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@@ -998,38 +998,34 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_Process(uint16_t SenorData, MC_Gear
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}
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-uint16_t torqueApp;
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-uint16_t torque_NM;
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-uint16_t torqueRank=0;
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-uint16_t torqueRankLast=0;
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-static uint16_t torqueRankBak=0;
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-uint16_t candenceCount;
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-uint8_t flagUpDown=0;
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-
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-static int32_t tmpFltSum=0;
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-int16_t tmpFlted=0;
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+uint16_t candenceCount; //踏频磁环信号计数变量，全局变量
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-int16_t torqueApp2;
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-
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-int16_t torqueAppRef=0;
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+uint16_t torqueApp;
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+uint16_t torque_NM; //力矩值，单位NM
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+uint16_t torqueRank=0; //由踏频采样后的力矩值，得出的力矩给定
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+static uint16_t torqueRankLast=0; //力矩给定历史值
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+static uint16_t torqueRankBak=0; //力矩给定历史值备份
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+static uint8_t flagUpDown=0; //输入力矩上升、下降的标志位
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-uint8_t flagCandence=0;
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-int16_t torqueAppLag=0;
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-int16_t torqueAppRatio=0;
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-int16_t torqueAppResult=0;
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+static int32_t tmpFltSum=0; //输入力矩滤波的静态变量
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+int16_t tmpFlted=0; //输入力矩滤波的临时变量
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-int16_t torqueAppAccStep= 5; //84;
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-int16_t torqueAppDecStep=1; //14
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+int16_t torqueApp2; //力矩计算的临时变量
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-uint16_t candenceBakAtTop=0;
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-uint16_t torqueByCandenceDec=0;
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+uint8_t flagCandence=0; //踏频信号更新标志
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+int16_t torqueAppLag=0; //力局地经过加减速处理后的临时变量
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+int16_t torqueAppRatio=0; //力矩值计算助力比后的临时变量
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-int16_t torqueDataFromCadence=0;
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+int16_t torqueAppAccStep= 5; //力矩给定升速斜率
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+int16_t torqueAppDecStep=1; //力矩给定减速斜率
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-int32_t Taping_activeFlt=0; //踏频实时值滤波中间量
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-int32_t Taping_activeFlted = 0; //踏频实时值滤波值
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+uint16_t candenceBakAtTop=0; //踏频最大值备份
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+uint16_t torqueByCandenceDec=0; //由踏频变化计算的力矩减弱量
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+int16_t torqueDataFromCadence=0; //经过踏频信号采样的力矩值
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+int32_t Taping_activeFlt=0; //踏频实时值滤波中间量
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+int32_t Taping_activeFlted = 0; //踏频实时值滤波值
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-#define TORQUE_TMP 28
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+#define TORQUE_TMP 28 //力矩AD值与1NM的换算系数
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MC_CalParam_Struct_t MC_AssistRunMode_Torque_compensation(uint16_t SenorData, MC_GearSt_Struct_t GearSt)
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{
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@@ -1213,6 +1209,9 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_compensation(uint16_t SenorData, MC
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if(GearSt == 0x33)
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{
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torqueAppRatio = ((int32_t)torqueApp * torqueApp / (MC_AssisParam.Gear_SMART.i_Sport_TH));
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+
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+ torqueAppRatio = (int16_t)((int32_t)torqueAppRatio * MC_ConfigParam1.UserAdjParam_SMART.Assist_K_GAIN / 100); //上位机助力比增益调节
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+
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//给定上限
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torqueAppRatio = (torqueAppRatio > MC_AssisParam.Gear_SMART.Upper_Iq) ? MC_AssisParam.Gear_SMART.Upper_Iq : torqueAppRatio;
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@@ -1233,6 +1232,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_compensation(uint16_t SenorData, MC
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//torqueAppRatio = torqueApp * 0.5;
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//torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 51 ,410, 1300, torqueApp)) >> 10 ); //0.4
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torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 51 ,MC_AssisParam.Gear_ECO.Gain_K, 1300, torqueApp)) >> 10 ); //0.4
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+ torqueAppRatio = (int16_t)((int32_t)torqueAppRatio * MC_ConfigParam1.UserAdjParam_ECO.Assist_K_GAIN / 100); //上位机助力比增益调节
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//给定上限
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torqueAppRatio = (torqueAppRatio > MC_AssisParam.Gear_ECO.Upper_Iq) ? MC_AssisParam.Gear_ECO.Upper_Iq : torqueAppRatio;
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@@ -1249,6 +1249,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_compensation(uint16_t SenorData, MC
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//torqueAppRatio = torqueApp * 0.8;
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//torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 102 ,717, 1300, torqueApp)) >> 10 ); //0.7
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torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 102 ,MC_AssisParam.Gear_NORM.Gain_K, 1300, torqueApp)) >> 10 ); //0.7
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+ torqueAppRatio = (int16_t)((int32_t)torqueAppRatio * MC_ConfigParam1.UserAdjParam_NORM.Assist_K_GAIN / 100); //上位机助力比增益调节
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//给定上限
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torqueAppRatio = (torqueAppRatio > MC_AssisParam.Gear_NORM.Upper_Iq) ? MC_AssisParam.Gear_NORM.Upper_Iq : torqueAppRatio;
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@@ -1267,6 +1268,7 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_compensation(uint16_t SenorData, MC
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//torqueAppRatio = torqueApp * 1.0;
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//torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 204 ,1024, 1300, torqueApp)) >> 10 ); //1.0
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torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 204 , MC_AssisParam.Gear_SPORT.Gain_K, 1300, torqueApp)) >> 10 ); //1.0
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+ torqueAppRatio = (int16_t)((int32_t)torqueAppRatio * MC_ConfigParam1.UserAdjParam_SPORT.Assist_K_GAIN / 100); //上位机助力比增益调节
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//给定上限
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torqueAppRatio = (torqueAppRatio > MC_AssisParam.Gear_SPORT.Upper_Iq) ? MC_AssisParam.Gear_SPORT.Upper_Iq : torqueAppRatio;;
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@@ -1285,7 +1287,8 @@ MC_CalParam_Struct_t MC_AssistRunMode_Torque_compensation(uint16_t SenorData, MC
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//torqueAppRatio = torqueApp * 1.5;
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//torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 307 ,1536, 1300, torqueApp)) >> 10 ); // 1.5
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torqueAppRatio = (int16_t)((uint32_t)(torqueApp * Coefficient_GainCal( 307 ,MC_AssisParam.Gear_TURBO.Gain_K, 1300, torqueApp)) >> 10 ); // 1.5
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-
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+ torqueAppRatio = (int16_t)((int32_t)torqueAppRatio * MC_ConfigParam1.UserAdjParam_TURBO.Assist_K_GAIN / 100); //上位机助力比增益调节
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+
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//给定上限
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torqueAppRatio = (torqueAppRatio > MC_AssisParam.Gear_TURBO.Upper_Iq) ? MC_AssisParam.Gear_TURBO.Upper_Iq : torqueAppRatio;
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damon