3_foc闭环调试_pi控制器调试程序框架

最新推荐文章于 2025-01-20 05:05:21 发布

Pou光明

最新推荐文章于 2025-01-20 05:05:21 发布

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文章标签： java 前端 javascript 算法 linux

本文链接：https://blog.csdn.net/ACK_ACK/article/details/142391330

版权

1、ADC电流偏置读取

void Offset_CurrentReading(void) 
{
       static uint16_t ADC_PhaseU_Curr[100];
       static uint16_t ADC_PhaseV_Curr[100];
       uint16_t temp;
       uint32_t sum_U=0;
       uint32_t sum_V=0;
       uint8_t i,k;


       for(i=0;i<100;i++){
              while(DMA_GetFlagStatus(DMA2_Stream0,DMA_FLAG_TCIF0)==RESET);  
               DMA_ClearFlag(DMA2_Stream0,DMA_FLAG_TCIF0);        
                  ADC_PhaseU_Curr[i] = ADC_DualConvertedValueTab[0];
                 ADC_PhaseV_Curr[i] = ADC_DualConvertedValueTab[1]; 
       }


       for(k=0;k<100;k++){
           for(i=k+1;i<100;i++)    
               if(ADC_PhaseU_Curr[i]>ADC_PhaseU_Curr[k]){
                    temp=ADC_PhaseU_Curr[i];
                    ADC_PhaseU_Curr[i]=ADC_PhaseU_Curr[k];
                    ADC_PhaseU_Curr[k]=temp;
                }
           }
              sum_U=0;


       for(k=25;k<75;k++){
           sum_U=sum_U+ADC_PhaseU_Curr[k];
       }
       ADCSampPare.OffsetPhaseU_Curr =sum_U/50;      
       printf("U: %d \n", ADCSampPare.OffsetPhaseU_Curr);      


       for(k=0;k<100;k++){
           for(i=k+1;i<100;i++)
                if(ADC_PhaseV_Curr[i]>ADC_PhaseV_Curr[k]){
                     temp=ADC_PhaseV_Curr[i];
                     ADC_PhaseV_Curr[i]=ADC_PhaseV_Curr[k];
                     ADC_PhaseV_Curr[k]=temp;
                }    
       }
       sum_V=0;
       for(k=25;k<75;k++){
           sum_V=sum_V+ADC_PhaseV_Curr[k];
       }
       ADCSampPare.OffsetPhaseV_Curr =sum_V/50;      
       printf("V: %d \n", ADCSampPare.OffsetPhaseV_Curr);      
}

2、转速测量

为以后速度环做准备

angeel_ch[sp_flag]=Anglee;             
       if ((TIM2->CR1 & TIM_CounterMode_Down) == TIM_CounterMode_Down){
       //encoder timer down-counting
              if(angeel_ch[sp_flag]>angeel_ch[(sp_flag+1)%11])       
              interval=angeel_ch[sp_flag]-angeel_ch[(sp_flag+1)%11]-4000;
              else interval=angeel_ch[sp_flag]-angeel_ch[(sp_flag+1)%11];
       }
       else{            
              if(angeel_ch[sp_flag]<angeel_ch[(sp_flag+1)%11])</angeel_ch[(sp_flag+1)%11])
              interval=angeel_ch[sp_flag]-angeel_ch[(sp_flag+1)%11]+4000;
              else interval=angeel_ch[sp_flag]-angeel_ch[(sp_flag+1)%11];
       }


       if((interval<200)&&(interval>-200)){      
              speedms=interval*15;
              FirstOrder_LPF_Cacl(speedms,speedms_F,0.1);
              pi_spd.Fdb=speedms_F;
       }


       sp_flag++;
       if (sp_flag>=11)sp_flag=0;

3、q轴单轴调试

Pid参数：

#define  Id_Kp                      0.0
#define  Id_Ki                      0.0
#define  Id_Kc                      0


#define  Iq_Kp                      0.1
#define  Iq_Ki                      0.5
#define  Iq_Kc                      0


pi_iq.Ref= 50;          
pi_iq.Fdb=I_dq.I2;
PID_CALC(pi_iq);
FirstOrder_LPF_Cacl(pi_iq.Out,pi_iq.OutF,0.05);
Volt_dq.V2= pi_iq.OutF;
Volt_dq.V1= 0;

结合之前的开环调试，整体流程大致这样。

4、PID限幅与计算

#define UP16LIMIT(var,max,min) {(var) = (var)>(max)?(max):(var) ;


#define PID_CALC(v)               \
v.Err = v.Ref - v.Fdb;            \
v.Up= _IQmpy(v.Kp,v.Err);         \
v.Ui= v.Ui + _IQmpy(v.Ki,v.Up);   \
UP16LIMIT(v.Ui,v.OutMax,v.OutMin);\
v.Ud = v.Kd * (v.Up - v.Up1);\
v.Out = v.Up + v.Ui + v.Ud;\
UP16LIMIT(v.Out,v.OutMax,v.OutMin);\    
v.Up1 = v.Up;

5、主程序调用

int main(void)
{
  NVIC_Configuration();
  
  StateContr.Control_Mode = 1;


  PID_init();
  Key_GPIO();
 
  Hall_Gpio();
  Encoder_Init();
  USARTx_Config();
  
  Adc_Conf();
  
  DRV8313_GPIO();
  Tim1_PWM_Init();
  
  ROTATOR_Init();  
  printf("hello \n");
  Offset_CurrentReading();
  
  while(1){    
    Key_Scan();    
  }
}

伺服调试先告一段落，接下来是CIA402与伺服结合的debug。

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