cbb
bec7c11b87
- 实现齿槽转矩补偿算法，通过查表+线性插值方式计算补偿电压值 - 添加齿槽转矩校准功能，支持正转3次+反转3次的非阻塞校准状态机 - 在所有控制模式中集成齿槽转矩补偿，包括开环、角度、速度、电流和MIT模式 - 硬编码预校准的正反转补偿表数据 - 通过CAN命令支持运行时触发校准功能 - 添加相关配置参数和调试开关
801 lines
25 KiB
C++
801 lines
25 KiB
C++
#include "FOC.h"
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#include "Can.h"
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#include "Filter.h"
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#include "Timer.h"
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#include "adc.h"
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#include "ang_sensor.h"
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#include "config.h"
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#include "motor.h"
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#include "pid.h"
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#include "systick.h"
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#include <arm_math.h>
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#include <cmath>
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#include <cstdio>
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#include <cstring>
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#include <gd32c10x.h>
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FOC_Controller FOC; // FOC控制初始化
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extern sampler sampler;
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extern angle_sensor KTH7823;
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extern CAN_transmiter CAN0_transmiter;
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extern EncoderVelocityKalman Vel_kalman; // 速度滤波
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extern CurrentKalman Current_kalman;
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extern u16 adc_value[3]; // regular DMA缓冲区：MCU温度 / DRV温度 / VBUS
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// 齿槽转矩补偿：查表 + 线性插值
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// angle_el: 电角度（度）
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// 返回: 补偿电压值 (V)，叠加到 Uq 上
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inline float FOC_Controller::get_cogging_compensation(float angle_el) {
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if (!cogging_comp_enabled) return 0.0f;
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// 归一化到 [0, 360)
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float angle = fmodf(angle_el, 360.0f);
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if (angle < 0.0f) angle += 360.0f;
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// 线性插值查表
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float index_f = angle / 360.0f * (float)COGGING_TABLE_SIZE;
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u16 idx0 = (u16)index_f;
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u16 idx1 = (idx0 + 1) % COGGING_TABLE_SIZE;
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float frac = index_f - (float)idx0;
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// 根据转向选择补偿表（带滞回，避免零速附近跳变）
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static float *last_table = cogging_table;
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if (rt_velocity < -0.5f) last_table = cogging_table_rev;
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else if (rt_velocity > 0.5f) last_table = cogging_table;
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float *table = last_table;
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float comp = table[idx0] * (1.0f - frac) + table[idx1] * frac;
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return -comp * cogging_comp_scale; // mA→V: 补偿电流(mA) × 换算系数(V/mA)
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}
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// === 齿槽转矩校准（DEBUG，平时不启用）===
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// 启用方法：config.h 中 FOC_DEBUG 改为 1，通过 CAN 命令触发（RESET_ID bit4）
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// 校准完成后把 C Array 硬编码到 init() 中，再改回 FOC_DEBUG 0
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#if FOC_DEBUG
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// 齿槽转矩校准静态数据
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float FOC_Controller::cog_calib_run_data[6][COGGING_TABLE_SIZE] = {};
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float FOC_Controller::cog_calib_accum[COGGING_TABLE_SIZE] = {};
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u32 FOC_Controller::cog_calib_count[COGGING_TABLE_SIZE] = {};
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/**
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* @brief 齿槽转矩校准 - 非阻塞状态机
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* 正转3次 + 反转3次，分开存储补偿表。
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* 只打印最终平均数据和 C Array。
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*/
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void FOC_Controller::calibrate_cogging_tick(void) {
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constexpr u32 SETTLE_TICKS = 16000; // 800ms / 50us
