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@@ -514,20 +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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@@ -536,11 +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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@@ -628,8 +638,8 @@ MC_CalParam_Struct_t MC_AssistRunMode_Cadence_Process(MC_GearSt_Struct_t GearSt)
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return (p_MC_CalParam);
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}
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-//力矩模式处理 运动版
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-MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_GearSt_Struct_t GearSt)
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+//力矩模式处理
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+MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_GearSt_Struct_t GearSt, uint16_t SenorDataByCadence)
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{
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MC_CalParam_Struct_t p_MC_CalParam = {MC_AssistRunMode_INVALID, 0, 0, RESET};
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uint8_t TorqueAccStep = 0;//力矩上升斜率
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@@ -644,10 +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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@@ -770,9 +785,12 @@ 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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@@ -783,17 +801,20 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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//力矩给定升降速处理
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else
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{
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+ /*调节助力比，使用经过踏频信号滤波处理的力矩值*/
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+ MC_TorqueProcess_Param.TorqueApp = SenorDataByCadence;
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+
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//按照助力档位调节力矩输入值
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switch(GearSt)
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{
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case MC_GearSt_Torque_ECO:
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{
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//控制输入给定加速斜率
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- if(MC_ConfigParam1.UserAdjParam_ECO.StarModel_GAIN <= 80)
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+ if(MC_ConfigParam1.UserAdjParam_ECO.StarModel_GAIN <= 90)
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{
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TorqueAccStep = MC_AssisParam.Gear_ECO.AccCnt - 1;
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}
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- else if(MC_ConfigParam1.UserAdjParam_ECO.StarModel_GAIN >= 120)
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+ else if(MC_ConfigParam1.UserAdjParam_ECO.StarModel_GAIN >= 110)
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{
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TorqueAccStep = MC_AssisParam.Gear_ECO.AccCnt + 1;
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}
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@@ -805,7 +826,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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//控制输入给定减速斜率
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TorqueDecStep = MC_AssisParam.Gear_ECO.DecCnt;
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//随力矩输入调节助力比
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- Torque_Temp = (uint16_t)((uint32_t)(MC_TorqueProcess_Param.TorqueApp * Coefficient_GainCal(100, MC_AssisParam.Gear_ECO.Gain_K, MC_AssisParam.Gear_ECO.Upper_Iq, MC_TorqueProcess_Param.TorqueApp)) >> 10);
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+ Torque_Temp = (uint16_t)((uint32_t)(MC_TorqueProcess_Param.TorqueApp * Coefficient_GainCal(MC_AssisParam.Gear_ECO.Gain_K >> 1, MC_AssisParam.Gear_ECO.Gain_K, MC_AssisParam.Gear_ECO.TorqueApp_TH, MC_TorqueProcess_Param.TorqueApp)) >> 10);
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//根据助力增益调节助力比
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Torque_Temp = Torque_Temp * MC_ConfigParam1.UserAdjParam_ECO.Assist_K_GAIN / 100;
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//给定下限
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@@ -824,11 +845,11 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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case MC_GearSt_Torque_NORM:
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{
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//控制输入给定加速斜率
