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changed to HF; test open loop with 2204; issue uart receiving failed sometime; motor jitter;

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4x-tech
2025-11-19 10:45:40 +08:00
parent 77b61cb90e
commit dd8f7c006f
3 changed files with 59 additions and 42 deletions
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61
3rd/dfoc.c
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@@ -15,27 +15,19 @@
#define _1_SQRT3 0.57735026919f
#define _2_SQRT3 1.15470053838f
#define VOLTAGE_POWER_SUPPLY 12.0f
#define VOLTAGE_LIMIT 6
#define PWM_COMPARE_VALUE 750.0f
volatile float Ua = 0, Ub = 0, Uc = 0, Ualpha, Ubeta = 0, dc_a = 0, dc_b = 0,
dc_c = 0;
const float voltage_limit = 5.5;
const float voltage_power_supply = 12.0f;
volatile float zero_electric_Angle = 0.0;
extern int pp;
extern int Dir;
void Motor_en() {
// GPIO_InitTypeDef GPIO_InitStructure;
//
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA,ENABLE);
//
// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
// GPIO_Init(GPIOA,&GPIO_InitStructure);
//
// GPIO_SetBits(GPIOA, GPIO_Pin_8);
}
void Motor_en() {}
// 限制幅值
float constrain(float amt, float low, float high) {
@@ -57,18 +49,20 @@ void SetPwm(float Ua, float Ub, float Uc) {
volatile float U_b = 0.0;
volatile float U_c = 0.0;
U_a = constrain(Ua, 0.0f, voltage_limit);
U_b = constrain(Ub, 0.0f, voltage_limit);
U_c = constrain(Uc, 0.0f, voltage_limit);
// printf("Ua : %f -- Ub : %f -- Uc : %f -- U_a : %f -- U_b : %f -- U_c : %f
// \n",Ua,Ub,Uc,U_a,U_b,U_c);
dc_a = constrain(U_a / voltage_power_supply, 0.0f, 1.0f);
dc_b = constrain(U_b / voltage_power_supply, 0.0f, 1.0f);
dc_c = constrain(U_c / voltage_power_supply, 0.0f, 1.0f);
U_a = constrain(Ua, 0.0f, VOLTAGE_LIMIT);
U_b = constrain(Ub, 0.0f, VOLTAGE_LIMIT);
U_c = constrain(Uc, 0.0f, VOLTAGE_LIMIT);
PWM_Channel1(dc_a * 500.0f); // 频率15k
PWM_Channel2(dc_b * 500.0f);
PWM_Channel3(dc_c * 500.0f);
dc_a = constrain(U_a / VOLTAGE_POWER_SUPPLY, 0.0f, 1.0f);
dc_b = constrain(U_b / VOLTAGE_POWER_SUPPLY, 0.0f, 1.0f);
dc_c = constrain(U_c / VOLTAGE_POWER_SUPPLY, 0.0f, 1.0f);
if (DEBUG_ENABLED & DEBUG_DFOC_ENABLED) {
printf("dc_a : %f -- dc_b : %f -- dc_c : %f \n", dc_a, dc_b, dc_c);
}
PWM_Channel1((1 - dc_a) * PWM_COMPARE_VALUE); // 频率15k
PWM_Channel2((1 - dc_b) * PWM_COMPARE_VALUE);
PWM_Channel3((1 - dc_c) * PWM_COMPARE_VALUE);
}
// FOC核心算法，克拉克逆变换/帕克逆变换
@@ -81,9 +75,9 @@ void SetPhaseVoltage(float Uq, float Ud, float angle_el) {
Ualpha = -Uq * sin(angle_el);
Ubeta = Uq * cos(angle_el);
Ua = Ualpha + voltage_power_supply / 2;
Ub = (sqrt(3) * Ubeta - Ualpha) / 2 + voltage_power_supply / 2;
Uc = -(Ualpha + sqrt(3) * Ubeta) / 2 + voltage_power_supply / 2;
Ua = Ualpha + VOLTAGE_POWER_SUPPLY / 2;
Ub = (sqrt(3) * Ubeta - Ualpha) / 2 + VOLTAGE_POWER_SUPPLY / 2;
Uc = -(Ualpha + sqrt(3) * Ubeta) / 2 + VOLTAGE_POWER_SUPPLY / 2;
SetPwm(Ua, Ub, Uc);
@@ -94,16 +88,15 @@ void Check_Sensor(void) {
// SetPhaseVoltage(3, 0, _3PI_2);
// delay_ms(3000);
zero_electric_Angle = electricAngle();
printf("Check_Sensor zero_electric_Angle is %f \n", zero_electric_Angle);
// SetPhaseVoltage(0, 0, _3PI_2);
// delay_ms(500);
}
void FOC_Init(float power) {
// voltage_power_supply = power;
void FOC_Init() {
// PWM_Init();
// CurrSense_Init();
// AS5600_Init();
Check_Sensor();
}
@@ -114,8 +107,8 @@ void Set_Angle(float Target) {
printf("angle readback in dfoc.c is %f \n", langle);
}
volatile float Uq =
PID_Controller(0.067, 0.01, 0, (Target - Dir * langle) * 180 / PI);
// volatile float Uq = PID_Controller(0.06, 0, 0, (Target - Dir * langle) *
PID_Controller(0.03, 0.01, 0, (Target - Dir * langle) * 180 / PI);
// volatile float Uq = PID_Controller(0.133, 0, 0, (Target - Dir * langle) *
// 180 / PI);
if (DEBUG_ENABLED & DEBUG_DFOC_ENABLED) {
printf("Uq is %f \n", Uq);
@@ -147,7 +140,7 @@ float velocityopenloop(float target) {
printf("shaft_angle : %f -- Ts : %f \n", shaft_angle, Ts);
}
Uq = voltage_limit;
Uq = VOLTAGE_LIMIT;
SetPhaseVoltage(Uq, 0, shaft_angle);
openloop_timestamp = now_ts;