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constexpr u32 STOP_TICKS = 10000; // 500ms / 50us
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constexpr u32 TARGET_SAMPLES = 3 * COGGING_TABLE_SIZE * 8;
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constexpr float SLOW_VEL = 1.0f; // 开环速度 rad/s
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constexpr u32 SAMPLE_DIV = 20; // 1ms / 50us
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constexpr u8 TOTAL_RUNS = 6; // 3正+3反
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switch (cog_calib_state) {
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case CogCalibState::IDLE:
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if (!cogging_calib_request) return;
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cogging_calib_request = false;
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cog_calib_run = 0;
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cog_calib_saved_mode = control_mode;
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cog_calib_saved_vel = target_velocity;
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cogging_comp_enabled = false;
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memset(cog_calib_run_data, 0, sizeof(cog_calib_run_data));
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printf("\r\n[COG] === Cogging Calibration: 3 fwd + 3 rev ===\r\n");
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control_mode = 6;
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target_velocity = SLOW_VEL;
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cog_calib_settle_tick = 0;
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cog_calib_state = CogCalibState::SETTLING;
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return;
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case CogCalibState::SETTLING:
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cog_calib_settle_tick++;
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if (cog_calib_settle_tick >= SETTLE_TICKS) {
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cog_calib_state = CogCalibState::SAMPLING;
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cog_calib_sample_count = 0;
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memset(cog_calib_accum, 0, sizeof(cog_calib_accum));
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memset(cog_calib_count, 0, sizeof(cog_calib_count));
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}
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return;
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case CogCalibState::SAMPLING:
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// 采样分频
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static u32 sample_div = 0;
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sample_div++;
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if (sample_div < SAMPLE_DIV) return;
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sample_div = 0;
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{
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float real_angle = KTH7823.getcurrent_sensorangle();
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float angle_el = fmodf(real_angle * PP + KTH7823.calibration_angle, 360.0f);
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if (angle_el < 0.0f) angle_el += 360.0f;
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float iq = rt_current;
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if (fabsf(iq) < 5000.0f) {
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u16 idx = (u16)(angle_el / 360.0f * (float)COGGING_TABLE_SIZE);
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if (idx >= COGGING_TABLE_SIZE) idx = COGGING_TABLE_SIZE - 1;
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cog_calib_accum[idx] += iq;
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cog_calib_count[idx]++;
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}
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cog_calib_sample_count++;
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}
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if (cog_calib_sample_count >= TARGET_SAMPLES) {
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target_velocity = 0;
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cog_calib_state = CogCalibState::STOPPING;
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cog_calib_stop_tick = 0;
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}
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return;
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case CogCalibState::STOPPING:
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cog_calib_stop_tick++;
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if (cog_calib_stop_tick >= STOP_TICKS) {
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// 处理本轮数据：去直流
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float dc = 0;
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for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
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cog_calib_run_data[cog_calib_run][i] =
