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@@ -247,29 +247,27 @@ MC_CalParam_Struct_t MC_AssistRunMode_Gas_Process(uint16_t SensorData, MC_GearSt
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/*车轮速度使用原始数据，滤波后的数据有滞后，影响控制回路*/
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wheelSpeed = (int16_t)MC_SpeedSensorData.Speed_Data;
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+
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/*实时计算电机转速与车轮速的比值*/
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SpdMotorDivWheel = (uint32_t)(MC_RunInfo.MotorSpeed * 100) / wheelSpeed ;
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-
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Tmp = SpdMotorDivWheel;
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- SpdMotorDivWheelFlt += ((Tmp<<8) - SpdMotorDivWheelFlt) >> 6;
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- SpdMotorDivWheelFlted = SpdMotorDivWheelFlt>>8;
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-
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+ SpdMotorDivWheelFlt += ((Tmp << 8) - SpdMotorDivWheelFlt) >> 6;
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+ SpdMotorDivWheelFlted = SpdMotorDivWheelFlt >> 8;
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/*在电机转速与车轮速比值，与实际速比一致时，更新速比*/
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- if( ( MC_RunInfo.MotorSpeed > 100 ) && ( wheelSpeed > 0 ))
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+ if(( MC_RunInfo.MotorSpeed > 100 ) && ( wheelSpeed > 0 ))
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{
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/*加速时，更新速比，比较法*/
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if((wheelSpeed - wheelSpeedPre ) > 5)
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{
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- if(( MC_RunInfo.MotorSpeed - DbSpdMotorPre )>0)
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+ if(( MC_RunInfo.MotorSpeed - DbSpdMotorPre ) > 0)
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{
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SpdProportion = SpdMotorDivWheel ;
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}
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DbSpdMotorPre = MC_RunInfo.MotorSpeed;
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}
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wheelSpeedPre = wheelSpeed;
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-
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-
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+
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/*求标准差,速比稳定后，更新速比*/
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/*此处将数据保存到数组中，标准差计算，时间较长，放在主循环进行*/
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if((SpdProportion_CAL_flag==0) && (MC_CalParam.Ref_Speed > 25)) //电机力矩控制量低于25时，认为是空载，此时不更新速比
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@@ -292,24 +290,25 @@ MC_CalParam_Struct_t MC_AssistRunMode_Gas_Process(uint16_t SensorData, MC_GearSt
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}
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}
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}
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+ else
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+ {
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+ wheelSpeedPre = wheelSpeed;
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+ DbSpdMotorPre = MC_RunInfo.MotorSpeed;
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+ }
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/*电机最高速度,上位机配置参数*/
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SpeedMax = MC_MotorParam.Rate_Speed;
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Tmp = SensorData + 50 ; //加50偏移量，确保能达到最大值2048
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Tmp = Tmp > 2048 ? 2048 : Tmp;
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-// /*调试用，根据车速限速值，换算指拨对应的设定车速*/
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- dbSpdWheelSet = (Tmp * MC_ConfigParam1.SpeedLimit * 10 )>> 11;
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- //if(((int16_t)wheelSpeed - (int16_t)dbSpdWheelSet) < 100 )
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- //|| (dbSpdWheelSet < 50 ) )
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-// {
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-
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+ /*调试用，根据车速限速值，换算指拨对应的设定车速*/
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+ dbSpdWheelSet = (Tmp * MC_ConfigParam1.SpeedLimit * 10 )>> 11;
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+
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/*电机转速设定，根据指拨大小、车轮限速值和速比，换算*/
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SpeedSet = ((Tmp * MC_ConfigParam1.SpeedLimit * SpdProportion) / 10 >> 11); //(Tmp >> 11) * cd_Speedlimit * ( SpdProportion / 10)
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- //SpeedSet = ((Tmp * cd_MotorSpeed) >> 11); //调试
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//超过限速值，设定电机转速为0
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- if(wheelSpeed > (MC_ConfigParam1.SpeedLimit * 10 + 10))
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+ if(wheelSpeed > (MC_ConfigParam1.SpeedLimit * 10 + 20))
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{
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SpeedSet = 0;
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}
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@@ -317,29 +316,29 @@ MC_CalParam_Struct_t MC_AssistRunMode_Gas_Process(uint16_t SensorData, MC_GearSt
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SpeedSet = (SpeedSet > 0) ? SpeedSet : 0;
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SpeedSet = (SpeedSet < SpeedMax) ? SpeedSet : SpeedMax;
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-
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- switch (GearSt & 0x0F)//Help_mode:bit4: 0-力矩模式，1-踏频模式;低四位表示助力档位
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+ //根据档位调整加速度
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+ switch (GearSt & 0x0F)
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{
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case 0x01:
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- accStep = StepCalc(SpeedMax,1,6500);
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+ accStep = StepCalc(SpeedMax, 1, 6500);
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break;
