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Trace: • 2024-10-04_001
blog:2024-10-04_001



2024-10-04 Share: 速度開環控制的實現

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  • 速度開環控制的實現
  • FOC.c
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    #include "FOC.h"
     
    float max_power_supply_voltage = 12; // 供电电压
    float limit_voltage = 5;             // 供电电压
    uint8_t pole_pairs = 7;              // 极对数
     
    void FOC_Init()
    {
        Timer2_PWM_Init();
        Timer2_PWM_SetFreq(70);
        RTC_Time_Init();
        OLED_Init();
    }
    /**
     * @param uD 施加在D轴的电压 范围 [-max,+max]
     * @param uQ 施加在Q轴的电压 范围 [-max,+max]
     * @param angle 机械角度 单位：弧度制 因为标准库中的sin函数也是弧度制
     */
    void FOC_ControlUpdate(float uD, float uQ, float angle)
    {
        // 限制电压范围
        uD = fixedRange(-max_power_supply_voltage, uD, max_power_supply_voltage);
        uQ = fixedRange(-max_power_supply_voltage, uQ, max_power_supply_voltage);
        // 通过机械角度计算电角度
        angle = normalizeAngle(electricalAngle(angle));
        // 帕克变换
        float uAlpha = uD * cos(angle) - uQ * sin(angle);
        float uBata = uQ * cos(angle) + uD * sin(angle);
        // 克拉克逆变换（等幅值）
        float uA = uAlpha;
        float uB = (sqrt(3) * uBata - uAlpha) / 2;
        float uC = (-uAlpha - sqrt(3) * uBata) / 2;
        // 设置相电压
        FOC_setPhaseVoltage(uA, uB, uC);
    }
    /**
     * @param uA 施加在A相的电压 范围 [-max,+max]
     * @param uB 施加在B相的电压 范围 [-max,+max]
     * @param uC 施加在C相的电压 范围 [-max,+max]
     */
    void FOC_setPhaseVoltage(float uA, float uB, float uC)
    {
        // 限制电压范围
        uA = fixedRange(-limit_voltage, uA, limit_voltage);
        uB = fixedRange(-limit_voltage, uB, limit_voltage);
        uC = fixedRange(-limit_voltage, uC, limit_voltage);
        Timer2_PWM_SetDuty(
            // 重映射 [-max,+max] => [0,1]
            uA / 2 / max_power_supply_voltage + 0.5,
            uB / 2 / max_power_supply_voltage + 0.5,
            uC / 2 / max_power_supply_voltage + 0.5);
    }
    /**
     * 速度开环控制
     * @param targetSpeed 目标速度
     */
    void FOC_SpeedOpenLoopControl(float targetSpeed)
    {
        float angle = 0;
        float dt_s;
        uint64_t prevTime_ms, curTime_ms;
        curTime_ms = prevTime_ms = RTC_Time_GetTime_MS(NULL);
        while (1)
        {
            curTime_ms = RTC_Time_GetTime_MS(NULL);
            dt_s = (curTime_ms - prevTime_ms) / 1000.0;
            angle += targetSpeed * dt_s;
            angle = normalizeAngle(angle);
            FOC_ControlUpdate(0, limit_voltage, angle);
            prevTime_ms = curTime_ms;
        }
    }
    /**
     * 范围限制
     */
    float fixedRange(float min, float val, float max)
    {
        return val <= min ? min : (val >= max ? max : val);
    }
    /**
     * 将角度限制在[0,2π]
     */
    float normalizeAngle(float angle)
    {
        angle = fmod(angle, 2 * M_PI);
        if (angle < 0)
            angle += 2 * M_PI;
        return angle;
    }
    /**
     * 电角度=机械角度 x 极对数
     */
    float electricalAngle(float mechanical_angle)
    {
        return mechanical_angle * pole_pairs;
    }
     
    float rad(float deg)
    {
        return deg / 180 * M_PI;
    }
  • foc.h
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    #ifndef __FOC_H__
    #define __FOC_H__
    #include "stm32f10x.h"
    #include "Timer2_PWM.h"
    #include "RTC_Time.h"
    #include "Delay.h"
    #include "OLED.h"
    #include "OLED_Printf.h"
    #include <math.h>
     
    #ifdef __cplusplus
    extern "C"
    {
    #endif
        void FOC_Init();
        void FOC_ControlUpdate(float uD, float uQ, float angle);
        void FOC_setPhaseVoltage(float uA, float uB, float uC);
        void FOC_SpeedOpenLoopControl(float targetSpeed);
        float fixedRange(float min, float val, float max);
        float normalizeAngle(float angle);
        float electricalAngle(float mechanical_angle);
        float rad(float deg);
    #ifdef __cplusplus
    }
    #endif
     
    #endif

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blog/2024-10-04_001.txt · Last modified: 2024/10/04 16:49 (external edit)

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