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(cog_calib_count[i] > 0) ? cog_calib_accum[i] / (float)cog_calib_count[i] : 0.0f;
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dc += cog_calib_run_data[cog_calib_run][i];
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}
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dc /= (float)COGGING_TABLE_SIZE;
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for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
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cog_calib_run_data[cog_calib_run][i] -= dc;
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}
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printf("[COG] Run %d/%d done. DC=%.2f mA\r\n",
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cog_calib_run + 1, TOTAL_RUNS, dc);
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cog_calib_run++;
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if (cog_calib_run < TOTAL_RUNS) {
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// run 0~2 正转，run 3~5 反转
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control_mode = 6;
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target_velocity = (cog_calib_run < 3) ? SLOW_VEL : -SLOW_VEL;
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cog_calib_state = CogCalibState::SETTLING;
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cog_calib_settle_tick = 0;
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} else {
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cog_calib_state = CogCalibState::DONE;
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}
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}
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return;
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case CogCalibState::DONE:
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// 正转平均 (run 0~2)
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for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
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cogging_table[i] = (cog_calib_run_data[0][i] +
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cog_calib_run_data[1][i] +
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cog_calib_run_data[2][i]) / 3.0f;
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}
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// 反转平均 (run 3~5)
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for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
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cogging_table_rev[i] = (cog_calib_run_data[3][i] +
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cog_calib_run_data[4][i] +
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cog_calib_run_data[5][i]) / 3.0f;
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}
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cogging_comp_enabled = true;
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control_mode = cog_calib_saved_mode;
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target_velocity = cog_calib_saved_vel;
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// 打印正转平均
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printf("\r\n[COG] === FWD Average ===\r\n");
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for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
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float angle_deg = (float)i / (float)COGGING_TABLE_SIZE * 360.0f;
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printf("[COG] %.2f, %.2f\r\n", angle_deg, cogging_table[i]);
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fwdgt_counter_reload();
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}
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// 打印反转平均
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printf("\r\n[COG] === REV Average ===\r\n");
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for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
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float angle_deg = (float)i / (float)COGGING_TABLE_SIZE * 360.0f;
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printf("[COG] %.2f, %.2f\r\n", angle_deg, cogging_table_rev[i]);
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fwdgt_counter_reload();
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}
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// 打印正转 C Array
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printf("\r\n[COG] --- FWD C Array ---\r\n");
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printf("static const float COGGING_TABLE_FWD[COGGING_TABLE_SIZE] = {\r\n");
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for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
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if (i % 8 == 0) printf(" ");
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printf("%.2ff", cogging_table[i]);
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if (i < COGGING_TABLE_SIZE - 1) printf(", ");
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if (i % 8 == 7 || i == COGGING_TABLE_SIZE - 1) printf("\r\n");
