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修正电流限幅

This commit is contained in:
BoomPC 2024-05-17 01:11:20 +08:00
parent f404369a32
commit 721796e105
3 changed files with 18 additions and 21 deletions
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12
APP/APP_Task.c
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@ -40,11 +40,11 @@ void High_Frequency_Task() {
number++; number++;
if (number >= 1 && number <= 50000) { if (number >= 1 && number <= 10000) {
Speedtarget = 0.1; Speedtarget = 1.0;
} else if (number >= 50000 && number <= 100000) { } else if (number >= 10000 && number <= 20000) {
Speedtarget = -1.0; Speedtarget = -1.0;
} else if (number >= 100001) { } else if (number >= 20001) {
number = 0; number = 0;
} }
// Test_Angle += 0.01f; // Test_Angle += 0.01f;
@ -63,8 +63,8 @@ void High_Frequency_Task() {
// Generate_SVM(0.0f, 0.05f, Data.Angle.getAngle()); // Generate_SVM(0.0f, 0.05f, Data.Angle.getAngle());
// float32_t Eangle = Data.Angle.getAngle(); // float32_t Eangle = Data.Angle.getAngle();
SpeedControl(Speedtarget, MT_ReadAngle()); SpeedControl(Speedtarget, MT_ReadAngle(),10.0f);
FOC_current(0, 5.0f, Data.Angle.getAngle(), 5000); FOC_current(0, 10.0f, Data.Angle.getAngle(), 5000);
// SendCurrent_Vofa(Test_Angle,A, (FOC.dtc_a * (float) HALF_PWM_PERIOD_CYCLES)); // SendCurrent_Vofa(Test_Angle,A, (FOC.dtc_a * (float) HALF_PWM_PERIOD_CYCLES));

