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 = (Teeth_F << 10) / Teeth_B;
    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 = 1; //滑行或静止标志，1-滑行或静止

    //有效判断
    if(BikeSpeedRpm > 20) //20rpm*60*2.19m/1000≈2.6km/h
    {
        if((PedalTorqueNm > 50) && (Cadence > 10)) //5Nm 10rpm
            Coasted_Flag = 0;
        else
        {
            if((MotorSpeed > 100) && (Current > 10)) //100rpm 0.1A
            {
                Coasted_Flag = 0;
            }
        }
    }

    //计算传动比
    if(Coasted_Flag == 0)
    {
        //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 < 200) ? 200 : ((p_Bike_RatioCal->RatioPer > 5000) ? 5000 : 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;
        //目标值计算
        p_Bike_RatioCal->RatioResult = p_Bike_RatioCal->RatioFlt;
    }
    else
    {
        p_Bike_RatioCal->RatioPer = p_Bike_RatioCal->RatioDefault;
        p_Bike_RatioCal->RatioResult = p_Bike_RatioCal->RatioDefault;
        p_Bike_RatioCal->RatioFlt = p_Bike_RatioCal->RatioDefault;
        p_Bike_RatioCal->RatioFltSum = 0;
    }

}