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fwdgt_counter_reload();
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}
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printf("};\r\n");
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// 打印反转 C Array
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printf("\r\n[COG] --- REV C Array ---\r\n");
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printf("static const float COGGING_TABLE_REV[COGGING_TABLE_SIZE] = {\r\n");
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for (int i = 0; i < COGGING_TABLE_SIZE; i++) {
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if (i % 8 == 0) printf(" ");
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printf("%.2ff", cogging_table_rev[i]);
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if (i < COGGING_TABLE_SIZE - 1) printf(", ");
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if (i % 8 == 7 || i == COGGING_TABLE_SIZE - 1) printf("\r\n");
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fwdgt_counter_reload();
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}
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printf("};\r\n");
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printf("\r\n[COG] === Done. ===\r\n");
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cog_calib_state = CogCalibState::IDLE;
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return;
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}
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}
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#endif // FOC_DEBUG
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// 初始变量及函数定义
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#define _constrain(amt, low, high) \
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((amt) < (low) ? (low) : ((amt) > (high) ? (high) : (amt)))
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#define constrain(value, min, max, target_min, target_max) \
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((value - min) / (max - min) * (target_max - target_min))
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// 校准步骤（代码模板）
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void calibrate_zero_position(void) {
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// Set_3Pwm(.25, 0, 0); // 起劲
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// delay_1ms(1000);
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// KTH7823.update();
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// // 改进校准算法：获取当前传感器角度并计算补偿值
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// float current_sensor_angle = KTH7823.getcurrent_sensorangle();
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// float electrical_angle = fmodf(current_sensor_angle * PP, 360.0f); //
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// 计算当前电角度
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// // 计算需要的补偿值，使得当前位置对应0°电角度
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// KTH7823.calibration_angle = -electrical_angle;
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// // 对补偿角进行归一化处理，确保在[-180, 180]范围内
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// KTH7823.calibration_angle = fmodf(KTH7823.calibration_angle + 180.0f,
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// 360.0f); if (KTH7823.calibration_angle < 0) { KTH7823.calibration_angle
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// += 360.0f;
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// }
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// KTH7823.calibration_angle -= 180.0f;
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// Set_3Pwm(0, 0, 0); // 停止
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}
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// 通过Ia,Ib,Ic计算Iq,Id(目前仅输出Iq)
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inline float FOC_Controller::cal_Iq_Id(float current_a, float current_b,
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float current_c) {
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if (current_a == ERROR_ADC_VAL || current_b == ERROR_ADC_VAL ||
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current_c == ERROR_ADC_VAL) {
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return Current_kalman.getCurrent();
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}
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// 去除三相公共模偏置，使 Ia + Ib + Ic 更接近 0
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const float current_avg = (current_a + current_b + current_c) / 3.0f;
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current_a -= current_avg;
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current_b -= current_avg;
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current_c -= current_avg;
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// 计算电气角度
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float angle_el = fmod(shaft_angle * PP + KTH7823.calibration_angle, 360.0f);
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// Clarke变换 (使用三相电流)