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- if(MC_ConfigParam1.UserAdjParam_NORM.StarModel_GAIN <= 80)
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+ if(MC_ConfigParam1.UserAdjParam_NORM.StarModel_GAIN <= 90)
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{
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TorqueAccStep = MC_AssisParam.Gear_NORM.AccCnt - 1;
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}
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- else if(MC_ConfigParam1.UserAdjParam_NORM.StarModel_GAIN >= 120)
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+ else if(MC_ConfigParam1.UserAdjParam_NORM.StarModel_GAIN >= 110)
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{
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TorqueAccStep = MC_AssisParam.Gear_NORM.AccCnt + 1;
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}
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@@ -840,13 +861,14 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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//控制输入给定减速斜率
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TorqueDecStep = MC_AssisParam.Gear_NORM.DecCnt;
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//随力矩输入调节助力比
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- Torque_Temp = (uint16_t)((uint32_t)(MC_TorqueProcess_Param.TorqueApp * Coefficient_GainCal(100, MC_AssisParam.Gear_NORM.Gain_K, MC_AssisParam.Gear_NORM.Upper_Iq, MC_TorqueProcess_Param.TorqueApp)) >> 10);
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+ Torque_Temp = (uint16_t)((uint32_t)(MC_TorqueProcess_Param.TorqueApp * Coefficient_GainCal(MC_AssisParam.Gear_NORM.Gain_K >> 1, MC_AssisParam.Gear_NORM.Gain_K, MC_AssisParam.Gear_NORM.TorqueApp_TH, MC_TorqueProcess_Param.TorqueApp)) >> 10);
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//根据助力增益调节助力比
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Torque_Temp = Torque_Temp * MC_ConfigParam1.UserAdjParam_NORM.Assist_K_GAIN / 100;
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//给定下限
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Torque_Temp = (Torque_Temp < MC_AssisParam.Gear_NORM.Lower_Iq) ? MC_AssisParam.Gear_NORM.Lower_Iq : Torque_Temp;
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//给定上限
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Torque_Temp = (Torque_Temp > MC_AssisParam.Gear_NORM.Upper_Iq) ? MC_AssisParam.Gear_NORM.Upper_Iq : Torque_Temp;
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+
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//限流参数设置
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CurrentLimitSet = (uint32_t)(MC_AssisParam.Gear_NORM.CurrentMax_K * MC_ConfigParam1.CurrentLimit * 1000 >> 17) * 100;
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CurrentLimitPresent = MC_DataSet_Linear_Process(CurrentLimitSet, CurrentLimitPresent, 5 ,1);
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@@ -859,11 +881,11 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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case MC_GearSt_Torque_SPORT:
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{
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//控制输入给定加速斜率
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- if(MC_ConfigParam1.UserAdjParam_SPORT.StarModel_GAIN <= 80)
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+ if(MC_ConfigParam1.UserAdjParam_SPORT.StarModel_GAIN <= 90)
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{
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TorqueAccStep = MC_AssisParam.Gear_SPORT.AccCnt - 1;
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}
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- else if(MC_ConfigParam1.UserAdjParam_SPORT.StarModel_GAIN >= 120)
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+ else if(MC_ConfigParam1.UserAdjParam_SPORT.StarModel_GAIN >= 110)
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{
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TorqueAccStep = MC_AssisParam.Gear_SPORT.AccCnt + 1;
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}
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@@ -875,7 +897,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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//控制输入给定减速斜率
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TorqueDecStep = MC_AssisParam.Gear_SPORT.DecCnt;
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//随力矩输入调节助力比
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- Torque_Temp = (uint16_t)((uint32_t)(MC_TorqueProcess_Param.TorqueApp * Coefficient_GainCal(100, MC_AssisParam.Gear_SPORT.Gain_K, MC_AssisParam.Gear_SPORT.Upper_Iq, MC_TorqueProcess_Param.TorqueApp)) >> 10);
