cbb
c9934849c5
- 修复类名拼写错误：FOC_Controlroller -> FOC_Controller - 移除不必要的角度归一化函数，直接使用fmod优化性能 - 添加完整的SVPWM算法实现，提高电机控制效率 - 重构PID参数配置，使用动态参数调整机制 - 增加电流反馈功能，实时监测电机运行状态 - 优化电压安全限制，提高系统稳定性 - 更新控制模式映射，支持更多控制策略 - 改进CAN通信协议，增加电流反馈传输
104 lines
3.1 KiB
C++
104 lines
3.1 KiB
C++
#include "health.h"
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#include "config.h"
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#include "Can.h"
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#include "FOC.h"
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#include "adc.h"
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#include "flash.h"
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extern sampler sampler;
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extern CAN_transmiter CAN0_transmiter;
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extern FOC_Controller FOC;
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extern FlashEEPROM flashEEP;
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ThermalController thermalController; // 热量控制器初始化
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#define max(a, b, c) \
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((a) > (b) ? ((a) > (c) ? (a) : (c)) : ((b) > (c) ? (b) : (c)))
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constexpr u16 PROTECT_TIME = 6000; // 过热保护时间，单位*10ms
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/**
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** @brief 热能计算
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** @param None
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** @retval 热量值
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*/
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u32 ThermalController::update() {
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thermal_value = Q16_16_MUL(thermal_value, thermalRate);
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// 添加温度积累
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int drv_temp = (int)sampler.get_drv_temp();
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int mcu_temp = (int)sampler.get_mcu_temp();
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if (drv_temp == 255)
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drv_temp = 0;
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if (mcu_temp == 255)
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mcu_temp = 0;
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thermal_value += drv_temp * drv_temp + mcu_temp * mcu_temp;
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if (remainingTime10Ms) {
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// 过热停机状态
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// 检查是否可以恢复
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q16_16_t recovery_threshold =
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Q16_16_MUL(thermal_capacity, recoveryRate);
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if (thermal_value < recovery_threshold) {
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remainingTime10Ms = 1; // 可以恢复工作
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}
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if (remainingTime10Ms == 1) { // 过热恢复
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FOC.resume();
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CAN0_transmiter.ThermalStatus = 0;
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return --remainingTime10Ms;
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}
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return --remainingTime10Ms;
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} else {
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// 当前没有过热停机
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// 添加电流热积累
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u32 currents[3] = {(u32)(sampler.get_current('U') * 1000),
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(u32)(sampler.get_current('V') * 1000),
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(u32)(sampler.get_current('W') * 1000)};
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// 找最大电流（原始ADC值）
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current_max = max(currents[0], currents[1], currents[2]);
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if (current_max < 2000) {
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thermal_value += current_max * current_max * gapTimeMs *
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0.00007f; // 计算当前电流热积累值
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} else if (current_max > 3800) {
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thermal_value += current_max * current_max * gapTimeMs *
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0.01f; // 添加当前电流热积累值
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} else if (current_max > 3400) {
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thermal_value += current_max * current_max * gapTimeMs *
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0.005f; // 计算当前电流热积累值
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} else if (current_max > 3000) {
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thermal_value += current_max * current_max * gapTimeMs *
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0.0002f; // 计算当前电流热积累值
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} else if (current_max > 2000) {
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thermal_value += current_max * current_max * gapTimeMs *
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0.0001f; // 计算当前电流热积累值
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}
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}
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if (thermal_value > thermal_capacity) {
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FOC.shut_down();
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remainingTime10Ms = PROTECT_TIME; // 过热停机
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CAN0_transmiter.ThermalStatus = 1;
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return remainingTime10Ms;
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}
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return thermal_value;
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}
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/**
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** @brief 温度检测
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** @param None
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*/
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void angsens_MG_check(void) {
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bool MGH = gpio_input_bit_get(GPIOB, GPIO_PIN_10);
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bool MGL = gpio_input_bit_get(GPIOB, GPIO_PIN_11);
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CAN0_transmiter.MagStatus = MGH or MGL;
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}
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void power_manage(void) {
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float last_vbus = sampler.get_vbus_voltage();
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sampler.update_vbus_voltage();
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FOC.update_power(last_vbus);
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float vbus = sampler.get_vbus_voltage();
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if ((vbus < 22.0f) and (last_vbus > vbus) and vbus > 8.0f) {
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FOC.shut_down();
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flashEEP.save_system_config(true);
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} else {
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FOC.resume();
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}
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} |