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float I_alpha, I_beta;
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I_alpha = (2.0f / 3.0f) * current_a - (1.0f / 3.0f) * current_b -
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(1.0f / 3.0f) * current_c;
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I_beta = _1_SQRT3 * current_b - _1_SQRT3 * current_c;
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// Park变换
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float sin_el, cos_el;
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arm_sin_cos_f32(angle_el, &sin_el, &cos_el);
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float I_q, I_d;
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I_q = I_beta * cos_el - I_alpha * sin_el;
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I_d = I_beta * sin_el + I_alpha * cos_el;
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// 返回Iq值，乘以1000以转换为mA
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return Current_kalman.update(I_q * 1000 - KE_FACTOR * rt_velocity);
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// return I_q * 1000 - KE_FACTOR * rt_velocity;
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}
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/**
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* @brief 电机控制类初始化函数
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*
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* @return u8 0表示初始化成功，1表示初始化失败
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*/
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u8 FOC_Controller::init() {
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motor_init(); // 电机驱动初始化
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// 齿槽转矩补偿表（硬编码，3正+3反平均，用真实角度算Iq）
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static const float COGGING_TABLE_FWD[COGGING_TABLE_SIZE] = {
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29.28f, 28.84f, 28.26f, 28.83f, 29.79f, 30.26f, 29.52f, 28.77f,
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28.23f, 27.68f, 26.65f, 25.19f, 23.92f, 22.59f, 19.61f, 16.77f,
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13.32f, 10.40f, 7.64f, 3.51f, -0.83f, -4.96f, -8.19f, -11.11f,
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-13.40f, -14.39f, -15.69f, -15.99f, -16.39f, -15.50f, -14.76f, -14.21f,
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-13.76f, -13.88f, -13.22f, -11.18f, -10.65f, -10.54f, -10.62f, -10.23f,
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-9.52f, -8.19f, -6.31f, -4.14f, -1.94f, -0.25f, 2.06f, 4.08f,
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6.05f, 8.30f, 9.74f, 11.38f, 13.32f, 15.65f, 17.55f, 20.22f,
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21.72f, 22.28f, 23.30f, 24.78f, 23.53f, 23.35f, 23.00f, 21.42f,
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20.35f, 20.57f, 20.07f, 18.18f, 17.04f, 16.03f, 14.81f, 13.71f,
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12.47f, 10.93f, 9.38f, 6.53f, 4.63f, 3.37f, 1.29f, -1.28f,
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-5.08f, -11.11f, -16.35f, -21.00f, -24.61f, -28.30f, -31.11f, -33.48f,
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-35.25f, -36.54f, -38.01f, -38.69f, -39.27f, -39.52f, -38.18f, -36.55f,
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-34.96f, -33.14f, -31.92f, -31.45f, -31.32f, -30.25f, -29.60f, -28.72f,
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-27.51f, -25.30f, -22.66f, -20.87f, -18.19f, -16.10f, -13.25f, -10.81f,
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-8.00f, -4.67f, -2.28f, 0.87f, 3.83f, 7.25f, 10.56f, 13.70f,
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17.70f, 19.90f, 22.14f, 23.62f, 24.53f, 26.03f, 26.96f, 27.95f,
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};
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static const float COGGING_TABLE_REV[COGGING_TABLE_SIZE] = {
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22.45f, 24.95f, 26.05f, 26.01f, 26.11f, 25.87f, 26.20f, 26.23f,
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26.19f, 25.87f, 25.97f, 26.09f, 24.77f, 24.22f, 23.71f, 22.10f,
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19.84f, 17.60f, 15.36f, 12.99f, 9.54f, 5.35f, 1.71f, -1.94f,
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-4.15f, -6.16f, -7.93f, -9.10f, -10.01f, -10.25f, -10.85f, -11.74f,
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-11.98f, -10.78f, -9.65f, -8.89f, -8.14f, -6.85f, -5.94f, -5.37f,
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-4.28f, -3.38f, -3.36f, -3.40f, -2.81f, -2.36f, -1.04f, -0.18f,
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1.08f, 2.15f, 4.19f, 5.51f, 7.33f, 8.64f, 10.46f, 11.89f,
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13.42f, 14.83f, 17.11f, 19.12f, 20.76f, 21.88f, 22.35f, 22.86f,
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22.73f, 22.13f, 21.10f, 20.53f, 18.65f, 17.09f, 15.47f, 14.76f,
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14.02f, 12.94f, 11.98f, 10.29f, 8.11f, 5.83f, 4.23f, 2.42f,