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+ Torque_Temp = (uint16_t)((uint32_t)(MC_TorqueProcess_Param.TorqueApp * Coefficient_GainCal(MC_AssisParam.Gear_SPORT.Gain_K >> 1, MC_AssisParam.Gear_SPORT.Gain_K, MC_AssisParam.Gear_SPORT.TorqueApp_TH, MC_TorqueProcess_Param.TorqueApp)) >> 10);
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//根据助力增益调节助力比
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Torque_Temp = Torque_Temp * MC_ConfigParam1.UserAdjParam_SPORT.Assist_K_GAIN / 100;
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//给定下限
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@@ -894,11 +916,11 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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case MC_GearSt_Torque_TURBO:
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{
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//控制输入给定加速斜率
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- if(MC_ConfigParam1.UserAdjParam_TURBO.StarModel_GAIN <= 80)
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+ if(MC_ConfigParam1.UserAdjParam_TURBO.StarModel_GAIN <= 90)
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{
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TorqueAccStep = MC_AssisParam.Gear_TURBO.AccCnt - 1;
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}
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- else if(MC_ConfigParam1.UserAdjParam_TURBO.StarModel_GAIN >= 120)
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+ else if(MC_ConfigParam1.UserAdjParam_TURBO.StarModel_GAIN >= 110)
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{
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TorqueAccStep = MC_AssisParam.Gear_TURBO.AccCnt + 1;
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}
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@@ -910,7 +932,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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//控制输入给定减速斜率
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TorqueDecStep = MC_AssisParam.Gear_TURBO.DecCnt;
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//随力矩输入调节助力比
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- Torque_Temp = (uint16_t)((uint32_t)(MC_TorqueProcess_Param.TorqueApp * Coefficient_GainCal(100, MC_AssisParam.Gear_TURBO.Gain_K, MC_AssisParam.Gear_TURBO.Upper_Iq, MC_TorqueProcess_Param.TorqueApp)) >> 10);
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+ Torque_Temp = (uint16_t)((uint32_t)(MC_TorqueProcess_Param.TorqueApp * Coefficient_GainCal(MC_AssisParam.Gear_TURBO.Gain_K >> 1, MC_AssisParam.Gear_TURBO.Gain_K, MC_AssisParam.Gear_TURBO.TorqueApp_TH, MC_TorqueProcess_Param.TorqueApp)) >> 10);
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//根据助力增益调节助力比
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Torque_Temp = Torque_Temp * MC_ConfigParam1.UserAdjParam_TURBO.Assist_K_GAIN / 100;
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//给定下限
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@@ -929,11 +951,11 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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case MC_GearSt_SMART:
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{
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//控制输入给定加速斜率
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- if(MC_ConfigParam1.UserAdjParam_SMART.StarModel_GAIN <= 80)
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+ if(MC_ConfigParam1.UserAdjParam_SMART.StarModel_GAIN <= 90)
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{
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TorqueAccStep = MC_AssisParam.Gear_SMART.AccCnt - 1;
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}
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- else if(MC_ConfigParam1.UserAdjParam_SMART.StarModel_GAIN >= 120)
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+ else if(MC_ConfigParam1.UserAdjParam_SMART.StarModel_GAIN >= 110)
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{
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TorqueAccStep = MC_AssisParam.Gear_SMART.AccCnt + 1;
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}
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@@ -945,7 +967,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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//控制输入给定减速斜率
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TorqueDecStep = MC_AssisParam.Gear_SMART.DecCnt;
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//助力比控制系数
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- Torque_Temp = (uint32_t)(MC_TorqueProcess_Param.TorqueApp * MC_TorqueProcess_Param.TorqueApp) / (MC_AssisParam.Gear_SMART.i_Sport_TH);
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+ Torque_Temp = (uint32_t)(MC_TorqueProcess_Param.TorqueApp * MC_TorqueProcess_Param.TorqueApp) / (MC_AssisParam.Gear_SMART.TorqueApp_TH);
