cbb
180a46271c
feat(DengFOC): 新增了基于三相电流采样的dq轴电流计算函数`cal_Iq_Id` 调整了开环控制中的电压限制逻辑 更新了默认电源电压值为24V。 KHT7823测试代码 ```
42 lines
1.0 KiB
C++
42 lines
1.0 KiB
C++
// 函数声明
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#ifndef _DENGFOC_H
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#define _DENGFOC_H
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#include <stdint.h>
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class FOC_Controlroller {
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public:
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FOC_Controlroller();
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float control_mode = 0;
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float limit_voltage = 0.0f;
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float limit_velocity = 0.0f;
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float target_angle = 0.0f;
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float target_velocity = 0.0f;
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u8 is_shut_down = 0;
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float velocity_open_loop(float target_velocity);
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void DFOC_alignSensor(int _PP, int _DIR);
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void shut_down(void);
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void resume(void);
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private:
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std::u64 last_time_us = 0;
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std::u64 now_us = 0;
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float shaft_angle = 0;
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float Ualpha, Ubeta = 0, Ua = 0, Ub = 0, Uc = 0;
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float zero_electric_angle = 0;
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float voltage_power_supply = 24.0f; // 电源电压
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void driver_output(float Ua, float Ub, float Uc);
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void setPhaseVoltage(float Uq, float Ud, float angle_el);
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void setTorque(float Uq,float angle_el);
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float DFOC_M0_Current();
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void DFOC_M0_setTorque(float Target);
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};
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float _normalizeAngle(float angle);
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void DFOC_Vbus(float power_supply);
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float _electricalAngle(float shaft_angle);
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float DFOC_M0_Angle();
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float serial_motor_target();
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#endif |