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case 0x02:
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- accStep = StepCalc(SpeedMax,1,6000);
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+ accStep = StepCalc(SpeedMax, 1, 6000);
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break;
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case 0x03:
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- accStep = StepCalc(SpeedMax,1,5500);
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+ accStep = StepCalc(SpeedMax, 1, 5500);
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break;
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case 0x04:
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- accStep = StepCalc(SpeedMax,1,5000);
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+ accStep = StepCalc(SpeedMax, 1, 5000);
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break;
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default:
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/*计算周期1ms, 加减速时间为 5.00s 加减速步进计算*/
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- accStep = StepCalc(SpeedMax,1,5000);
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+ accStep = StepCalc(SpeedMax, 1, 5000);
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break;
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}
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/*减速步进*/
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- decStep = StepCalc(SpeedMax,1,1000);
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+ decStep = StepCalc(SpeedMax, 1, 1000);
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/* 跟踪启动 */
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if(MC_CalParam.Foc_Flag == RESET)
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@@ -353,24 +352,85 @@ MC_CalParam_Struct_t MC_AssistRunMode_Gas_Process(uint16_t SensorData, MC_GearSt
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}
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/*速度指令的加减速处理*/
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- SpeedSetReal = accDecProcess(SpeedSet,accStep,decStep,&SpeedSetMiddle);
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+ #if 1 //根据档位设定最高速度
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+
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+ switch(GearSt & 0x0F)
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+ {
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+ case 0x01:
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+ SpeedSetReal = accDecProcess((SpeedSet * 9) >> 4, accStep, decStep, &SpeedSetMiddle);
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+ break;
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+ case 0x02:
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+ SpeedSetReal = accDecProcess((SpeedSet * 11) >> 4, accStep, decStep, &SpeedSetMiddle);
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+ break;
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+ case 0x03:
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+ SpeedSetReal = accDecProcess((SpeedSet * 13) >> 4, accStep, decStep, &SpeedSetMiddle);
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+ break;
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+ case 0x04:
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+ SpeedSetReal = accDecProcess(SpeedSet, accStep, decStep, &SpeedSetMiddle);
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+ break;
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+ default:
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+ SpeedSetReal = accDecProcess(SpeedSet, accStep, decStep, &SpeedSetMiddle);
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+ break;
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+ }
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+
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+ #else
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+
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+ SpeedSetReal = accDecProcess(SpeedSet, accStep, decStep, &SpeedSetMiddle);
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+
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+ #endif
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- /*母线电流限流*/
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- PID_IMax.hLower_Limit_Output= -(MC_AssisParam.Gear_TURBO.Upper_Iq / 2); //Lower Limit for Output limitation
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- PID_IMax.hUpper_Limit_Output= 0; //Upper Limit for Output limitation
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- PID_IMax.wLower_Limit_Integral = -((MC_AssisParam.Gear_TURBO.Upper_Iq / 2) << 10); // 放大1024
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- PID_IMax.wUpper_Limit_Integral = 0; // 放大1024
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- SpdMotorByIdc = PID_Regulator((MC_ConfigParam1.CurrentLimit * 1000) >> 7, MC_RunInfo.BusCurrent >> 7, &PID_ConstantPower); // 母线电流闭环
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+ /*限制母线电流*/
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+ #if 0 //根据档位设定最大电流，电流环在内环，不稳定
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+
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+ static uint16_t CurrentLimitPresent; //限流实际值，做升降速处理
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+ uint16_t CurrentLimitSet; //限流设置值，不同助力档位更新
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+
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+ switch(GearSt & 0x0F)
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+ {
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+ case 0x01://ECO
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+ {
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+ CurrentLimitSet = (uint32_t)(MC_AssisParam.Gear_ECO.CurrentMax_K * MC_ConfigParam1.CurrentLimit * 1000 >> 17);
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+ CurrentLimitPresent = MC_DataSet_Linear_Process(CurrentLimitSet, CurrentLimitPresent, 5 ,1);
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+ break;
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+ }
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+ case 0x02://NORM
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+ {
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+ CurrentLimitSet = (uint32_t)(MC_AssisParam.Gear_NORM.CurrentMax_K * MC_ConfigParam1.CurrentLimit * 1000 >> 17);
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+ CurrentLimitPresent = MC_DataSet_Linear_Process(CurrentLimitSet, CurrentLimitPresent, 5 ,1);