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//根据助力增益调节助力比
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Torque_Temp = Torque_Temp * MC_ConfigParam1.UserAdjParam_SMART.Assist_K_GAIN / 100;
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//给定下限
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@@ -1007,45 +1029,52 @@ 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)
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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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- 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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- else if(MC_ConfigParam1.StarModel == MC_StarMode_SOFT)
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- {
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- SoftStartDelayTime = 900; //启动处理延时900ms
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- SoftStartAcc = 90; //90ms递增0.1倍
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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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- 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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- 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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+ 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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- if((SoftStartDelayTimeCount % (10 - SoftStartDelayTimeCount / SoftStartAcc)) == 0)
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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;
|
|
|
+ }
|
|
|
+ }
|
|
|
+ else if((MC_TorqueProcess_Param.TorqueRef - MC_TorqueProcess_Param.TorqueRefEnd) < (- 1))
|
|
|
{
|
|
|
- MC_TorqueProcess_Param.TorqueRefEnd += TorqueAccStep;
|
|
|
+ MC_TorqueProcess_Param.TorqueRefEnd -= TorqueDecStep;
|
|
|
}
|
|
|
}
|
|
|
- else if((MC_TorqueProcess_Param.TorqueRef - MC_TorqueProcess_Param.TorqueRefEnd) < (- 1))
|
|
|
+ else
|
|
|
{
|
|
|
- MC_TorqueProcess_Param.TorqueRefEnd -= TorqueDecStep;
|
|
|
+ SoftStartDelayTimeCount = 0;
|
|
|
+ SoftStartFlag = RESET;
|
|
|
}
|
|
|
}
|
|
|
- else
|
|
|
- {
|
|
|
- SoftStartDelayTimeCount = 0;
|
|
|
- SoftStartFlag = RESET;
|
|
|
- }
|
|
|
- }
|
|
|
+ }
|
|
|
+ #endif
|
|
|
+
|
|
|
else //正常骑行
|
|
|
{
|
|
|
if((MC_TorqueProcess_Param.TorqueRef - MC_TorqueProcess_Param.TorqueRefEnd) > 2)
|
|
|
@@ -1060,7 +1089,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
|
|
|
MC_TorqueProcess_Param.TorqueRefEnd = (MC_TorqueProcess_Param.TorqueRefEnd < 6) ? 6 : MC_TorqueProcess_Param.TorqueRefEnd;
|
|
|
|
|
|
//限速点处理
|
|
|
- if( MC_SpeedSensorData.Speed_Data > (MC_ConfigParam1.SpeedLimit * 10 + 20) ) //限速值+2
|
|
|
+ if( MC_SpeedSensorData.Speed_Data > (MC_ConfigParam1.SpeedLimit * 10 + 22) ) //限速值 + 2.2
|
|
|
{
|
|
|
MC_TorqueProcess_Param.MotorStopLock_Flag = SET;
|
|
|
MC_TorqueProcess_Param.TorqueRefEnd = 0;
|
|
|
@@ -1116,545 +1145,6 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
|
|
|
return (p_MC_CalParam);
|
|
|
}
|
|
|
|
|
|
-//力矩模式处理 城市版
|
|
|
-uint16_t candenceCount; //踏频磁环信号计数变量，全局变量
|
|
|
-
|
|
|
-uint16_t torqueApp;
|
|
|
-uint16_t torque_NM; //力矩值，单位NM
|
|
|
-uint16_t torqueRank=0; //由踏频采样后的力矩值，得出的力矩给定
|
|
|
-static uint16_t torqueRankLast=0; //力矩给定历史值
|
|
|
-static uint16_t torqueRankBak=0; //力矩给定历史值备份
|
|
|
-static uint8_t flagUpDown=0; //输入力矩上升、下降的标志位
|
|
|
-
|
|
|
-static int32_t tmpFltSum=0; //输入力矩滤波的静态变量
|
|
|
-int16_t tmpFlted=0; //输入力矩滤波的临时变量
|
|
|
-
|
|
|
-int16_t torqueApp2; //力矩计算的临时变量
|
|
|
-
|
|
|
-uint8_t flagCandence=0; //踏频信号更新标志
|
|
|
-int16_t torqueAppLag=0; //力局地经过加减速处理后的临时变量
|
|
|
-int16_t torqueAppRatio=0; //力矩值计算助力比后的临时变量
|
|
|
-
|
|
|
-int16_t torqueAppAccStep = 4; //力矩给定升速斜率
|
|
|
-int16_t torqueAppDecStep = 1; //力矩给定减速斜率
|
|
|
-
|
|
|
-uint16_t candenceBakAtTop=0; //踏频最大值备份
|
|
|
-uint16_t torqueByCandenceDec=0; //由踏频变化计算的力矩减弱量
|
|
|
-int16_t torqueDataFromCadence=0; //经过踏频信号采样的力矩值
|
|
|
-int32_t Taping_activeFlt=0; //踏频实时值滤波中间量
|
|
|
-int32_t Taping_activeFlted = 0; //踏频实时值滤波值
|
|
|
-
|
|
|
-#define TORQUE_TMP 28 //力矩AD值与1NM的换算系数
|
|
|
-
|
|
|
-MC_CalParam_Struct_t MC_AssistRunMode_Torque_compensation(uint16_t SenorData, MC_GearSt_Struct_t GearSt)
|
|
|
-{
|
|
|
- MC_CalParam_Struct_t p_MC_CalParam = {MC_AssistRunMode_INVALID, 0, 0, RESET};
|
|
|
- uint16_t TorqueStartData, TorqueStopData;//力矩启动值，力矩停机值
|
|
|
- int32_t Torque_Ref_Temp;
|
|
|
- static uint32_t TorqueStopDelayTimeCnt = 0;//低力矩停机计时
|
|
|
- uint16_t TorqueStopDelayTime;
|
|
|
- static int16_t IqRefByInPower;//限流计算结果
|
|
|
-
|
|
|
- static uint16_t CurrentLimitPresent; //限流实际值，做升降速处理
|
|
|
- uint16_t CurrentLimitSet;
|
|
|
-
|
|
|
- static FlagStatus SoftStartFlag = SET;
|
|
|
