解决空载转把中轴转动后停机的问题。

User/Src/motor_control.c

@@ -1244,7 +1244,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(MC_CadenceResult_Struct_t C
 	uint16_t SoftStartAcc = 0;
 	#endif
 
-  //纯转把控制
+  //纯转把根据转把电压控制
 	if((GasCtrlMode == MC_SUPPORT_ENABLE) && (AdcSenorData.GasSensor > 100) && (MC_RunInfo.Cadence < 10))
 	{
 	  MC_TorqueProcess_Param.MotorStopLock_Flag = RESET;
@@ -1263,13 +1263,17 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(MC_CadenceResult_Struct_t C
 		IsEnterGasMode = SET;
 	}
 	
-	//根据踩踏力矩控制
+	//根据踩踏力矩或转把电压控制
 	else
 	{
 			#if 1
 			
 			//踩踏力矩输入
 			MC_TorqueProcess_Param.TorqueApp = AdcSenorData.TorqueSensor;
+		  if(MC_TorqueProcess_Param.TorqueApp < ((AdcSenorData.GasSensor * MC_AssisParam.Gear_5.Upper_Iq) >> 11))
+			{
+			  MC_TorqueProcess_Param.TorqueApp = ((AdcSenorData.GasSensor * MC_AssisParam.Gear_5.Upper_Iq) >> 11);
+			}
 			
 			#elif 1
 			
@@ -1379,6 +1383,10 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(MC_CadenceResult_Struct_t C
 			
 			//设定输入力矩
 		  MC_TorqueProcess_Param.TorqueApp = CadenceData.torqueByCadence;
+			if(MC_TorqueProcess_Param.TorqueApp < ((AdcSenorData.GasSensor * MC_AssisParam.Gear_5.Upper_Iq) >> 11))
+			{
+			  MC_TorqueProcess_Param.TorqueApp = ((AdcSenorData.GasSensor * MC_AssisParam.Gear_5.Upper_Iq) >> 11);
+			}
 			//进入指拨模式标志
 		  IsEnterGasMode = RESET;
 			
@@ -1408,7 +1416,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(MC_CadenceResult_Struct_t C
 	//力矩给定升降速处理
 	else
 	{
-		//指拨模式按照限流值
+		//指拨模式按照最大限流值
 		if(IsEnterGasMode == SET)
 		{
 		  Torque_Temp = MC_TorqueProcess_Param.TorqueApp;