feat(FOC): 增加闭环速度控制算法
- 重构setPhaseVoltage函数实现，提高执行效率 - 增加update_power函数，动态更新电源电压 - 优化velocity_open_loop函数，调用、setPhaseVoltage避免重复代码 - 实现angle_control和velocity_control闭环控制函数 - 调整PID控制器参数初始化及增加参数设置接口 - 改进电流和编码器速度卡尔曼滤波器实现 - 更新CAN通信数据打包逻辑，增加测试字段 - 在定时器中断中集成多种控制模式切换逻辑 - 完善角度传感器数据处理，改进速度计算方法 - 减小速度滤波数组大小，提升响应速度
This commit is contained in:
@@ -1,4 +1,5 @@
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#include "DengFOC.h"
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#include "Can.h"
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#include "Filter.h"
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#include "Timer.h"
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#include "adc.h"
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@@ -14,21 +15,22 @@
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constexpr double PI = 3.1415926535897932384626433832795f;
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constexpr float DEG2RAD = 1.0f / 360.0f * 6.28318530718f;
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constexpr float RAD2DEG = 360.0f / 6.28318530718f;
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constexpr float ANGLE_FACTOR = 25.0f / 360.0f * 2.0f * 3.14159265358979323846f;
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constexpr float _1_SQRT3 = 0.57735026919f;
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constexpr float _2_SQRT3 = 1.15470053838f;
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constexpr float _3PI_2 = 4.71238898038f;
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constexpr u8 PP = 11;
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constexpr float DIR = -1.0;
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constexpr float DIR = 1.0;
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constexpr float sqrt3 = 1.73205080757f; // sqrt(3)的预计算值
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constexpr float zero_electric_angle = 0.0f;
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extern sampler sampler;
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extern angle_sensor KTH7823;
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extern CAN_transmiter CAN0_transmiter;
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CurrentKalman curU_kalman(0.0f, 0.0026f, 4.8f, 0.0001f, 1e-6f, 0.02f);
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CurrentKalman curV_kalman(0.0f, 0.0026f, 4.8f, 0.0001f, 1e-6f, 0.02f);
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CurrentKalman curW_kalman(0.0f, 0.0026f, 4.8f, 0.0001f, 1e-6f, 0.02f);
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// 初始变量及函数定义
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#define _constrain(amt, low, high) \
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((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
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@@ -65,15 +67,17 @@ FOC_Controlroller::FOC_Controlroller() { ; }
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*/
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inline void FOC_Controlroller::setPhaseVoltage(float Uq, float Ud,
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float angle_el) {
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angle_el = _normalizeAngle(angle_el);
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// 帕克逆变换
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Ualpha = -Uq * sin(angle_el);
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Ubeta = Uq * cos(angle_el);
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// 帕克逆变换 (直接计算，避免函数调用开销)
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const float sin_el = sin(angle_el);
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const float cos_el = cos(angle_el);
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Ualpha = -Uq * sin_el;
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Ubeta = Uq * cos_el;
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// 克拉克逆变换 (预计算常量值)
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Ua = Ualpha + v_half;
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Ub = (sqrt3 * Ubeta - Ualpha) * 0.5f + v_half;
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Uc = (-Ualpha - sqrt3 * Ubeta) * 0.5f + v_half;
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// 克拉克逆变换
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Ua = Ualpha + voltage_power_supply / 2;
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Ub = (sqrt3 * Ubeta - Ualpha) / 2 + voltage_power_supply / 2;
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Uc = (-Ualpha - sqrt3 * Ubeta) / 2 + voltage_power_supply / 2;
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// 计算占空比
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Ua = constrain(Ua, 0.0f, voltage_power_supply, 0.0f, limit_voltage);
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Ub = constrain(Ub, 0.0f, voltage_power_supply, 0.0f, limit_voltage);
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@@ -84,6 +88,33 @@ inline void FOC_Controlroller::setPhaseVoltage(float Uq, float Ud,
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Set_3Pwm(dc_a, dc_b, dc_c);
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// std::printf("PWM:%f,%f,%f\n", dc_a, dc_b, dc_c);
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}
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/**
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* @brief 电机关机
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*
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*/
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void FOC_Controlroller::shut_down() {
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is_shut_down = 100;
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gpio_bit_reset(GPIOB, GPIO_PIN_12);
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}
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/**
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* @brief 电机恢复
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*
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*/
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void FOC_Controlroller::resume() {
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over_current = 0;
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temp_error = 0;
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voltage_error = 0;
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is_shut_down = 0;
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gpio_bit_set(GPIOB, GPIO_PIN_12);
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}
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/**
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* @brief 更新电源电压
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*
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*/
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void FOC_Controlroller::update_power(void) {
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voltage_power_supply = sampler.get_vbus_voltage();
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v_half = voltage_power_supply * 0.5f;
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}
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/**
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* @brief 速度开环控制
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@@ -94,36 +125,16 @@ inline void FOC_Controlroller::setPhaseVoltage(float Uq, float Ud,
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float FOC_Controlroller::velocity_open_loop() {
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// 通过时间间隔和目标速度计算需要转动的机械角度，存储在shaft_angle中，在此之前，还需要对轴角度归一化
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// 预计算常量 1e-4 = 100微秒控制周期
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shaft_angle = _normalizeAngle(shaft_angle + target_velocity * 1e-4f);
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shaft_angle =
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_normalizeAngle(shaft_angle + target_velocity * ANGLE_FACTOR * 1e-4f);
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// 直接计算电气角度，避免函数调用开销
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float angle_el = shaft_angle * PP + zero_electric_angle;
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angle_el = _normalizeAngle(angle_el);
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float angle_el = _normalizeAngle(shaft_angle * PP + zero_electric_angle);
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// 因为在开环控制中，Ud始终为0，只控制Uq