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1.03f, -1.80f, -4.01f, -7.93f, -11.79f, -15.90f, -20.22f, -23.04f,
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-25.66f, -28.80f, -30.45f, -32.11f, -33.17f, -33.97f, -34.68f, -34.26f,
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-34.18f, -33.78f, -32.47f, -31.11f, -29.40f, -27.89f, -27.05f, -26.72f,
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-25.59f, -24.86f, -23.61f, -22.97f, -22.89f, -21.81f, -20.78f, -19.23f,
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-17.74f, -15.09f, -13.18f, -10.51f, -8.18f, -5.89f, -3.35f, -0.02f,
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2.02f, 3.87f, 6.37f, 9.11f, 12.33f, 14.63f, 17.12f, 19.12f,
|
||
};
|
||
memcpy(cogging_table, COGGING_TABLE_FWD, sizeof(COGGING_TABLE_FWD));
|
||
memcpy(cogging_table_rev, COGGING_TABLE_REV, sizeof(COGGING_TABLE_REV));
|
||
cogging_comp_enabled = true;
|
||
|
||
FOC.cur_loop_p = DEFAULT_current_loop_p * 100 / limit_voltage;
|
||
FOC.cur_MIT_p = DEFAULT_current_MIT_p * 100 / limit_voltage;
|
||
FOC.vel_loop_p = DEFAULT_vel_loop_p * 100 / limit_voltage;
|
||
FOC.vel_angloop_p = DEFAULT_vel_angloop_p * 100;
|
||
FOC.vel_MIT_p = DEFAULT_vel_MIT_p * 100;
|
||
FOC.ang_loop_p = DEFAULT_angle_loop_p * 100 / limit_voltage;
|
||
FOC.ang_angloop_p = DEFAULT_angle_angloop_p * 100 / limit_voltage;
|
||
FOC.ang_MIT_p = DEFAULT_angle_MIT_p * 100 / limit_voltage;
|
||
return 0;
|
||
}
|
||
|
||
/**
|
||
* @brief 电机控制类构造函数
|
||
*
|
||
*/
|
||
FOC_Controller::FOC_Controller() { ; }
|
||
|
||
/**
|
||
* @brief 使用SVPWM算法设置电机输出
|
||
*
|
||
* @param Uq: q轴电压
|
||
* @param Ud: d轴电压
|
||
*/
|
||
inline void FOC_Controller::setSVPWM_PhaseVoltage(float Uq, float Ud) {
|
||
// 计算电气角度
|
||
float angle_el = shaft_angle * PP + KTH7823.calibration_angle;
|
||
|
||
// 对电角度进行归一化，确保在[0, 360)范围内
|
||
angle_el = fmodf(angle_el, 360.0f);
|
||
|
||
// 帕克逆变换
|
||
float sin_el, cos_el;
|
||
arm_sin_cos_f32(angle_el, &sin_el, &cos_el);
|
||
float Ualpha = Ud * cos_el - Uq * sin_el;
|
||
float Ubeta = Ud * sin_el + Uq * cos_el;
|
||
|
||
// 计算角度并归一化到 [0, 2π)
|
||
float angle = atan2f(Ubeta, Ualpha);
|
||
if (angle < 0.0f)
|
||
angle += 2.0f * PI;
|
||
|
||
// 扇区与局部角度
|
||
int sector = (int)(angle * INV_PI_3) + 1;
|
||
if (sector < 1)
|
||
sector = 1;
|
||
else if (sector > 6)
|
||
sector = 6;
|
||
float local_angle = angle - (sector - 1) * PI_3;
|
||
|
||
// 模长计算
|
||
float magnitude = sqrtf(Ualpha * Ualpha + Ubeta * Ubeta);
|
||
|
||
// 计算电压调制比，同时限制最大输出电压
|
||
float modulation_index =
|
||
(magnitude / voltage_power_supply); // 90%作为安全裕量
|
||
|
||
// 电压限制
|
||
if (limit_voltage > voltage_power_supply) {
|
||
limit_voltage = voltage_power_supply;
|
||
}
|
||
float limit_percent = limit_voltage / v_safe;
|
||
if (modulation_index > limit_percent) {
|
||
// 限制电压
|
||
modulation_index = limit_percent;
|
||
// 同时相应地调整magnitude，保持电压矢量方向不变，根据调整后的调制比反推magnitude
|
||
magnitude = voltage_power_supply * limit_percent;
|
||
}
|
||
|
||
// local_angle 是弧度，arm_sin_cos_f32 期望度数，需转换
|
||
float sin_l, cos_l;
|
||
arm_sin_cos_f32(local_angle * RAD2DEG, &sin_l, &cos_l);
|
||
float T1 = modulation_index * (SQRT3DV2 * cos_l - COS_PI_3 * sin_l);
|
||
float T2 = modulation_index * sin_l;
|
||
float T0 = 1.0f - T1 - T2;
|
||
|
||
// 计算占空比（按规范化时间映射）
|
||
switch (sector) {
|
||
case 1:
|
||
duty_a = 0.5f * T0 + T1 + T2;
|
||
duty_b = 0.5f * T0 + T2;
|
||
duty_c = 0.5f * T0;
|
||
break;
|
||
case 2:
|
||
duty_a = 0.5f * T0 + T1;
|
||
duty_b = 0.5f * T0 + T1 + T2;
|
||
duty_c = 0.5f * T0;
|
||
break;
|
||
case 3:
|
||
duty_a = 0.5f * T0;
|
||
duty_b = 0.5f * T0 + T1 + T2;
|
||
duty_c = 0.5f * T0 + T2;
|
||
break;
|
||
case 4:
|
||
duty_a = 0.5f * T0;
|
||
duty_b = 0.5f * T0 + T1;
|
||
duty_c = 0.5f * T0 + T1 + T2;
|
||
break;
|
||
case 5:
|
||
duty_a = 0.5f * T0 + T2;
|
||
duty_b = 0.5f * T0;
|
||
duty_c = 0.5f * T0 + T1 + T2;
|
||
break;
|
||
case 6:
|
||
duty_a = 0.5f * T0 + T1 + T2;
|
||
duty_b = 0.5f * T0;
|
||
duty_c = 0.5f * T0 + T1;
|
||
break;
|
||
default:
|
||
duty_a = 0.5f;
|
||
duty_b = 0.5f;
|
||
duty_c = 0.5f;
|
||
break;
|
||
}
|
||
// 设置PWM输出
|
||
Set_3Pwm(duty_a, duty_b, duty_c);
|
||
}
|
||
|
||
/**
|
||
* @brief 电机关机（通用关机，不带原因标记）
|
||
*
|
||
*/
|
||
void FOC_Controller::shut_down() {
|
||
drv_stop();
|
||
motor_sleep();
|
||
is_shut_down = true;
|
||
}
|
||
|
||
/**
|
||
* @brief 过热关机
|
||
*
|
||
*/
|
||
void FOC_Controller::shut_down_thermal() {
|
||
drv_stop();
|
||
motor_sleep();
|
||
is_shut_down = true;
|
||
thermal_shutdown = true;
|
||
}
|
||
|
||
/**
|
||
* @brief 过热恢复
|
||
*
|
||
*/
|
||
void FOC_Controller::resume_from_thermal() {
|
||
thermal_shutdown = false;
|
||
if (!voltage_error && !over_current) {
|
||
is_shut_down = false;
|
||
motor_resume();
|
||
}
|
||
}
|
||
/**
|
||
* @brief 占空比置0
|
||
*
|
||
*/
|
||
void FOC_Controller::drv_stop() { Set_3Pwm(0.0f, 0.0f, 0.0f); }
|
||
/**
|
||
* @brief 电机锁止
|
||
*/
|
||
float FOC_Controller::drv_hold() {
|
||
float hold_pwm_duty = HOLD_PWM_DUTY;
|
||
if (HOLD_PWM_DUTY > 0.95f) {
|
||
hold_pwm_duty = 0.95f;
|
||
} else if (HOLD_PWM_DUTY < 0.0f) {
|
||
hold_pwm_duty = 0.0f;
|
||
}
|
||
Set_3Pwm(hold_pwm_duty, 0, 0);