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+ break;
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+ }
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+ case 0x03://SPORT
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+ {
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+ CurrentLimitSet = (uint32_t)(MC_AssisParam.Gear_SPORT.CurrentMax_K * MC_ConfigParam1.CurrentLimit * 1000 >> 17);
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+ CurrentLimitPresent = MC_DataSet_Linear_Process(CurrentLimitSet, CurrentLimitPresent, 5 ,1);
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+ break;
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+ }
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+ case 0x04://TURBO
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+ {
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+ CurrentLimitSet = (uint32_t)(MC_AssisParam.Gear_TURBO.CurrentMax_K * MC_ConfigParam1.CurrentLimit * 1000 >> 17);
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+ CurrentLimitPresent = MC_DataSet_Linear_Process(CurrentLimitSet, CurrentLimitPresent, 5 ,1);
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+ break;
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+ }
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+ default://SMART
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+ {
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+ CurrentLimitSet = (uint32_t)(MC_AssisParam.Gear_SMART.CurrentMax_K * MC_ConfigParam1.CurrentLimit * 1000 >> 17);
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+ CurrentLimitPresent = MC_DataSet_Linear_Process(CurrentLimitSet, CurrentLimitPresent, 5 ,1);
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+ break;
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+ }
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+ }
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+ SpdMotorByIdc = PID_Regulator(CurrentLimitPresent, MC_RunInfo.BusCurrent >> 7, &PID_ConstantPower);
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+
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+ #else
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+
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+ SpdMotorByIdc = PID_Regulator((MC_ConfigParam1.CurrentLimit * 1000) >> 7, MC_RunInfo.BusCurrent >> 7, &PID_ConstantPower);
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+
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+ #endif
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/* 电机速度闭环 */
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- /*最大力矩为4档的力矩参数*/
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+ //最大力矩为4档的力矩参数
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PID_MotorSpd.hLower_Limit_Output= -(MC_AssisParam.Gear_TURBO.Upper_Iq / 2);
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PID_MotorSpd.hUpper_Limit_Output= (MC_AssisParam.Gear_TURBO.Upper_Iq / 2);
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-// PID_MotorSpd.wLower_Limit_Integral = -((ContrlParam.Gear_4st.Upper_Iq / 2) << 10); // 放大1024
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-// PID_MotorSpd.wUpper_Limit_Integral = ((ContrlParam.Gear_4st.Upper_Iq / 2) << 10); // 放大1024
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- TorQueBySpd = PID_Regulator(SpeedSetReal, \
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- MC_RunInfo.MotorSpeed , \
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- &PID_MotorSpd); // 电机速度闭环输出
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+ TorQueBySpd = PID_Regulator(SpeedSetReal, MC_RunInfo.MotorSpeed, &PID_MotorSpd);
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TorQueBySpd += SpdMotorByIdc;
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@@ -394,6 +454,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Gas_Process(uint16_t SensorData, MC_GearSt
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uint16_t K_ByVoltage_Result = 1024;
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uint16_t K_ByTemperature_Result = 1024;
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+
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#endif
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//速度环控制量为0时停机，防止电机出现异响
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@@ -409,7 +470,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Gas_Process(uint16_t SensorData, MC_GearSt
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Ref_Speed_Temp = ((int32_t)TorQueBySpd * K_ByVoltage_Result) >> 10;
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Ref_Speed_Temp = ((int32_t)Ref_Speed_Temp * K_ByTemperature_Result) >> 10;
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-
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+
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p_MC_CalParam.Ref_Speed = (int16_t)(Ref_Speed_Temp);
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p_MC_CalParam.Foc_Flag = SET;
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p_MC_CalParam.AssistRunMode = MC_AssistRunMode_GAS;
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@@ -453,20 +514,25 @@ MC_CalParam_Struct_t MC_AssistRunMode_Walk_Process(MC_WorkMode_Struct_t p_MC_Wor
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SpdMotorByIdc = PID_Regulator((MC_ConfigParam1.CurrentLimit * 1000) >> 7, MC_RunInfo.BusCurrent >> 7, &PID_ConstantPower); // 母线电流闭环
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}
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- //运行模式，设定转速 = 135rpm
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+ //运行模式，设定转速 = 设置值
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else
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{
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- if(MC_WalkProcess_Param.MotorSpeedSetBigin < (135 << 5) - 10)
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+ uint8_t WalkMode_MotorSpeedSet = 0;
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+
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+ //新增配置项，兼容旧电机
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+ WalkMode_MotorSpeedSet = (MC_ConfigParam1.WalkMode_MotorSpeedSet == 0) ? 135 : MC_ConfigParam1.WalkMode_MotorSpeedSet;
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+
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+ if(MC_WalkProcess_Param.MotorSpeedSetBigin < (WalkMode_MotorSpeedSet << 5) - 10)
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{
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MC_WalkProcess_Param.MotorSpeedSetBigin += 1;