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const float Uq = voltage_power_supply / 2.0f;
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const float Ud = 0.0f;
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// 帕克逆变换 (直接计算，避免函数调用开销)
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const float sin_el = sin(angle_el);
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const float cos_el = cos(angle_el);
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Ualpha = -Uq * sin_el;
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Ubeta = Uq * cos_el;
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// 克拉克逆变换 (预计算常量值)
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const float v_half = voltage_power_supply * 0.5f; // 电源电压的一半
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Ua = Ualpha + v_half;
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Ub = (sqrt3 * Ubeta - Ualpha) * 0.5f + v_half;
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Uc = (-Ualpha - sqrt3 * Ubeta) * 0.5f + v_half;
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// 计算占空比
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Ua = constrain(Ua, 0.0f, voltage_power_supply, 0.0f, limit_voltage * 2);
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Ub = constrain(Ub, 0.0f, voltage_power_supply, 0.0f, limit_voltage * 2);
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Uc = constrain(Uc, 0.0f, voltage_power_supply, 0.0f, limit_voltage * 2);
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const float dc_a = _constrain(Ua / voltage_power_supply, 0.0f, 1.0f);
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const float dc_b = _constrain(Ub / voltage_power_supply, 0.0f, 1.0f);
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const float dc_c = _constrain(Uc / voltage_power_supply, 0.0f, 1.0f);
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Set_3Pwm(dc_a, dc_b, dc_c);
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setPhaseVoltage(Uq, 0.0f, angle_el);
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return limit_voltage;
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}
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@@ -142,55 +153,40 @@ float FOC_Controlroller::velocity_open_loop() {
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// std::printf("0电角度:%f", zero_electric_angle);
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// }
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void FOC_Controlroller::shut_down() {
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is_shut_down = 100;
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gpio_bit_reset(GPIOB, GPIO_PIN_12);
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}
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void FOC_Controlroller::resume() {
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over_current = 0;
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temp_error = 0;
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voltage_error = 0;
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is_shut_down = 0;
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gpio_bit_set(GPIOB, GPIO_PIN_12);
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}
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void FOC_Controlroller::update_power(void) {
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voltage_power_supply = sampler.get_vbus_voltage();
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/**
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* @brief 角度闭环控制
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*
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* @param target_angle: 目标角度
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* @return float: q轴电压
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*/
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float FOC_Controlroller::angle_control(float target_angle) {
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shaft_angle = KTH7823.getRawAngle() * DEG2RAD;
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static float Kp = 2.0f;
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float Uq =
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1.0f - _constrain(Kp * (target_angle - DIR * shaft_angle) * RAD2DEG,
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-voltage_power_supply, voltage_power_supply);
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static float Ud = 0.0f;
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// 直接计算电气角度，避免函数调用开销
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float angle_el = _normalizeAngle(shaft_angle * PP + zero_electric_angle);
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// 设置相电压
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setPhaseVoltage(Uq, 0.0f, angle_el);
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return shaft_angle;
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}
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/**
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* @brief 角度闭环控制
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* @brief 速度闭环控制
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*
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* @param target_velocity: 目标速度
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* @return float: q轴电压
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*/
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float FOC_Controlroller::angle_control(float target_angle) {
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float Sensor_angel = KTH7823.getRawAngle() * DEG2RAD;
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float Kp = 2.0f;
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float FOC_Controlroller::velocity_control(float target_velocity) {
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// PID 控制计算
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float Uq = v_half - vel_loop(target_velocity - rt_velocity);
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float Uq = _constrain(Kp * (target_angle - DIR * Sensor_angel) * RAD2DEG,
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-voltage_power_supply, voltage_power_supply);
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shaft_angle = _normalizeAngle(KTH7823.read_sensorAngle() * DEG2RAD);
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float Ud = 0.0f;
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shaft_angle = KTH7823.getRawAngle() * DEG2RAD;
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// 直接计算电气角度，避免函数调用开销
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float angle_el = _normalizeAngle(shaft_angle * PP + zero_electric_angle);
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// 帕克逆变换
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Ualpha = -Uq * sin(angle_el);
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Ubeta = Uq * cos(angle_el);
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// 克拉克逆变换
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Ua = Ualpha + voltage_power_supply / 2;
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Ub = (sqrt3 * Ubeta - Ualpha) / 2 + voltage_power_supply / 2;
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Uc = (-Ualpha - sqrt3 * Ubeta) / 2 + voltage_power_supply / 2;
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// 计算占空比
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Ua = constrain(Ua, 0.0f, voltage_power_supply, 0.0f, limit_voltage);
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Ub = constrain(Ub, 0.0f, voltage_power_supply, 0.0f, limit_voltage);
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Uc = constrain(Uc, 0.0f, voltage_power_supply, 0.0f, limit_voltage);
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float dc_a = _constrain(Ua / voltage_power_supply, 0.0f, 1.0f);
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float dc_b = _constrain(Ub / voltage_power_supply, 0.0f, 1.0f);
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float dc_c = _constrain(Uc / voltage_power_supply, 0.0f, 1.0f);
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Set_3Pwm(dc_a, dc_b, dc_c);
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return Sensor_angel;
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// 设置相电压
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setPhaseVoltage(Uq, 0.0f, angle_el);
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return rt_velocity;
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}
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