fix(FOC): 修正大角度下会导致角度控制失控的问题

移除冗余的 `_electricalAngle` 函数，修正 `setPhaseVoltage` 中电气角度的计算方式在定时器中断中增加实时角度更新，支持新增的无 PID 角度控制模式。
2025-11-10 02:08:03 +08:00
parent b33574d392
commit 7a602dda48
6 changed files with 35 additions and 28 deletions
@@ -35,12 +35,12 @@ class FOC_Controlroller {
 	float shaft_angle = 0;
 	float Ualpha, Ubeta = 0, Ua = 0, Ub = 0, Uc = 0;
 	float zero_electric_angle = 0;
-	float voltage_power_supply = 24.0f; // 电源电压
+	float voltage_power_supply = 24.0f;			// 电源电压
 	float v_half = voltage_power_supply * 0.5f; // 电源电压的一半

-	PIDController vel_loop =
-		PIDController{1.5f, 1.0f, 0.0005, 100000, voltage_power_supply};
-	PIDController angle_loop = PIDController{140.0f, 80.0f, 0.005f, 100000, voltage_power_supply};
+	PIDController vel_loop =PIDController{1.75f, 1.0f, 0.0002f, 1000000, voltage_power_supply};
+	PIDController angle_loop =
+		PIDController{140.0f, 80.0f, 0.005f, 10000000, voltage_power_supply};

 	void setPhaseVoltage(float Uq, float Ud);
 };