cbb
3f24292ac1
添加了FOC控制器的init()方法，用于统一初始化电机控制参数， 包括速度环、角度环和电流环的PID参数设置。同时优化了CAN通信 中的PID参数计算逻辑，引入电压补偿机制，提高了电机控制精度。
68 lines
1.9 KiB
C++
68 lines
1.9 KiB
C++
// 函数声明
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#ifndef _FOC_H
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#define _FOC_H
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#include "config.h"
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#include "pid.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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u8 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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float target_current = 0.0f;
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float rt_angle = 0.0f;
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float rt_velocity = 0.0f;
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bool over_current = false;
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bool voltage_error = false;
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bool is_shut_down = false;
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float voltage_power_supply = 24.0f; // 电源电压
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float v_safe = voltage_power_supply * 1.05f;
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float duty_a = 0, duty_b = 0, duty_c = 0;
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float Ua = 0, Ub = 0, Uc = 0;
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u8 init(void);
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float velocity_open_loop(void);
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float angle_control(void);
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float angle_control_with_velocity_limit(void);
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float velocity_control(void);
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float current_control(void);
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void update_power(void);
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void DFOC_alignSensor(int _PP);
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void shut_down(void);
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void resume(void);
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void drv_stop(void);
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float drv_hold(void);
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PIDController vel_loop = PIDController{
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vel_loop_p * 100, 0.20f, 5e-5, 1000000, voltage_power_supply}; // 12V
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PIDController angle_loop =
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PIDController{angle_loop_p * 100, 100.0f, 0.2f, 10000000,
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voltage_power_supply}; // 12V
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PIDController current_loop = PIDController{
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current_loop_p * 100, 5e-7f, 7e-8, 500, 24}; // 12V
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PIDController vel_inVelAngloop = PIDController{
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vel_angloop_p * 100, 3.0f, 5e-4, 1000000, voltage_power_supply};
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PIDController ang_inVelAngloop =
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PIDController{ang_angloop_p * 100, 0.0f, 5e-4, 1000000, 999};
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protected:
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float shaft_angle = 0;
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float Ualpha, Ubeta = 0;
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float zero_electric_angle = 0;
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float v_half = voltage_power_supply * 0.5f; // 电源电压的一半
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void setPhaseVoltage(float Uq, float Ud);
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float cal_Iq_Id(float current_a, float current_b, float current_c);
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};
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// 定义函数指针类型
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typedef float (FOC_Controlroller::*FOCFunctionPtr)(void);
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inline float _normalizeAngle(float angle);
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inline float _electricalAngle();
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#endif |