|
||
return hold_pwm_duty;
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief PWM模式（调试）
|
||
*/
|
||
float FOC_Controller::PWM_out() {
|
||
float hold_pwm_duty = target_velocity/100;
|
||
Set_3Pwm(hold_pwm_duty, hold_pwm_duty, hold_pwm_duty);
|
||
return hold_pwm_duty;
|
||
}
|
||
|
||
|
||
/**
|
||
* @brief 电机恢复
|
||
*
|
||
*/
|
||
void FOC_Controller::resume() {
|
||
over_current = false;
|
||
voltage_error = false;
|
||
is_shut_down = false;
|
||
motor_resume();
|
||
}
|
||
/**
|
||
* @brief 更新电源电压
|
||
*
|
||
*/
|
||
void FOC_Controller::update_power(float voltage) {
|
||
if (voltage < 36.0f and voltage > 8.0f) {
|
||
voltage_error = false;
|
||
voltage_power_supply = voltage;
|
||
v_half = voltage * 0.5f;
|
||
v_safe = voltage * 1.1f;
|
||
} else {
|
||
voltage_error = true;
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief 快速电压检测（在电机控制循环中每100us调用一次）
|
||
*
|
||
* 直接从DMA缓冲区读取最新ADC值，检测电压跌幅
|
||
* 响应时间 < 200us
|
||
*
|
||
* 算法：
|
||
* 1. 使用峰值检测算法跟踪当前额定电压（vbus_reference）
|
||
* - 电压上升时，基准电压跟随
|
||
* - 电压下跌时，基准电压保持（不跟随下跌）
|
||
* 2. 计算电压跌幅 = 基准电压 - 当前电压
|
||
* 3. 关机条件（满足任一即可）：
|
||
* - 电压跌幅超过 VBUS_DROP_THRESHOLD
|
||
* - 电压低于绝对下限 VBUS_ABSOLUTE_MIN
|
||
*
|
||
* 参数定义在 config.h 中:
|
||
* - VBUS_DROP_THRESHOLD: 电压跌幅阈值 (默认5V)
|
||
* - VBUS_ABSOLUTE_MIN: 绝对最低电压 (默认8V)
|
||
* - VBUS_DEBOUNCE_COUNT: 防抖计数 (默认5次)
|
||
*/
|
||
void FOC_Controller::fast_voltage_check(void) {
|
||
// 直接从DMA缓冲区读取最新ADC值（regular rank2 是 VBUS）
|
||
float current_vbus = adc_value[2] * (3.3f / 4096.0f) * 11.0f;
|
||
|
||
// 更新基准电压（峰值检测）
|
||
// 电压上升时，基准电压跟随；电压下跌时，基准电压保持
|
||
if (current_vbus > vbus_reference) {
|
||
vbus_reference = current_vbus;
|
||
}
|
||
// 电压下跌时不更新基准电压，保持之前的峰值
|
||
|
||
// 更新上次电压值
|
||
last_vbus_fast = current_vbus;
|
||
|
||
// 计算电压跌幅（相对于基准电压）
|
||
float voltage_drop = vbus_reference - current_vbus;
|
||
|
||
// 关机条件（满足任一即可）：
|
||
// 1. 电压跌幅超过阈值
|
||
// 2. 电压低于绝对下限
|
||
bool drop_exceeded = (voltage_drop > VBUS_DROP_THRESHOLD);
|
||
bool below_absolute = (current_vbus < VBUS_ABSOLUTE_MIN);
|
||
|
||
if ((drop_exceeded || below_absolute) && (!is_shut_down)) {
|
||
// 电压跌落计数（防抖）
|
||
vbus_drop_count++;
|
||
|
||
if (vbus_drop_count >= VBUS_DEBOUNCE_COUNT) {
|
||
// 确认需要关机，立即停机
|
||
drv_stop();
|
||
motor_sleep();
|
||
is_shut_down = true;
|
||
emergency_shutdown = true; // 标记紧急关机，低频任务会执行保存
|
||
vbus_drop_count = 0; // 重置计数器
|
||
}
|
||
} else {
|
||
// 电压正常，重置计数器
|
||
vbus_drop_count = 0;
|
||
}
|
||
}
|
||
|
||
/**
|
||
* @brief 速度开环控制
|
||
*
|
||
* @param target_velocity: 目标速度
|
||
* @return float: q轴电压
|
||
*/
|
||
float FOC_Controller::velocity_open_loop() {
|
||
// 通过时间间隔和目标速度计算需要转动的机械角度，存储在 shaft_angle 中
|
||
shaft_angle =
|
||
fmod(shaft_angle + target_velocity * REDUCTION_RATIO / MOTOR_FREQUENCY,
|
||
360.0f);
|
||
rt_current = cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'),
|
||
sampler.get_current('W'));
|
||
|
||
// 因为在开环控制中，Ud 始终为 0，只控制 Uq
|
||
const float Uq = _constrain(target_velocity * REDUCTION_RATIO * 0.005f,
|
||
2.0f, voltage_power_supply * 0.5f);
|
||
// 齿槽转矩补偿
|
||
float angle_el_cog = fmodf(shaft_angle * PP + KTH7823.calibration_angle, 360.0f);
|
||
setSVPWM_PhaseVoltage(Uq + get_cogging_compensation(angle_el_cog), 0.0f);
|
||
return limit_voltage;
|
||
}
|
||
|
||
/**
|
||
* @brief 角度闭环控制
|
||
*
|
||
* @param target_angle: 目标角度
|
||
* @return float: 当前角度
|
||
*/
|
||
float FOC_Controller::angle_control() {
|
||
// PID 控制计算
|
||
float Uq = angle_loop(target_angle - rt_angle);
|
||
|
||
// 获取电机轴角度
|
||
shaft_angle = KTH7823.getcurrent_sensorangle();
|
||
rt_current = cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'),
|
||
sampler.get_current('W'));
|
||
// 齿槽转矩补偿
|
||
float angle_el_cog = fmodf(shaft_angle * PP + KTH7823.calibration_angle, 360.0f);
|
||
// 设置相电压
|
||
setSVPWM_PhaseVoltage(Uq + get_cogging_compensation(angle_el_cog), 0.0f);
|
||
return shaft_angle;
|
||
}
|
||
|
||
/**
|
||
* @brief 速度闭环控制
|
||
*
|
||
* @param target_velocity: 目标速度
|
||
* @return float: 当前速度
|
||
*/
|
||
float FOC_Controller::velocity_control() {
|
||
// 速度误差计算
|
||
float velocity_error = (target_velocity - rt_velocity) * DIR * REDUCTION_RATIO;
|
||
|
||
// 目标速度突变检测：target 大幅变化时清积分
|
||
static float last_target_vel = 0.0f;
|
||
const float target_delta = target_velocity - last_target_vel;
|
||
if (fabsf(target_delta) > 5.0f) {
|
||
vel_loop.reset_integral();
|
||
}
|
||
last_target_vel = target_velocity;
|
||
|
||
// PID 控制计算
|
||
float Uq = vel_loop(velocity_error);
|
||
CAN0_transmiter.testfloat_union.f = Uq;
|
||
|
||
// 获取电机轴角度
|
||
shaft_angle = KTH7823.getcurrent_sensorangle();
|
||
// 齿槽转矩补偿
|
||
float angle_el_cog = fmodf(shaft_angle * PP + KTH7823.calibration_angle, 360.0f);
|
||
// 设置相电压
|
||
setSVPWM_PhaseVoltage(Uq + get_cogging_compensation(angle_el_cog), 0.0f);
|
||
rt_current = cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'),
|
||
sampler.get_current('W'));
|
||
|
||
return rt_velocity;
|
||
}
|
||
|
||
float FOC_Controller::current_control() {
|
||
// PID 控制计算
|
||
float Iq = rt_current =
|
||
cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'),
|
||
sampler.get_current('W'));
|
||
