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新型电机正常运转

This commit is contained in:
起床就犯困 2025-06-12 09:45:45 +08:00
parent 337edab694
commit 8f6daf1e41
4 changed files with 127 additions and 75 deletions
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162
APP/Common/ptz_default_value.h
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@ -334,71 +334,123 @@
#endif #endif
#define NEW_MOTOR
#ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_24V #ifdef PTZ_SUPER_LIGHT_WORM_L6235D_AS5047D_24V
///水平电机减速比 #ifndef NEW_MOTOR
#define PTZ_HORI_MOTOR_RATIO 3.0 ///水平电机减速比
///水平大齿轮减速比 #define PTZ_HORI_MOTOR_RATIO 27.0
#define PTZ_HORI_BIG_GEAR_RATIO 50.0 ///水平大齿轮减速比
///水平总减速比 #define PTZ_HORI_BIG_GEAR_RATIO 50.0
#define PTZ_HORI_RATIO 150.0 ///水平总减速比
///水平电机调速模拟电压最大值 #define PTZ_HORI_RATIO 1350.0
#define PTZ_HORI_VR_MAX 1999 ///水平电机调速模拟电压最大值
///水平电机调速模拟电压最小值 #define PTZ_HORI_VR_MAX 1999
#define PTZ_HORI_VR_MIN 250 ///水平电机调速模拟电压最小值
#define PTZ_HORI_VR_MIN 50
///转速单位 转/每分 ///转速单位 转/每分
///水平电机最大转速 ///水平电机最大转速
#define PTZ_HORI_MOTOR_MAX_SPEED 3000 #define PTZ_HORI_MOTOR_MAX_SPEED 3000
///水平电机最小转速 ///水平电机最小转速
#define PTZ_HORI_MOTOR_MIN_SPEED 405.0 #define PTZ_HORI_MOTOR_MIN_SPEED 405.0
///水平云台最大转速 ///水平云台最大转速
#define PTZ_HORI_MAX_SPEED 20.0 #define PTZ_HORI_MAX_SPEED 2.2
///水平云台最小转速 ///水平云台最小转速
#define PTZ_HORI_MIN_SPEED 2.7 #define PTZ_HORI_MIN_SPEED 0.3
///水平云台默认最佳速度 ///水平云台默认最佳速度
#define PTZ_HORI_BEST_SPEED 14.4 #define PTZ_HORI_BEST_SPEED 1.5
#endif
#ifdef NEW_MOTOR
///水平电机减速比
#define PTZ_HORI_MOTOR_RATIO 3.0
///水平大齿轮减速比
#define PTZ_HORI_BIG_GEAR_RATIO 50.0
///水平总减速比
#define PTZ_HORI_RATIO 150.0
///水平电机调速模拟电压最大值
#define PTZ_HORI_VR_MAX 1999
///水平电机调速模拟电压最小值
#define PTZ_HORI_VR_MIN 50
///转速单位 转/每分
///水平电机最大转速
#define PTZ_HORI_MOTOR_MAX_SPEED 3000
///水平电机最小转速
#define PTZ_HORI_MOTOR_MIN_SPEED 405.0
///水平云台最大转速
#define PTZ_HORI_MAX_SPEED 20.0
///水平云台最小转速
#define PTZ_HORI_MIN_SPEED 2.7
///水平云台默认最佳速度
#define PTZ_HORI_BEST_SPEED 14.4
#endif
/**********************************************************/ /**********************************************************/
#ifndef NEW_MOTOR
///磁编码器和电机之间的减速比
#define PTZ_VERT_MOTOR_RATIO 27.0
///磁编码器与云台轴之间的减速比
#define PTZ_VERT_BIG_GEAR_RATIO 50.0
