cbb
971374d8ec
- 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
52 lines
1.3 KiB
C++
52 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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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 =
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PIDController{0.8f, 3.0f, 0, 100000, voltage_power_supply};
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PIDController angle_loop = PIDController{2, 0, 0, 100000, 100};
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void setPhaseVoltage(float Uq, float Ud, float angle_el);
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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 |