- static uint16_t SoftStartDelayTimeCount = 0;
|
|
|
- uint16_t SoftStartDelayTime = 0;
|
|
|
- uint16_t SoftStartAcc = 0;
|
|
|
-
|
|
|
- #if 0
|
|
|
- //输入三角波，用于测试
|
|
|
- static uint32_t WaveTime_Zero = 0;
|
|
|
- static uint32_t Time_Enter = 0;
|
|
|
- static uint16_t SensorDataDebug = 0;
|
|
|
- if((HAL_GetTick() - Time_Enter) > 10) // 超时10ms未进入，波形发生初始时刻清零
|
|
|
- {
|
|
|
- WaveTime_Zero = HAL_GetTick();
|
|
|
- }
|
|
|
- Time_Enter = HAL_GetTick();
|
|
|
- SensorDataDebug = TriangleWaveGenerate(WaveTime_Zero, 125, 250 ,1500);
|
|
|
- SenorData = SensorDataDebug;
|
|
|
- #endif
|
|
|
-
|
|
|
- MC_TorqueProcess_Param.TorqueApp = SenorData;
|
|
|
-
|
|
|
- /*为下一步抓取最大值，力矩需要滤波*/
|
|
|
- tmpFltSum += (((int32_t )SenorData << 10) - tmpFltSum) >> 7;
|
|
|
- tmpFlted = (int16_t)(tmpFltSum >> 10);
|
|
|
-
|
|
|
- torque_NM = tmpFlted / TORQUE_TMP ; //转换为单位NM 的变量
|
|
|
-
|
|
|
- //低力矩停机
|
|
|
- TorqueStopData = (MC_TorqueCorrectParam.StarData < 200) ? 100 : (MC_TorqueCorrectParam.StarData >> 1);
|
|
|
- if(MC_TorqueProcess_Param.TorqueApp >= (TorqueStopData))
|
|
|
- {
|
|
|
- TorqueStopDelayTimeCnt = HAL_GetTick();
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- if(MC_RunInfo.MotorSpeed > 200)
|
|
|
- {
|
|
|
- TorqueStopDelayTime = 218400 / MC_RunInfo.MotorSpeed; //60s / (电机转速 / 4.55 / 2.4) / 3，曲柄1/3圈
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- TorqueStopDelayTime = 1200;
|
|
|
- }
|
|
|
- TorqueStopDelayTime= (TorqueStopDelayTime < 500) ? 500 : TorqueStopDelayTime;
|
|
|
-
|
|
|
- if((HAL_GetTick() - TorqueStopDelayTimeCnt) > TorqueStopDelayTime)//超时1200ms
|
|
|
- {
|
|
|
- MC_TorqueProcess_Param.MotorStopLock_Flag = SET;
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- //启动值判断
|
|
|
- if(MC_RunInfo.BikeSpeed > 60)
|
|
|
- {
|
|
|
- TorqueStartData = (MC_TorqueCorrectParam.StarData < 200 ? 150 \
|
|
|
- : (MC_TorqueCorrectParam.StarData > 700 ? 525 \
|
|
|
- : (MC_TorqueCorrectParam.StarData * 3 / 4)));
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- TorqueStartData = (MC_TorqueCorrectParam.StarData < 200 ? 150 \
|
|
|
- : (MC_TorqueCorrectParam.StarData > 700 ? 525 \
|
|
|
- : MC_TorqueCorrectParam.StarData));
|
|
|
- }
|
|
|
- if(MC_TorqueProcess_Param.TorqueApp >= TorqueStartData)
|
|
|
- {
|
|
|
- MC_TorqueProcess_Param.MotorStopLock_Flag = RESET;
|
|
|
- }
|
|
|
-
|
|
|
- //踏频反向或踏频停止停机
|
|
|
- if((MC_CadenceResult.Cadence_Dir == MC_Cadence_Backward) ||
|
|
|
- (MC_CadenceResult.IsStopFlag == TRUE)
|
|
|
- )
|
|
|
- {
|
|
|
- MC_TorqueProcess_Param.MotorStopLock_Flag = SET;
|
|
|
- }
|
|
|
-
|
|
|
- //停机状态，延时处理
|
|
|
- if(MC_TorqueProcess_Param.MotorStopLock_Flag == SET)
|
|
|
- {
|
|
|
- torqueRankBak = 0;
|
|
|
- torqueAppDecStep = 6;//84;
|
|
|
-
|
|
|
- if(MC_TorqueProcess_Param.TorqueRefEnd < 10)
|
|
|
- {
|
|
|
- MC_TorqueProcess_Param.TorqueRefEnd = 0;
|
|
|
- //停机处理
|
|
|
- MC_MotorStop(&MC_StarFlag);
|
|
|
- p_MC_CalParam.Foc_Flag = RESET;
|
|
|
- //缓启动标志置位
|
|
|
- SoftStartFlag = SET;
|
|
|
- SoftStartDelayTimeCount = 0;
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- MC_TorqueProcess_Param.TorqueRefEnd -= 7;
|
|
|
- MC_MotorStar(&MC_StarFlag);
|
|
|
- }
|
|
|
- torqueAppLag = MC_TorqueProcess_Param.TorqueRefEnd;
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- if(flagCandence==1)
|
|
|
- {
|
|
|
- flagCandence = 0;
|
|
|
-
|
|
|
- torqueRank = torqueDataFromCadence; //根据踏频磁环信号采样力矩值
|
|
|
-
|
|
|
- if(torqueRank > torqueRankLast) //比较本次与上次的值
|
|
|
- {
|
|
|
-
|
|
|
- if(flagUpDown==0)
|
|
|
- {
|
|
|
- //最低点
|
|
|
- }
|
|
|
-
|
|
|
- if(torqueRank > torqueRankBak) //与当前使用的值比较
|
|
|
- {
|
|
|
- torqueRankBak = torqueRank;
|
|
|
- candenceCount = 0;
|
|
|
- torqueAppDecStep = 1;
|
|
|
- torqueByCandenceDec = 0;
|
|
|
- }
|
|
|
-
|
|
|
- flagUpDown=1;// 力矩上升标志
|
|
|
- }
|
|
|
- else if(torqueRank < torqueRankLast)
|
|
|
- {
|
|
|
- if(flagUpDown==1)
|
|
|
- {
|
|
|
- //最高点
|
|
|
- torqueRankBak = torqueRankLast;
|
|
|
- candenceCount = 0;
|
|
|
- torqueAppDecStep = 1;//14;
|
|
|
-
|
|
|
- /*备份力矩最高点的踏频*/
|
|
|
- candenceBakAtTop = Taping_activeFlted;
|
|
|
- torqueByCandenceDec = 0;
|
|
|
- }
|
|
|
- flagUpDown=0; //降
|
|
|
- }
|
|
|
-
|
|
|
- torqueRankLast = torqueRank; //记录上一次的值
|
|
|
-
|
|
|
- if(candenceCount > 60) //没有力矩信号， 踏频信号超过360度，加大降速值，清零给定
|
|
|
- {
|
|
|
- torqueRankBak = 0;
|
|
|
- torqueAppDecStep = 6;//84;
|
|
|
- }
|
|
|
- else if(candenceCount > 35) //超过210度，没有力矩信号
|
|
|
- {
|
|
|
- torqueRankBak = 0;
|
|
|
- torqueAppDecStep = 2;
|
|
|
-
|
|
|
- if((Taping_activeFlted < (candenceBakAtTop - 3)) && (tmpFlted<100))
|
|
|
- {
|
|
|
- torqueAppDecStep = 6;
|
|
|
- }
|
|
|
- }
|
|
|
- else // (candenceCount < 35)
|
|
|
- {
|
|
|
- /*踏频降低，且力矩低*/
|
|
|
- if((Taping_activeFlted < (candenceBakAtTop - 3)) && (tmpFlted<100))
|
|
|
- {
|
|
|
- torqueByCandenceDec +=3;
