【B-G431B-ESC1-无刷电机板】3-开环VF强拖
<div class='showpostmsg'><p>本期测评让电机进行开环强拖，电角度使用自增电角度。上期测评我们已经把工程配置的差不多了，这期就直接上代码了。</p><p>先上总的控制框图：</p>
<p> 而我们本期做的是下面这个部分</p>
<p> </p>
<p>开环强拖分为3部分：</p>
<ol>
<li>反park变换</li>
<li>svpwm</li>
<li>电角度</li>
</ol>
<p><strong><span style="font-size:18px;">1. 反park变换</span></strong></p>
<p>参考公式</p>
<p> </p>
<pre>
<code>void ipark(Motor_State *motor)
{
voltage_int(motor);
motor->v_alpha = motor->vd_int * motor->theta_cos - motor->vq_int * motor->theta_sin;
motor->v_beta = motor->vq_int * motor->theta_cos + motor->vd_int * motor->theta_sin;
}</code></pre>
<p> 这里voltage_int函数我们后面再解释。</p>
<p> </p>
<p><strong><span style="font-size:18px;">2.svpwm</span></strong></p>
<pre>
<code>void svpwm(Motor_State *motor, uint32_t PWMFullDutyCycle)
{
float ts = 1,k_svpwm;
ipark(motor);
float u1 = motor->v_beta;
float u2 = -0.8660254037844386 * motor->v_alpha - 0.5 * motor->v_beta;
float u3 = 0.8660254037844386 * motor->v_alpha - 0.5 * motor->v_beta;
uint8_t sector = (u1 > 0.0) + ((u2 > 0.0) << 1) + ((u3 > 0.0) << 2);
if (sector == 5)
{
float t4 = u3;
float t6 = u1;
float sum = t4 + t6;
if (sum > ts)
{
k_svpwm = ts / sum;
t4 = k_svpwm * t4;
t6 = k_svpwm * t6;
}
float t7 = (ts - t4 - t6) / 2;
motor->ta = t4 + t6 + t7;
motor->tb = t6 + t7;
motor->tc = t7;
}
else if (sector == 1)
{
float t2 = -u3;
float t6 = -u2;
float sum = t2 + t6;
if (sum > ts)
{
k_svpwm = ts / sum;
t2 = k_svpwm * t2;
t6 = k_svpwm * t6;
}
float t7 = (ts - t2 - t6) / 2;
motor->ta = t6 + t7;
motor->tb = t2 + t6 + t7;
motor->tc = t7;
}
else if (sector == 3)
{
float t2 = u1;
float t3 = u2;
float sum = t2 + t3;
if (sum > ts)
{
k_svpwm = ts / sum;
t2 = k_svpwm * t2;
t3 = k_svpwm * t3;
}
float t7 = (ts - t2 - t3) / 2;
motor->ta = t7;
motor->tb = t2 + t3 + t7;
motor->tc = t3 + t7;
}
else if (sector == 2)
{
float t1 = -u1;
float t3 = -u3;
float sum = t1 + t3;
if (sum > ts)
{
k_svpwm = ts / sum;
t1 = k_svpwm * t1;
t3 = k_svpwm * t3;
}
float t7 = (ts - t1 - t3) / 2;
motor->ta = t7;
motor->tb = t3 + t7;
motor->tc = t1 + t3 + t7;
}
else if (sector == 6)
{
float t1 = u2;
float t5 = u3;
float sum = t1 + t5;
if (sum > ts)
{
k_svpwm = ts / sum;
t1 = k_svpwm * t1;
t5 = k_svpwm * t5;
}
float t7 = (ts - t1 - t5) / 2;
motor->ta = t5 + t7;
motor->tb = t7;
motor->tc = t1 + t5 + t7;
}
else if (sector == 4)
{
float t4 = -u2;
float t5 = -u1;
float sum = t4 + t5;
if (sum > ts)
{
k_svpwm = ts / sum;
t4 = k_svpwm * t4;
t5 = k_svpwm * t5;
}
float t7 = (ts - t4 - t5) / 2;
motor->ta = t4 + t5 + t7;
motor->tb = t7;
motor->tc = t5 + t7;
}
motor->pwma = motor->ta * PWMFullDutyCycle;
motor->pwmb = motor->tb * PWMFullDutyCycle;
motor->pwmc = motor->tc * PWMFullDutyCycle;
}</code></pre>
<p>这里大家可以参考这篇文章：<a href="https://blog.csdn.net/qq_35947329/article/details/115483413">深入浅出FOC控制-CSDN博客</a></p>
<p>我直接贴出重点</p>
<p> </p>
<p>我的代码中，让这个地方的K等于1了，这样可以减少计算，这样前面传入的数据也必须除以K，所以上面代码的voltage_int就是做的这个事情，可以理解成这里将vd和vq标幺化成了1，如下</p>
<pre>
<code>void voltage_int(Motor_State *motor)
{
motor->vd_int = (motor->vd) / (motor->v_bus) * ONE_BY_SQRT3;
motor->vq_int = (motor->vq) / (motor->v_bus) * ONE_BY_SQRT3;
}</code></pre>
<p> </p>
<p><strong><span style="font-size:18px;">3.电角度自增</span></strong></p>
<p>这里我人为给一个电角度，用来强拖电机</p>
<p> </p>
<p><strong><span style="font-size:18px;">4.现象</span></strong></p>
<p>首先给大家看一下svpwm的马鞍波</p>
<p> </p>
<p>最后给大家看一下电机转动的情况</p>
<p>821c8e01a115b6e457b833d1e24b3112<br />
</p>
<p> </p>
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