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}
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- else if(MC_WalkProcess_Param.MotorSpeedSetBigin > (135 << 5) + 10)
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+ else if(MC_WalkProcess_Param.MotorSpeedSetBigin > (WalkMode_MotorSpeedSet << 5) + 10)
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{
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MC_WalkProcess_Param.MotorSpeedSetBigin -= 1;
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}
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else
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{
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- MC_WalkProcess_Param.MotorSpeedSetBigin = 135 << 5;
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+ MC_WalkProcess_Param.MotorSpeedSetBigin = WalkMode_MotorSpeedSet << 5;
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}
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SpdMotorByIdc = PID_Regulator((MC_ConfigParam1.CurrentLimit * 500) >> 7, MC_RunInfo.BusCurrent >> 7, &PID_ConstantPower); // 母线电流闭环
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}
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@@ -475,11 +541,16 @@ MC_CalParam_Struct_t MC_AssistRunMode_Walk_Process(MC_WorkMode_Struct_t p_MC_Wor
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TorQueBySpd = PID_Regulator((MC_WalkProcess_Param.MotorSpeedSetBigin >> 5), MC_RunInfo.MotorSpeed, &PID_MotorSpd); // 电机速度闭环输出
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TorQueBySpd += SpdMotorByIdc;
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- //限制车速低于6km/h
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- if(p_MC_WorkMode != MC_WorkMode_Config) //运行模式,推行限速6km/h
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+ //限制车速低于设置值
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+ if(p_MC_WorkMode != MC_WorkMode_Config) //运行模式,推行限速
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{
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- TorQueBySpd = (uint16_t)((uint32_t)(TorQueBySpd * Function_Linear_3Stage(55, 0, 55, 128, MC_RunInfo.BikeSpeed)) >> 10);
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- if(MC_RunInfo.BikeSpeed > 60)
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+ uint8_t WalkMode_SpeedLimit = 0;
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+
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+ //新增配置项，兼容旧电机
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+ WalkMode_SpeedLimit = (MC_ConfigParam1.WalkMode_SpeedLimit == 0) ? 60 : MC_ConfigParam1.WalkMode_SpeedLimit;
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+
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+ TorQueBySpd = (uint16_t)((uint32_t)(TorQueBySpd * Function_Linear_3Stage((WalkMode_SpeedLimit - 5), 0, (WalkMode_SpeedLimit - 5), 128, MC_RunInfo.BikeSpeed)) >> 10);
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+ if(MC_RunInfo.BikeSpeed > WalkMode_SpeedLimit)
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{
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MC_WalkProcess_Param.MotorSpeedSetBigin = 0;
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MC_MotorStop(&MC_StarFlag);
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@@ -583,6 +654,15 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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uint16_t CurrentLimitSet; //限流设置值，不同助力档位更新
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static uint8_t TorqueRefEndUpdateCount = 0;
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+
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+ #define SOFT_SATRT 1
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+
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+ #if SOFT_SATRT
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+ static FlagStatus SoftStartFlag = SET;
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+ static uint16_t SoftStartDelayTimeCount = 0;
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+ uint16_t SoftStartDelayTime = 0;
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+ uint16_t SoftStartAcc = 0;
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+ #endif
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#if 1
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@@ -649,7 +729,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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#endif
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//低力矩停机
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- TorqueStopData = (TorqueStartData < 200) ? 100 : (TorqueStartData >> 1);
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+ TorqueStopData = (TorqueSensorStartData < 200) ? 100 : (TorqueSensorStartData >> 1);
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if(MC_TorqueProcess_Param.TorqueApp >= (TorqueStopData))
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{
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TorqueStopDelayTimeCnt = HAL_GetTick();
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@@ -674,11 +754,11 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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//启动值判断
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if(MC_RunInfo.BikeSpeed > 60)
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{
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- TorqueStartData = (TorqueStartData < 200 ? 150 : (TorqueStartData > 700 ? 525 : ((TorqueStartData * 3) >> 2)));
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+ TorqueStartData = (TorqueSensorStartData < 200 ? 150 : (TorqueSensorStartData > 700 ? 525 : ((TorqueSensorStartData * 3) >> 2)));
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}
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else
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{
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- TorqueStartData = (TorqueStartData < 200 ? 150 : (TorqueStartData > 700 ? 525 : TorqueStartData));
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+ TorqueStartData = (TorqueSensorStartData < 200 ? 150 : (TorqueSensorStartData > 700 ? 525 : TorqueSensorStartData));
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}
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if(MC_TorqueProcess_Param.TorqueApp >= TorqueStartData)
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{
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@@ -701,6 +781,12 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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MC_TorqueProcess_Param.TorqueRefEnd = 0;