|
|
|
- torqueAppDecStep = 6;
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- torqueApp2 = torqueRankBak - torqueByCandenceDec;
|
|
|
- //torqueApp2 = torqueRankBak;
|
|
|
- torqueApp2 = torqueApp2 > 0 ? torqueApp2 : 0;
|
|
|
-
|
|
|
- //转换力矩值为力矩控制量
|
|
|
- torqueApp = torqueApp2 * TORQUE_TMP ;
|
|
|
-
|
|
|
- }/*if(flagCandence==1)*/
|
|
|
-
|
|
|
- if(GearSt == 0x33)
|
|
|
- {
|
|
|
- torqueAppRatio = ((int32_t)torqueApp * torqueApp / (MC_AssisParam.Gear_SMART.i_Sport_TH));
|
|
|
-
|
|
|
- torqueAppRatio = (int16_t)((int32_t)torqueAppRatio * MC_ConfigParam1.UserAdjParam_SMART.Assist_K_GAIN / 100); //上位机助力比增益调节
|
|
|
-
|
|
|
- //加速增益调节
|
|
|
- if(MC_ConfigParam1.UserAdjParam_SMART.StarModel_GAIN <= 80)
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_SMART.AccCnt - 1;
|
|
|
- }
|
|
|
- else if(MC_ConfigParam1.UserAdjParam_SMART.StarModel_GAIN >= 120)
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_SMART.AccCnt + 1;
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_SMART.AccCnt;
|
|
|
- }
|
|
|
-
|
|
|
- //给定上限
|
|
|
- torqueAppRatio = (torqueAppRatio > MC_AssisParam.Gear_SMART.Upper_Iq) ? MC_AssisParam.Gear_SMART.Upper_Iq : torqueAppRatio;
|
|
|
-
|
|
|
- //限流参数设置
|
|
|
- CurrentLimitSet = (uint32_t)(MC_AssisParam.Gear_SMART.CurrentMax_K * MC_ConfigParam1.CurrentLimit * 1000 >> 17) * MC_CadenceLimit_K;
|
|
|
- CurrentLimitPresent = MC_DataSet_Linear_Process(CurrentLimitSet, CurrentLimitPresent, 5 ,1);
|
|
|
- PID_IMax.hLower_Limit_Output = -(MC_AssisParam.Gear_SMART.Upper_Iq); //Lower Limit for Output limitation
|
|
|
- PID_IMax.hUpper_Limit_Output = 0; //Upper Limit for Output limitation
|
|
|
- PID_IMax.wLower_Limit_Integral = -(MC_AssisParam.Gear_SMART.Upper_Iq << 10); // 放大1024
|
|
|
- PID_IMax.wUpper_Limit_Integral = 0; // 放大1024
|
|
|
-
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- switch( GearSt & 0x0F )
|
|
|
- {
|
|
|
- case 1:
|
|
|
- //torqueAppRatio = torqueApp * 0.5;
|
|
|
- //torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 51 ,410, 1300, torqueApp)) >> 10 ); //0.4
|
|
|
- torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 51 ,MC_AssisParam.Gear_ECO.Gain_K, 1300, torqueApp)) >> 10 ); //0.4
|
|
|
- torqueAppRatio = (int16_t)((int32_t)torqueAppRatio * MC_ConfigParam1.UserAdjParam_ECO.Assist_K_GAIN / 100); //上位机助力比增益调节
|
|
|
-
|
|
|
- //加速增益调节
|
|
|
- if(MC_ConfigParam1.UserAdjParam_ECO.StarModel_GAIN <= 80)
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_ECO.AccCnt - 1;
|
|
|
- }
|
|
|
- else if(MC_ConfigParam1.UserAdjParam_ECO.StarModel_GAIN >= 120)
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_ECO.AccCnt + 1;
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_ECO.AccCnt;
|
|
|
- }
|
|
|
-
|
|
|
- //给定上限
|
|
|
- torqueAppRatio = (torqueAppRatio > MC_AssisParam.Gear_ECO.Upper_Iq) ? MC_AssisParam.Gear_ECO.Upper_Iq : torqueAppRatio;
|
|
|
- //限流参数设置
|
|
|
- CurrentLimitSet = (uint32_t)(MC_AssisParam.Gear_ECO.CurrentMax_K * MC_ConfigParam1.CurrentLimit * 1000 >> 17) * 100;
|
|
|
- CurrentLimitPresent = MC_DataSet_Linear_Process(CurrentLimitSet, CurrentLimitPresent, 5 ,1);
|
|
|
-
|
|
|
- PID_IMax.hLower_Limit_Output = -(MC_AssisParam.Gear_ECO.Upper_Iq); //Lower Limit for Output limitation
|
|
|
- PID_IMax.hUpper_Limit_Output = 0; //Upper Limit for Output limitation
|
|
|
- PID_IMax.wLower_Limit_Integral = -(MC_AssisParam.Gear_ECO.Upper_Iq << 10); // 放大1024
|
|
|
- PID_IMax.wUpper_Limit_Integral = 0; // 放大1024
|
|
|
-
|
|
|
- break;
|
|
|
- case 2:
|
|
|
- //torqueAppRatio = torqueApp * 0.8;
|
|
|
- //torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 102 ,717, 1300, torqueApp)) >> 10 ); //0.7
|
|
|
- torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 102 ,MC_AssisParam.Gear_NORM.Gain_K, 1300, torqueApp)) >> 10 ); //0.7
|
|
|
- torqueAppRatio = (int16_t)((int32_t)torqueAppRatio * MC_ConfigParam1.UserAdjParam_NORM.Assist_K_GAIN / 100); //上位机助力比增益调节
|
|
|
-
|
|
|
- //加速增益调节
|
|
|
- if(MC_ConfigParam1.UserAdjParam_NORM.StarModel_GAIN <= 80)
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_NORM.AccCnt - 1;
|
|
|
- }
|
|
|
- else if(MC_ConfigParam1.UserAdjParam_NORM.StarModel_GAIN >= 120)
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_NORM.AccCnt + 1;
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_NORM.AccCnt;
|
|
|
- }
|
|
|
-
|
|
|
- //给定上限
|
|
|
- torqueAppRatio = (torqueAppRatio > MC_AssisParam.Gear_NORM.Upper_Iq) ? MC_AssisParam.Gear_NORM.Upper_Iq : torqueAppRatio;
|
|
|
-
|
|
|
- //限流参数设置
|
|
|
- CurrentLimitSet = (uint32_t)(MC_AssisParam.Gear_NORM.CurrentMax_K * MC_ConfigParam1.CurrentLimit * 1000 >> 17) * 100;
|
|
|
- CurrentLimitPresent = MC_DataSet_Linear_Process(CurrentLimitSet, CurrentLimitPresent, 5 ,1);
|
|
|
-
|
|
|
- PID_IMax.hLower_Limit_Output = -(MC_AssisParam.Gear_NORM.Upper_Iq); //Lower Limit for Output limitation
