cbb
7a602dda48
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。
53 lines
1.3 KiB
C++
53 lines
1.3 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 "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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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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float rt_angle = 0.0f;
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float rt_velocity = 0.0f;
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u8 over_current = 0;
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u8 temp_error = 0;
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u8 voltage_error = 0;
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u8 is_shut_down = 0;
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float velocity_open_loop();
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float angle_control(float target_angle);
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float velocity_control(float target_velocity);
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float angle_control_NPID(float target_angle);
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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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protected:
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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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float v_half = voltage_power_supply * 0.5f; // 电源电压的一半
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PIDController vel_loop =PIDController{1.75f, 1.0f, 0.0002f, 1000000, voltage_power_supply};
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PIDController angle_loop =
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PIDController{140.0f, 80.0f, 0.005f, 10000000, voltage_power_supply};
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void setPhaseVoltage(float Uq, float Ud);
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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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inline float _electricalAngle();
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float DFOC_M0_Angle(void);
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#endif |