102 lines
2.8 KiB
C++
102 lines
2.8 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 <cstdint>
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class FOC_Controller {
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public:
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FOC_Controller();
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// 初始化函数
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u8 init();
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u8 control_mode = 0;
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float limit_voltage = 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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float rt_current = 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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float current_loop_p=DEFAULT_current_loop_p;
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float vel_angloop_p=DEFAULT_vel_angloop_p;
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float vel_loop_p=DEFAULT_vel_loop_p;
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float ang_angloop_p=DEFAULT_ang_angloop_p;
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float angle_loop_p=DEFAULT_angle_loop_p;
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float vel_MIT_p=DEFAULT_vel_MIT_p;
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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 MIT_Mode(void);
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float velocity_control(void);
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float current_control(void);
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void update_power(float voltage);
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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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// 此处默认值不作数
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PIDController vel_loop = PIDController{vel_loop_p * 100, 0.0f, 0, 10000,
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voltage_power_supply}; // 12V
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PIDController angle_loop = PIDController{angle_loop_p * 100, 0, 0, 10000000,
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voltage_power_supply}; // 12V
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PIDController current_loop = PIDController{current_loop_p * 100, 0, 0, 1500,
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voltage_power_supply}; // 12V
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PIDController vel_inVelAngloop =
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PIDController{vel_angloop_p * 100, 0, 0, 1e6, v_safe};
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PIDController ang_inVelAngloop =
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PIDController{ang_angloop_p * 100, 0, 0, 1e4, 100};
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PIDController ang_inMITloop =
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PIDController{ang_angloop_p * 100, 0, 0, 1e4, 100};
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PIDController vel_inMITloop =
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PIDController{vel_MIT_p * 100, 0, 0, 1e9, 6000};
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void update_pid_limits() {
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vel_loop.limit = voltage_power_supply;
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angle_loop.limit = voltage_power_supply;
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current_loop.limit = voltage_power_supply;
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vel_inVelAngloop.limit = voltage_power_supply;
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}
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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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float startup_ramp_val = 0.0f; // 软启动系数
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float startup_ramp_step = 0.01f; // 启动斜坡步长，可调节以控制启动速度
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void setPhaseVoltage(float Uq, float Ud);
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void setSVPWM_PhaseVoltage(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_Controller::*FOCFunctionPtr)(void);
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inline float _normalizeAngle(float angle);
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inline float _electricalAngle();
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#endif |