|
|
|
- PID_IMax.hUpper_Limit_Output = 0; //Upper Limit for Output limitation
|
|
|
- PID_IMax.wLower_Limit_Integral = -(MC_AssisParam.Gear_NORM.Upper_Iq << 10); // 放大1024
|
|
|
- PID_IMax.wUpper_Limit_Integral = 0; // 放大1024
|
|
|
-
|
|
|
- break;
|
|
|
-
|
|
|
- case 3:
|
|
|
- //torqueAppRatio = torqueApp * 1.0;
|
|
|
- //torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 204 ,1024, 1300, torqueApp)) >> 10 ); //1.0
|
|
|
- torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 204 , MC_AssisParam.Gear_SPORT.Gain_K, 1300, torqueApp)) >> 10 ); //1.0
|
|
|
- torqueAppRatio = (int16_t)((int32_t)torqueAppRatio * MC_ConfigParam1.UserAdjParam_SPORT.Assist_K_GAIN / 100); //上位机助力比增益调节
|
|
|
-
|
|
|
- //加速增益调节
|
|
|
- if(MC_ConfigParam1.UserAdjParam_SPORT.StarModel_GAIN <= 80)
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_SPORT.AccCnt - 1;
|
|
|
- }
|
|
|
- else if(MC_ConfigParam1.UserAdjParam_SPORT.StarModel_GAIN >= 120)
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_SPORT.AccCnt + 1;
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_SPORT.AccCnt;
|
|
|
- }
|
|
|
-
|
|
|
- //给定上限
|
|
|
- torqueAppRatio = (torqueAppRatio > MC_AssisParam.Gear_SPORT.Upper_Iq) ? MC_AssisParam.Gear_SPORT.Upper_Iq : torqueAppRatio;;
|
|
|
-
|
|
|
- //限流参数设置
|
|
|
- CurrentLimitSet = (uint32_t)(MC_AssisParam.Gear_SPORT.CurrentMax_K * MC_ConfigParam1.CurrentLimit * 1000 >> 17) * MC_CadenceLimit_K;
|
|
|
- CurrentLimitPresent = MC_DataSet_Linear_Process(CurrentLimitSet, CurrentLimitPresent, 5 ,1);
|
|
|
- PID_IMax.hLower_Limit_Output = -(MC_AssisParam.Gear_SPORT.Upper_Iq); //Lower Limit for Output limitation
|
|
|
- PID_IMax.hUpper_Limit_Output = 0; //Upper Limit for Output limitation
|
|
|
- PID_IMax.wLower_Limit_Integral = -(MC_AssisParam.Gear_SPORT.Upper_Iq << 10); // 放大1024
|
|
|
- PID_IMax.wUpper_Limit_Integral = 0; // 放大1024
|
|
|
-
|
|
|
- break;
|
|
|
-
|
|
|
- case 4:
|
|
|
- //torqueAppRatio = torqueApp * 1.5;
|
|
|
- //torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 307 ,1536, 1300, torqueApp)) >> 10 ); // 1.5
|
|
|
- torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 307 ,MC_AssisParam.Gear_TURBO.Gain_K, 1300, torqueApp)) >> 10 ); // 1.5
|
|
|
- torqueAppRatio = (int16_t)((int32_t)torqueAppRatio * MC_ConfigParam1.UserAdjParam_TURBO.Assist_K_GAIN / 100); //上位机助力比增益调节
|
|
|
-
|
|
|
- //加速增益调节
|
|
|
- if(MC_ConfigParam1.UserAdjParam_TURBO.StarModel_GAIN <= 80)
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_TURBO.AccCnt - 1;
|
|
|
- }
|
|
|
- else if(MC_ConfigParam1.UserAdjParam_TURBO.StarModel_GAIN >= 120)
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_TURBO.AccCnt + 1;
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- torqueAppAccStep = MC_AssisParam.Gear_TURBO.AccCnt;
|
|
|
- }
|
|
|
-
|
|
|
- //给定上限
|
|
|
- torqueAppRatio = (torqueAppRatio > MC_AssisParam.Gear_TURBO.Upper_Iq) ? MC_AssisParam.Gear_TURBO.Upper_Iq : torqueAppRatio;
|
|
|
-
|
|
|
- //限流参数设置
|
|
|
- CurrentLimitSet = (uint32_t)(MC_AssisParam.Gear_TURBO.CurrentMax_K * MC_ConfigParam1.CurrentLimit * 1000 >> 17) * MC_CadenceLimit_K;
|
|
|
- CurrentLimitPresent = MC_DataSet_Linear_Process(CurrentLimitSet, CurrentLimitPresent, 5 ,1);
|
|
|
- PID_IMax.hLower_Limit_Output = -(MC_AssisParam.Gear_TURBO.Upper_Iq); //Lower Limit for Output limitation
|
|
|
- PID_IMax.hUpper_Limit_Output = 0; //Upper Limit for Output limitation
|
|
|
- PID_IMax.wLower_Limit_Integral = -(MC_AssisParam.Gear_TURBO.Upper_Iq << 10); // 放大1024
|
|
|
- PID_IMax.wUpper_Limit_Integral = 0; // 放大1024
|
|
|
-
|
|
|
- break;
|
|
|
-
|
|
|
- default:break;
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- //给定上限
|
|
|
- torqueAppRatio = (torqueAppRatio > MC_AssisParam.Gear_TURBO.Upper_Iq) ? MC_AssisParam.Gear_TURBO.Upper_Iq : torqueAppRatio;
|
|
|
-
|
|
|
- //随车速调节助力比
|
|
|
- #if 0
|
|
|
- if(MC_ConfigParam1.StarModel == MC_StarMode_DYNAMIC)
|
|
|
- {
|
|
|
- torqueAppRatio = (uint16_t)((uint32_t)(torqueAppRatio * Function_Linear_3Stage(90, -2, MC_ConfigParam1.SpeedLimit * 10, 160, MC_RunInfo.BikeSpeed)) >> 10);
|
|
|
- }
|
|
|
- else if(MC_ConfigParam1.StarModel == MC_StarMode_SOFT)
|
|
|
- {
|
|
|
- torqueAppRatio = (uint16_t)((uint32_t)(torqueAppRatio * Function_Linear_3Stage(120, -3, MC_ConfigParam1.SpeedLimit * 10, 160, MC_RunInfo.BikeSpeed)) >> 10);
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- torqueAppRatio = (uint16_t)((uint32_t)(torqueAppRatio * Function_Linear_3Stage(MC_ConfigParam1.SpeedLimit * 10, 0, MC_ConfigParam1.SpeedLimit * 10, 160, MC_RunInfo.BikeSpeed)) >> 10);
|
|
|
- }
|
|
|
- #elif 1
|
|
|
- torqueAppRatio = (uint16_t)((uint32_t)(torqueAppRatio * Function_Linear_3Stage(MC_ConfigParam1.SpeedLimit * 10, 0, MC_ConfigParam1.SpeedLimit * 10, 160, MC_RunInfo.BikeSpeed)) >> 10);
|
|
|
- #endif
|
|
|
-
|
|
|
- //力矩给定处理