float Uq = current_loop(target_current - Iq);
|
||
if (Uq > limit_voltage) {
|
||
Uq = limit_voltage;
|
||
} else if (Uq < -limit_voltage) {
|
||
Uq = -limit_voltage;
|
||
}
|
||
// 获取电机轴角度
|
||
shaft_angle = KTH7823.getcurrent_sensorangle();
|
||
CAN0_transmiter.testfloat_union.f = shaft_angle;
|
||
// 齿槽转矩补偿
|
||
float angle_el_cog = fmodf(shaft_angle * PP + KTH7823.calibration_angle, 360.0f);
|
||
// 设置相电压
|
||
setSVPWM_PhaseVoltage(Uq + get_cogging_compensation(angle_el_cog), 0.0f);
|
||
return 1;
|
||
}
|
||
|
||
/**
|
||
* @brief 带速度限制的角度闭环控制
|
||
*
|
||
* @param target_angle: 目标角度
|
||
* @param max_velocity: 最大速度限制 (单位: rad/s)
|
||
* @return float: 当前角度
|
||
*/
|
||
float FOC_Controller::angle_control_with_velocity_limit() {
|
||
// 计算角度误差
|
||
float angle_error = target_angle - rt_angle;
|
||
|
||
ang_inVelAngloop.set_P(ang_angloop_p);
|
||
// 使用角度PID控制器计算目标速度
|
||
float target_velocity = ang_inVelAngloop(angle_error);
|
||
|
||
// 使用速度PID控制器计算最终输出电压
|
||
// 根据目标速度大小，选择不同的PID参数
|
||
if (target_velocity < -120.0f) {
|
||
vel_inVelAngloop.set_P(vel_angloop_p * 2.0f);
|
||
} else if (target_velocity < -30.0f) {
|
||
vel_inVelAngloop.set_P(vel_angloop_p * 1.5f);
|
||
} else {
|
||
vel_inVelAngloop.set_P(vel_angloop_p);
|
||
}
|
||
float velocity_error = target_velocity - rt_velocity;
|
||
|
||
// 目标速度突变检测：target 大幅变化时清积分
|
||
static float last_vang_target_vel = 0.0f;
|
||
if (fabsf(target_velocity - last_vang_target_vel) > 5.0f) {
|
||
vel_inVelAngloop.reset_integral();
|
||
}
|
||
last_vang_target_vel = target_velocity;
|
||
|
||
static float last_velocity_error = 0.0f;
|
||
last_velocity_error = velocity_error;
|
||
|
||
float Uq = vel_inVelAngloop(velocity_error)* DIR;
|
||
|
||
// 获取电机轴角度
|
||
shaft_angle = KTH7823.getcurrent_sensorangle();
|
||
CAN0_transmiter.testfloat_union.f = shaft_angle;
|
||
// 获取当前实际电流值
|
||
rt_current = cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'),
|
||
sampler.get_current('W'));
|
||
// 齿槽转矩补偿
|
||
float angle_el_cog = fmodf(shaft_angle * PP + KTH7823.calibration_angle, 360.0f);
|
||
// 设置相电压
|
||
setSVPWM_PhaseVoltage(Uq + get_cogging_compensation(angle_el_cog), 0.0f);
|
||
|
||
return shaft_angle;
|
||
}
|
||
|
||
/**
|
||
* @brief MIT控制
|
||
*
|
||
* @param target_angle: 目标角度
|
||
* @param max_velocity: 最大速度限制 (单位: rad/s)
|
||
* @return float: 当前角度
|
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*/
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float FOC_Controller::MIT_Mode() {
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// 第一层：角度环（外环）
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float angle_error = target_angle - rt_angle;
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ang_inMITloop.set_P(ang_MIT_p);
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float target_velocity =
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ang_inMITloop(angle_error);
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||
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// 第二层：速度环（中环）
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float velocity_error = (target_velocity - rt_velocity)* DIR;
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||
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// 目标速度变化检测：target 大幅变化时清积分
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static float last_mit_target_vel = 0.0f;
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if (fabsf(target_velocity - last_mit_target_vel) > 5.0f) {
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vel_inMITloop.reset_integral();
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||
}
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last_mit_target_vel = target_velocity;
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||
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vel_inMITloop.set_P(vel_MIT_p);
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float target_current = vel_inMITloop(velocity_error);
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||
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// 第三层：电流环（内环）
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rt_current = cal_Iq_Id(sampler.get_current('U'), sampler.get_current('V'),
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sampler.get_current('W'));
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||
|
||
float current_error = target_current - rt_current;
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||
current_inMITloop.set_P(cur_MIT_p);
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||
float Uq = current_inMITloop(current_error);
|
||
|
||
// 获取电机轴角度
|
||
shaft_angle = KTH7823.getcurrent_sensorangle();
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||
|
||
// 齿槽转矩补偿
|
||
float angle_el_cog = fmodf(shaft_angle * PP + KTH7823.calibration_angle, 360.0f);
|
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// 设置相电压
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||
setSVPWM_PhaseVoltage(Uq + get_cogging_compensation(angle_el_cog), 0.0f);
|
||
|
||
return shaft_angle;
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||
}
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