21
BoooomCTL/Controller/Controller.c
View File

@ -34,7 +34,7 @@ float32_t id_curr_pi_error;
float32_t id_curr_pi_errMin = 0.0f; float32_t id_curr_pi_errMin = 0.0f;
float32_t id_curr_pi_errSum; float32_t id_curr_pi_errSum;
float32_t id_curr_pi_errSumMax = 5.0f; float32_t id_curr_pi_errSumMax = 30.0f;
float32_t id_curr_pi_result; float32_t id_curr_pi_result;
@ -48,12 +48,11 @@ float32_t iq_curr_pi_error;
float32_t iq_curr_pi_errMin = 0.0f; float32_t iq_curr_pi_errMin = 0.0f;
float32_t iq_curr_pi_errSum; float32_t iq_curr_pi_errSum;
float32_t iq_curr_pi_errSumMax = 5.0f; float32_t iq_curr_pi_errSumMax = 30.0f;
float32_t iq_curr_pi_result; float32_t iq_curr_pi_result;
float32_t Speed_target = 0.0f; float32_t Speed_target = 0.0f;
float32_t Speedpid_error; float32_t Speedpid_error;
@ -61,14 +60,12 @@ float32_t Speedpid_errSum;
float32_t Speedpid_kp = 1.0f; float32_t Speedpid_kp = 1.0f;
float32_t Speedpid_ki = 0.1f; float32_t Speedpid_ki = 0.1f;
float32_t Speedpid_kd = 1.0f; float32_t Speedpid_kd = 1.0f;
float32_t Speedpid_errSumMax = 5.0f; float32_t Speedpid_errSumMax = 30.0f;
float32_t Speedpid_lastErr; float32_t Speedpid_lastErr;
float32_t Speedpid_errDt; float32_t Speedpid_errDt;
float32_t Speedpid_result; float32_t Speedpid_result;
float32_t u_d, u_q; float32_t u_d, u_q;
@ -141,13 +138,13 @@ static float32_t PIDGetResult(float32_t Speedpid_value, float32_t valMax, float3
} }
void SpeedControl(float32_t target,float32_t angleVal) { void SpeedControl(float32_t target, float32_t angleVal, float32_t valMax) {
Speed_target = target; Speed_target = target;
float32_t motorControl_speedValue = GetSpeed(angleVal); float32_t motorControl_speedValue = GetSpeed(angleVal);
SendCurrent_Vofa(motorControl_speedValue, target, 0); // SendCurrent_Vofa(motorControl_speedValue, target, 0);
// speedPID_value = motorControl_speedValue; // speedPID_value = motorControl_speedValue;
iq_curr_pi_target = PIDGetResult(motorControl_speedValue, angleVal, 0.0f); iq_curr_pi_target = PIDGetResult(motorControl_speedValue, valMax, 0.0f);
} }
@ -155,8 +152,8 @@ void SpeedControl(float32_t target,float32_t angleVal) {
//bool Generate_SVM(float ud, float uq, float Theta) { //bool Generate_SVM(float ud, float uq, float Theta) {
bool FOC_current(float Id_set, float Iq_set, float Theta, float bw) { bool FOC_current(float Id_set, float Iq_set, float Theta, float bw) {
if (id_curr_pi_target>Id_set){id_curr_pi_target=Id_set;} if (id_curr_pi_target > Id_set) { id_curr_pi_target = Id_set; }
if (iq_curr_pi_target>Iq_set){iq_curr_pi_target=Iq_set;} if (iq_curr_pi_target > Iq_set) { iq_curr_pi_target = Iq_set; }
// id_curr_pi_target = Id_set; // id_curr_pi_target = Id_set;
// iq_curr_pi_target = Iq_set; // iq_curr_pi_target = Iq_set;
@ -229,7 +226,7 @@ bool FOC_current(float Id_set, float Iq_set, float Theta, float bw) {
// FOC.dtc_a = FOC.dtc_a * 0.01; // FOC.dtc_a = FOC.dtc_a * 0.01;
// FOC.dtc_b = FOC.dtc_b * 0.01; // FOC.dtc_b = FOC.dtc_b * 0.01;
// FOC.dtc_c = FOC.dtc_c * 0.01; // FOC.dtc_c = FOC.dtc_c * 0.01;
// SendCurrent_Vofa(mod_d, mod_q, current1); SendCurrent_Vofa(mod_d, mod_q, iq_curr_pi_target);
TIM1->CCR1 = (uint16_t) (FOC.dtc_c * (float) HALF_PWM_PERIOD_CYCLES); TIM1->CCR1 = (uint16_t) (FOC.dtc_c * (float) HALF_PWM_PERIOD_CYCLES);
TIM1->CCR2 = (uint16_t) (FOC.dtc_b * (float) HALF_PWM_PERIOD_CYCLES); TIM1->CCR2 = (uint16_t) (FOC.dtc_b * (float) HALF_PWM_PERIOD_CYCLES);
TIM1->CCR3 = (uint16_t) (FOC.dtc_a * (float) HALF_PWM_PERIOD_CYCLES); TIM1->CCR3 = (uint16_t) (FOC.dtc_a * (float) HALF_PWM_PERIOD_CYCLES);

6
BoooomCTL/Controller/Controller.h
View File

@ -7,8 +7,7 @@
#include "arm_math.h" #include "arm_math.h"
typedef struct sFOC typedef struct sFOC {
{
bool is_armed; bool is_armed;
float v_bus, v_bus_filt, i_a, i_b, i_c; float v_bus, v_bus_filt, i_a, i_b, i_c;
@ -23,7 +22,8 @@ typedef struct sFOC
extern tFOC FOC; extern tFOC FOC;
extern void SpeedControl(float32_t target,float32_t angleVal); extern void SpeedControl(float32_t target, float32_t angleVal, float32_t valMax);
extern bool FOC_current(float Id_set, float Iq_set, float Theta, float bw); extern bool FOC_current(float Id_set, float Iq_set, float Theta, float bw);