using System;
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using System.Collections.Generic;
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using System.Text;
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namespace Plane.CopterControllers
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{
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class GuidController
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{
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static float fabsf(float vvalue)
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{
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return Math.Abs(vvalue);
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}
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static float sqrt(float vvalue)
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{
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return (float)Math.Sqrt(vvalue);
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}
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/// <summary>
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/// 计算小航点飞行
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/// </summary>
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/// <param name="Distance"></param>
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/// <param name="fc_acc"></param>
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/// <param name="fc_maxspeed"></param>
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/// <returns></returns>
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//单算减速，不算加速的最小飞行时间
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static float getMinfligthtime_v2(float Distance, float fc_acc, float fc_maxspeed)
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{
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float fDis = fabsf(Distance); // 总距离
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float facc = fabsf(fc_acc); // 减速度
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// 物体开始时即以最大速度运动，不考虑加速过程
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float vel = fc_maxspeed;
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// 计算减速所需的时间和距离
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// 减速时间 (从最大速度减速到0)
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float dectime = vel / facc;
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// 减速阶段覆盖的距离
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float decdis = (vel * dectime) - (0.5f * facc * dectime * dectime);
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// 判断是否有足够的距离进行减速
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if (decdis >= fDis)
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{
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// 如果减速所需距离已经超过或等于总距离，调整最大速度
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// 使用公式 v^2 = u^2 + 2as 解出 v
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vel = (float)Math.Sqrt(2 * facc * fDis);
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// 重新计算减速时间
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dectime = vel / facc;
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}
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// 计算匀速阶段时间
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float unftime = 0.0f;
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if (decdis < fDis)
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{
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// 如果有剩余距离进行匀速运动
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unftime = (fDis - decdis) / vel;
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}
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// 总飞行时间 = 匀速阶段时间 + 减速阶段时间
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return unftime + dectime;
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}
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//单算减速，不算加速的最大飞行速度
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public static float CalculateMaximumVelocity(float distance, float time, float acceleration)
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{
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// 二次方程系数
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float a_coeff = 1;
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float b_coeff = -2 * time;
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float c_coeff = (2 * distance) / acceleration;
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// 计算判别式
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float discriminant = b_coeff * b_coeff - 4 * a_coeff * c_coeff;
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if (discriminant < 0)
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{
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return -1; // 无实数解
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}
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// 计算二次方程的根
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float t1_root1 = (-b_coeff + (float)Math.Sqrt(discriminant)) / (2 * a_coeff);
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float t1_root2 = (-b_coeff - (float)Math.Sqrt(discriminant)) / (2 * a_coeff);
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// 选择合理的根作为 t1
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float t1 = Math.Min(t1_root1, t1_root2);
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if (t1 < 0 || t1 > time)
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{
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return -1; // 无合理解
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}
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// 计算最大速度 v
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return acceleration * t1;
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}
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//单算加速，不算减速的距离速度计算
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static float getspeeddist_V2(float flight_time, float Distance, float curr_time, float fc_acc, float fc_maxspeed, out float vdist, out float vspeed)
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{
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vdist = 0;
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vspeed = 0;
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float desV = CalculateMaximumVelocity(Distance, flight_time, fc_acc);
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if ((desV == -1) || (desV > fc_maxspeed)) //飞不到
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{
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vspeed = Distance / flight_time;
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vdist = vspeed * curr_time; //匀速距离
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return 0;
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}
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float dect = desV / fc_acc; // 总加速时间
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float unit = flight_time - dect; //匀速段时间
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float decD = (fc_acc * dect * dect) / 2; //总加速距离
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if (dect > flight_time) dect = flight_time;//约束时间
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if (curr_time > dect) //大于加速段时间--匀速
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{
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vspeed = (Distance - decD) / (flight_time - dect);
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vdist = vspeed * (curr_time - dect);
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vdist = vdist + decD; //总距离=匀速距离+减速距离
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if (vdist > Distance) vdist = Distance; //约束距离
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}
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else //加速段
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{
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vspeed = fc_acc * curr_time;
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vdist = (fc_acc * curr_time * curr_time) / 2; //加速距离
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}
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return 0;
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}
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//单算减速，不算加速的距离速度计算
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static float getspeeddist_V3(float flight_time, float Distance, float curr_time, float fc_acc, float fc_maxspeed, out float vdist, out float vspeed)
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{
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vdist = 0;
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vspeed = 0;
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float desV = CalculateMaximumVelocity(Distance, flight_time, fc_acc);
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if ((desV == -1) || (desV > fc_maxspeed)) //飞不到
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{
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vspeed = Distance / flight_time;
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vdist = vspeed * curr_time; //匀速距离
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return 0;
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}
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float dect = desV / fc_acc; // 总减速时间
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float unit = flight_time - dect; //匀速段时间
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float decD = desV * dect - (fc_acc * dect * dect) / 2; //总减速距离
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if (dect > flight_time) dect = flight_time;//约束时间
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//匀速时间内
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if (curr_time < unit)
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{
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vspeed = (Distance - decD) / (flight_time - dect);
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vdist = vspeed * curr_time;
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}
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else
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{
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if (((flight_time - dect) * unit) == 0)
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vdist = 0;
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else
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vdist = (Distance - decD) / (flight_time - dect) * unit; //匀速距离
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float currdect = curr_time - unit; //减速时间
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if (currdect >= 0)
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{
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vspeed = desV - fc_acc * currdect;
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decD = desV * currdect - (fc_acc * currdect * currdect) / 2; //减速距离