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//停机处理
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MC_MotorStop(&MC_StarFlag);
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+
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+ #if SOFT_SATRT
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+ //缓启动标志置位
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+ SoftStartFlag = SET;
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+ SoftStartDelayTimeCount = 0;
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+ #endif
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}
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else
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{
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@@ -939,7 +1025,52 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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MC_TorqueProcess_Param.TorqueRefEnd -= TorqueDecStep;
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}
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}
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- }
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+ }
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+
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+ #if SOFT_SATRT
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+ else if(SoftStartFlag == SET) //启动处理
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+ {
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+ if(MC_ConfigParam1.StarModel == MC_StarMode_DYNAMIC) //强劲模式，无延迟
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+ {
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+ SoftStartDelayTimeCount = 0;
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+ SoftStartFlag = RESET;
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+ }
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+ else
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+ {
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+ if(MC_ConfigParam1.StarModel == MC_StarMode_SOFT) //柔和模式，延迟300ms
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+ {
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+ SoftStartDelayTime = 300; //启动处理延时300ms
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+ SoftStartAcc = 30; //30ms递增0.1倍
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+ }
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+ else //正常模式，延迟100ms
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+ {
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+ SoftStartDelayTime = 100; //启动处理延时100ms
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+ SoftStartAcc = 10; //10ms递增0.1倍
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+ }
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+ SoftStartDelayTimeCount++;
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+ if(SoftStartDelayTimeCount <= SoftStartDelayTime) // 缓启动过程,按照0.1倍率逐步增加加减速斜率
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+ {
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+ if((MC_TorqueProcess_Param.TorqueRef - MC_TorqueProcess_Param.TorqueRefEnd) > 2)
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+ {
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+ if((SoftStartDelayTimeCount % (10 - SoftStartDelayTimeCount / SoftStartAcc)) == 0)
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+ {
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+ MC_TorqueProcess_Param.TorqueRefEnd += TorqueAccStep;
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+ }
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+ }
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+ else if((MC_TorqueProcess_Param.TorqueRef - MC_TorqueProcess_Param.TorqueRefEnd) < (- 1))
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+ {
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+ MC_TorqueProcess_Param.TorqueRefEnd -= TorqueDecStep;
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+ }
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+ }
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+ else
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+ {
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+ SoftStartDelayTimeCount = 0;
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+ SoftStartFlag = RESET;
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+ }
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+ }
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+ }
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+ #endif
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+
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else //正常骑行
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{
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if((MC_TorqueProcess_Param.TorqueRef - MC_TorqueProcess_Param.TorqueRefEnd) > 2)
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@@ -954,7 +1085,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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MC_TorqueProcess_Param.TorqueRefEnd = (MC_TorqueProcess_Param.TorqueRefEnd < 6) ? 6 : MC_TorqueProcess_Param.TorqueRefEnd;
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//限速点处理
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- if( MC_SpeedSensorData.Speed_Data > (MC_ConfigParam1.SpeedLimit * 10 + 20) ) //限速值+2
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+ if( MC_SpeedSensorData.Speed_Data > (MC_ConfigParam1.SpeedLimit * 10 + 22) ) //限速值+2.2
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{
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MC_TorqueProcess_Param.MotorStopLock_Flag = SET;
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MC_TorqueProcess_Param.TorqueRefEnd = 0;
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|
|
@@ -1240,7 +1371,7 @@ void SpdProportion_calculate(void)
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|
test_StandardDeviation = (int32_t)(SpdProportion_StandardDeviation );
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SpdProportion_CAL_flag = 0;
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|
|
/*更新速比*/
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- if(test_StandardDeviation < 20)
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+ if(test_StandardDeviation < 30)
|
|
|
{
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|
|
SpdProportion = test_SpdProportionAver;
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|
}
|
dail.zhou