|
|
|
- if(SoftStartFlag == SET) //启动处理
|
|
|
- {
|
|
|
- if(MC_ConfigParam1.StarModel == MC_StarMode_DYNAMIC)
|
|
|
- {
|
|
|
- SoftStartDelayTime = 100; //启动处理延时100ms
|
|
|
- SoftStartAcc = 10; //10ms递增0.1倍
|
|
|
- }
|
|
|
- else if(MC_ConfigParam1.StarModel == MC_StarMode_SOFT)
|
|
|
- {
|
|
|
- SoftStartDelayTime = 900; //启动处理延时900ms
|
|
|
- SoftStartAcc = 90; //90ms递增0.1倍
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- SoftStartDelayTime = 300; //启动处理延时300ms
|
|
|
- SoftStartAcc = 30; //30ms递增0.1倍
|
|
|
- }
|
|
|
- SoftStartDelayTimeCount++;
|
|
|
- if(SoftStartDelayTimeCount <= SoftStartDelayTime) // 缓启动过程,按照0.1倍率逐步增加加减速斜率
|
|
|
- {
|
|
|
- if(torqueAppRatio > torqueAppLag)
|
|
|
- {
|
|
|
- if((SoftStartDelayTimeCount % (10 - SoftStartDelayTimeCount / SoftStartAcc)) == 0)
|
|
|
- {
|
|
|
- torqueAppLag += torqueAppAccStep;
|
|
|
- if(torqueAppLag > torqueAppRatio)
|
|
|
- {
|
|
|
- torqueAppLag = torqueAppRatio;
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- else if(torqueAppRatio < torqueAppLag)
|
|
|
- {
|
|
|
- torqueAppLag -= torqueAppDecStep;
|
|
|
- if(torqueAppLag < torqueAppRatio)
|
|
|
- {
|
|
|
- torqueAppLag = torqueAppRatio;
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
- else
|
|
|
- {
|
|
|
- SoftStartDelayTimeCount = 0;
|
|
|
- SoftStartFlag = RESET;
|
|
|
- }
|
|
|
- }
|
|
|
- else //正常骑行
|
|
|
- {
|
|
|
- if(torqueAppRatio > torqueAppLag)
|
|
|
- {
|
|
|
- torqueAppLag += torqueAppAccStep;
|
|
|
- if(torqueAppLag > torqueAppRatio)
|
|
|
- {
|
|
|
- torqueAppLag = torqueAppRatio;
|
|
|
- }
|
|
|
- }
|
|
|
- else if(torqueAppRatio < torqueAppLag)
|
|
|
- {
|
|
|
- torqueAppLag -= torqueAppDecStep;
|
|
|
- if(torqueAppLag < torqueAppRatio)
|
|
|
- {
|
|
|
- torqueAppLag = torqueAppRatio;
|
|
|
- }
|
|
|
- }
|
|
|
- }
|
|
|
-
|
|
|
- MC_TorqueProcess_Param.TorqueRefEnd = torqueAppLag;
|
|
|
- MC_TorqueProcess_Param.TorqueRefEnd = (MC_TorqueProcess_Param.TorqueRefEnd < 6) ? 6 : MC_TorqueProcess_Param.TorqueRefEnd;
|
|
|
-
|
|
|
- //限速点处理
|
|
|
- if( MC_SpeedSensorData.Speed_Data > (MC_ConfigParam1.SpeedLimit * 10 + 20) ) //限速值+2
|
|
|
- {
|
|
|
- MC_TorqueProcess_Param.MotorStopLock_Flag = SET;
|
|
|
- MC_TorqueProcess_Param.TorqueRefEnd = 0;
|
|
|
- //停机处理
|
|
|
- MC_MotorStop(&MC_StarFlag);
|
|
|
- }
|
|
|
- #if 0 //低于限速点启动电机
|
|
|
- else if(MC_RunInfo.BikeSpeed < ((MC_ConfigParam.SpeedLimit) * 10))
|
|
|
- {
|
|
|
- MC_MotorStar(&MC_StarFlag);
|
|
|
- }
|
|
|
- #elif 1 //低于断电点即启动电机
|
|
|
- else
|
|
|
- {
|
|
|
- MC_MotorStar(&MC_StarFlag);
|
|
|
- }
|
|
|
- #endif
|
|
|
- }
|
|
|
-
|
|
|
- #if 1
|
|
|
- static uint16_t K_ByVoltage_Set_Old = 1024;
|
|
|
- uint16_t K_ByVoltage_Set;
|
|
|
- static uint16_t K_ByVoltage_Result;
|
|
|
- uint16_t K_ByTemperature_Set;
|
|
|
- static uint16_t K_ByTemperature_Result;
|
|
|
-
|
|
|
- //根据电压调节输出
|
|
|
- K_ByVoltage_Set = MC_Cal_K_ByVoltage(MC_RunInfo.BusVoltage, MC_MotorParam.Rate_Voltage, K_ByVoltage_Set_Old);//根据母线电压计算衰减比例，递减
|
|
|
- K_ByVoltage_Set_Old = K_ByVoltage_Set;
|
|
|
- K_ByVoltage_Result = MC_DataSet_Linear_Process(K_ByVoltage_Set, K_ByVoltage_Result, 1, 1); //设定值与给定值线性处理
|
|
|
-
|
|
|
- //根据温度调节输出
|
|
|
- K_ByTemperature_Set = MC_Cal_K_ByTemperature(MC_RunInfo.T_Coil, MC_ConfigParam1.TempTH_Alarm); //根据温度计算衰减比例
|
|
|
- K_ByTemperature_Result = MC_DataSet_Linear_Process(K_ByTemperature_Set, K_ByTemperature_Result, 1, 1); //设定值与给定值线性处理
|
|
|
-
|
|
|
- #else
|
|
|
-
|
|
|
- uint16_t K_ByVoltage_Result = 1024;
|
|
|
- uint16_t K_ByTemperature_Result = 1024;
|
|
|
- #endif
|
|
|
-
|
|
|
- //限流计算
|
|
|
- IqRefByInPower = PID_Regulator(CurrentLimitPresent / 100, (MC_RunInfo.BusCurrent >> 7), &PID_IMax);
|
|
|
-
|
|
|
- Torque_Ref_Temp = ((int32_t)MC_TorqueProcess_Param.TorqueRefEnd * K_ByVoltage_Result) >> 10;
|
|
|
- Torque_Ref_Temp = (Torque_Ref_Temp * K_ByTemperature_Result) >> 10;
|
|
|
- Torque_Ref_Temp = (Torque_Ref_Temp + IqRefByInPower) >> 1;
|
|
|
-
|
|
|
- p_MC_CalParam.Ref_Torque = (int16_t)Torque_Ref_Temp;
|
|
|
- p_MC_CalParam.Foc_Flag = SET;
|
|
|
- p_MC_CalParam.AssistRunMode = MC_AssistRunMode_TORQUE;
|
|
|
-
|
|
|
- return (p_MC_CalParam);
|
|
|
-}
|
|
|
|
|
|
/******************************全局函数定义*****************************/
|
|
|
//传感器初始化
|
|
|
@@ -1815,10 +1305,7 @@ void MC_CalParam_Cal(MC_WorkMode_Struct_t p_MC_WorkMode, \
|
|
|
case MC_AssistRunMode_TORQUE:
|
|
|
{
|
|
|
//计算FOC控制输入
|
|
|
- //*p_MC_CalParam = MC_AssistRunMode_Torque_Process(p_ADC_SensorData.TorqueSensor, GearSt);
|
|
|
-
|
|
|
- *p_MC_CalParam = MC_AssistRunMode_Torque_compensation(p_ADC_SensorData.TorqueSensor, GearSt);
|
|
|
-
|
|
|
+ *p_MC_CalParam = MC_AssistRunMode_Torque_Process(p_ADC_SensorData.TorqueSensor, GearSt, MC_CadenceResult.torqueByCadence);
|
|
|
//助力模式切换标志复位
|
|
|
MC_AssistRunMode_ShiftFlag = RESET;
|
|
|
break;
|
dail.zhou