motor_ctl-1/3.BasicFunction/Source/BikeRatioCal.c

/*
 * BikeRatioCal.c
 *
 *  Created on: 2025年3月27日
 *      Author: zhouxiong9
 */
#include "bikeRatioCal.h"

Bike_RatioCal_Struct_t Bike_RatioCalParam = {0,0,0,0,0};

//参数初始化
void BikeRatioCal_Init(UWORD Teeth_F, UWORD Teeth_B)
{
    Bike_RatioCalParam.RatioDefault = 1024;
    Bike_RatioCalParam.RatioResult = Bike_RatioCalParam.RatioDefault;
}

//传动比计算
void BikeRatioCal_Process(UWORD MotorSpeed, UWORD Cadence, UWORD BikeSpeedRpm, UWORD PedalTorqueNm, UWORD Current, Bike_RatioCal_Struct_t* p_Bike_RatioCal)
{
    ULONG Speed_F, Speed_B; //前后牙盘转速 rpm Q8
    UBYTE Coasted_Flag = 0xFF; //滑行或静止标志，1-滑行，2-静止

    //有效判断
    if(BikeSpeedRpm > 80) //80rpm*60*2.19m/1000≈10.5km/h
    {
        if((PedalTorqueNm > 100) && (Cadence > 10)) //10Nm 10rpm
            Coasted_Flag = 0;
        else
        {
            if((MotorSpeed > 100) && (Current > 10)) //100rpm 0.1A
                Coasted_Flag = 0;
            else
                Coasted_Flag = 1;
        }
    }
    else
        Coasted_Flag = 2;

    //计算传动比
    if(Coasted_Flag == 2) //静止更新为默认值
    {
        p_Bike_RatioCal->RatioResult = p_Bike_RatioCal->RatioDefault;
        p_Bike_RatioCal->RatioFltSum = 0;
    }
    else
    {
        if(Coasted_Flag == 0) //骑行或转把时计算
        {
            //转速计算
            Speed_F = ((((ULONG)MotorSpeed * 56) > ((ULONG)Cadence * 614)) ? ((ULONG)MotorSpeed * 56) : ((ULONG)Cadence * 614)) >> 8; //max(电机转速/4.55*256，踏频*2.4*256)
            Speed_B = BikeSpeedRpm;
            //计算传动比 Q10
            p_Bike_RatioCal->RatioPer = (Speed_B << 10) / Speed_F;
            //限制计算结果
            p_Bike_RatioCal->RatioPer = (p_Bike_RatioCal->RatioPer < 400) ? 400 : ((p_Bike_RatioCal->RatioPer > 2048) ? 2048 : p_Bike_RatioCal->RatioPer);
        }
        //计算结果滤波
        p_Bike_RatioCal->RatioFltSum += ((p_Bike_RatioCal->RatioPer << 10) - p_Bike_RatioCal->RatioFltSum) >> 4;
        p_Bike_RatioCal->RatioFlt = p_Bike_RatioCal->RatioFltSum >> 10;
        //目标值
        if((p_Bike_RatioCal->RatioResult + 5) > p_Bike_RatioCal->RatioFlt)
            p_Bike_RatioCal->RatioResult -= 5;
        else if((p_Bike_RatioCal->RatioResult + 10) < p_Bike_RatioCal->RatioFlt)
            p_Bike_RatioCal->RatioResult += 20;
    }
}