Merge branch 'master' of http://172.30.0.1:8418/cbb/Robot_v2

2026-03-09 01:47:30 +08:00
parent a26dd1cc8e c9934849c5
commit 1ee2f68a89
8 changed files with 359 additions and 171 deletions
@@ -16,10 +16,12 @@ class FOC_Controller {
 	u8 control_mode = 0;
 	float limit_voltage = 0.0f;

+
 	float target_angle = 0.0f;
 	float target_velocity = 0.0f;
 	float target_current = 0.0f;

+
 	float rt_angle = 0.0f;
 	float rt_velocity = 0.0f;
 	float rt_current = 0.0f;
@@ -100,7 +102,10 @@ class FOC_Controller {
 	float Ualpha, Ubeta = 0;
 	float zero_electric_angle = 0;
 	float v_half = voltage_power_supply * 0.5f; // 电源电压的一半
+	float startup_ramp_val = 0.0f;      // 软启动系数
+	float startup_ramp_step = 0.01f;    // 启动斜坡步长，可调节以控制启动速度
 	void setPhaseVoltage(float Uq, float Ud);
+	void setSVPWM_PhaseVoltage(float Uq, float Ud);
 	float cal_Iq_Id(float current_a, float current_b, float current_c);
 };