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}
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vdist = vdist + decD; //总距离=匀速距离+减速距离
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if (vdist > Distance) vdist = Distance; //约束距离
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}
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return 0;
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}
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static float getMinfligthtime(float Distance, float fc_acc, float fc_maxspeed)
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{
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float fDis = fabsf(Distance);
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float facc = fabsf(fc_acc);
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float realflytime = 0.0f;
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//计算一半的距离
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float hafdis = (fDis / 2);
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//计算最大速度
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float vel = (float)sqrt(2 * facc * hafdis);
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//如果速度超过最大速度
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if (vel > fc_maxspeed)
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//使用最大速度
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vel = fc_maxspeed;
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//加速时间
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float acctim = vel / facc;
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//加速距离
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float accdis = vel * vel / (2 * facc);
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//匀速段时间
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float vtime = (hafdis - accdis) / vel;
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//到一半的时间
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float haftime = acctim + vtime;
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realflytime = haftime * 2;
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return realflytime;
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}
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///计算飞行距离和速度 单位--米，秒----
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//返回 整个距离最大飞行速度
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///flight_time 总飞行时间 Distance 飞行总距离 curr_time 当前飞行时间 fc_acc加速度, fc_maxspeed最大速度 vdist 计算的应该飞的距离 vspeed 计算的当前时间应该速度
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//========这是飞控正在使用的算法========
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static float getspeeddist_V1(float flight_time, float Distance, float curr_time, float fc_acc, float fc_maxspeed, out float vdist, out float vspeed)
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{
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//计划飞行时间
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float plan_flytime = flight_time;
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//计算距离用绝对值
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float fDis = fabsf(Distance);
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if (curr_time < 0)
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{
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vdist = 0;
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vspeed = 0;
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return 0.0f;
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}
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//导航加速度 米/秒*秒 ---不使用导航库
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float wpacc = fabsf(fc_acc);// g.fc_acc_xy;//1.5;
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//最大目标速度---米/秒
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float desired_velocity = 0;
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float dist = 0;
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//
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float speed = 0;
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//计算最小飞行时间
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float minflytime = getMinfligthtime(Distance, fc_acc, fc_maxspeed);
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if (flight_time < minflytime)
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plan_flytime = minflytime;// + 0.1f;
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//根据总飞行时间和总距离计算飞行速度----起始和结束速度都是0，中间按匀加速和匀减速计算，没考虑加加速度
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float delta = (0.5f * plan_flytime) * (0.5f * plan_flytime) - fDis / wpacc;
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if (delta >= 0)
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{
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desired_velocity = (0.5f * plan_flytime - sqrt(delta)) / (1 / wpacc);
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if (desired_velocity > fc_maxspeed)
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{
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plan_flytime = minflytime;
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desired_velocity = fc_maxspeed;
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}
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}
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else
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{
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desired_velocity = (0.5f * plan_flytime) / (1 / wpacc);
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}
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if (desired_velocity < 0.2f) desired_velocity = 0.2f; //限制最小速度0.2米/秒
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if (desired_velocity > fc_maxspeed) desired_velocity = fc_maxspeed;//限制最大速度10米/秒，应该参数化
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//计算实时速度
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if (curr_time <= (plan_flytime / 2.0))
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speed = curr_time * wpacc;
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else
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//需要减速
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speed = (plan_flytime - curr_time) * wpacc;
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//不能大于目标速度
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if (speed > desired_velocity)
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speed = desired_velocity;
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if (speed <= 0)
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speed = 0;
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vspeed = speed;
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//计算实时距离
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float V_start = 0.0f;
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float V_end = 0.0f;
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//加速段
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float t1 = (desired_velocity - V_start) / wpacc;
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//减速段
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float t3 = (desired_velocity - V_end) / wpacc;
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//平飞段
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float t2 = plan_flytime - t1 - t3;
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if (curr_time < t1)
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{
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dist = 0.5f * wpacc * curr_time * curr_time + curr_time * V_start;
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}
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else if (curr_time < t1 + t2)
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{
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dist = -0.5f * wpacc * t1 * t1 + (curr_time) * desired_velocity;
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}
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else
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{
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float t = curr_time - t1 - t2;
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dist = -0.5f * wpacc * t1 * t1 + curr_time * desired_velocity - 0.5f * wpacc * t * t;
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}
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if (fabsf(dist) > fabsf(Distance))
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vdist = Distance;
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else
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{
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if (Distance < 0)
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vdist = -dist;
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else vdist = dist;
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}
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return desired_velocity;
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}
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public static float getspeeddist(int flytype, float flight_time, float Distance, float curr_time, float fc_acc, float fc_maxspeed, out float vdist, out float vspeed)
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{
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switch (flytype)
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{
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case 0: //匀速
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//case 1: //匀速
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vspeed = Distance / flight_time;
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vdist = vspeed * curr_time;
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return 0;
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case 1: //同时计算加减速
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return getspeeddist_V1(flight_time, Distance, curr_time, fc_acc, fc_maxspeed, out vdist, out vspeed);
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case 2: //单加速
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return getspeeddist_V2(flight_time, Distance, curr_time, fc_acc, fc_maxspeed, out vdist, out vspeed);
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case 3: //单减速
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return getspeeddist_V3(flight_time, Distance, curr_time, fc_acc, fc_maxspeed, out vdist, out vspeed);
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default:
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vspeed = 0;
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vdist = 0;
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return 0;
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}
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}
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}
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}
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