///垂直总减速比
#define PTZ_VERT_RATIO 1350.0
///垂直电机调速模拟电压最大值
#define PTZ_VERT_VR_MAX 1899
///垂直电机调速模拟电压最小值
#define PTZ_VERT_VR_MIN 50
///磁编码器和电机之间的减速比 ///转速单位 转/每分
#define PTZ_VERT_MOTOR_RATIO 10.0 ///垂直电机最大转速
///磁编码器与云台轴之间的减速比 #define PTZ_VERT_MOTOR_MAX_SPEED 3000.0
#define PTZ_VERT_BIG_GEAR_RATIO 50.0 ///垂直电机最小转速
///垂直总减速比 #define PTZ_VERT_MOTOR_MIN_SPEED 405.0
#define PTZ_VERT_RATIO 500.0 ///垂直云台最大转速
///垂直电机调速模拟电压最大值 #define PTZ_VERT_MAX_SPEED 2.2
#define PTZ_VERT_VR_MAX 1999 ///垂直云台最小转速
///垂直电机调速模拟电压最小值 #define PTZ_VERT_MIN_SPEED 0.3
#define PTZ_VERT_VR_MIN 50 ///垂直云台默认最佳速度
#define PTZ_VERT_BEST_SPEED 1.5
#endif
///转速单位 转/每分 #ifdef NEW_MOTOR
///垂直电机最大转速 ///磁编码器和电机之间的减速比
#define PTZ_VERT_MOTOR_MAX_SPEED 3000.0 #define PTZ_VERT_MOTOR_RATIO 10.0
///垂直电机最小转速 ///磁编码器与云台轴之间的减速比
#define PTZ_VERT_MOTOR_MIN_SPEED 405.0 #define PTZ_VERT_BIG_GEAR_RATIO 50.0
///垂直云台最大转速 ///垂直总减速比
#define PTZ_VERT_MAX_SPEED 6.0 #define PTZ_VERT_RATIO 500.0
///垂直云台最小转速 ///垂直电机调速模拟电压最大值
#define PTZ_VERT_MIN_SPEED 0.81 #define PTZ_VERT_VR_MAX 1899
///垂直云台默认最佳速度 ///垂直电机调速模拟电压最小值
#define PTZ_VERT_BEST_SPEED 4.3 #define PTZ_VERT_VR_MIN 100
///转速单位 转/每分
///垂直电机最大转速
#define PTZ_VERT_MOTOR_MAX_SPEED 3000.0
///垂直电机最小转速
#define PTZ_VERT_MOTOR_MIN_SPEED 405.0
///垂直云台最大转速
#define PTZ_VERT_MAX_SPEED 6.0
///垂直云台最小转速
#define PTZ_VERT_MIN_SPEED 0.81
///垂直云台默认最佳速度
#define PTZ_VERT_BEST_SPEED 4.3
//电机磁极对数 #endif
#define PTZ_HORI_MOTOR_POLE_PAIRS 4.0 //电机磁极对数
//电机霍尔传感器对数 #define PTZ_HORI_MOTOR_POLE_PAIRS 4.0
#define PTZ_HORI_MOTOR_HALL_PAIRS 3.0 //电机霍尔传感器对数
//电机旋转一圈FG返回的霍尔脉冲数 #define PTZ_HORI_MOTOR_HALL_PAIRS 3.0
#define PTZ_HORI_ONE_CYCLE_HALL_NUM 12.0 //电机旋转一圈FG返回的霍尔脉冲数
#define PTZ_HORI_ONE_CYCLE_HALL_NUM 12.0
//电机磁极对数
#define PTZ_VERT_MOTOR_POLE_PAIRS 4.0
//电机霍尔传感器对数
#define PTZ_VERT_MOTOR_HALL_PAIRS 3.0
//电机旋转一圈FG返回的霍尔脉冲数
#define PTZ_VERT_ONE_CYCLE_HALL_NUM 12.0
//电机磁极对数
#define PTZ_VERT_MOTOR_POLE_PAIRS 4.0
//电机霍尔传感器对数
#define PTZ_VERT_MOTOR_HALL_PAIRS 3.0
//电机旋转一圈FG返回的霍尔脉冲数
#define PTZ_VERT_ONE_CYCLE_HALL_NUM 12.0
#endif #endif

32
APP/Device/Device_speed/speed_to_bldc.c
View File

@ -619,24 +619,24 @@ static void ptz_hori_pid_task()
// else // else
#ifdef PTZ_HALL_SPEED_SL #ifdef PTZ_HALL_SPEED_SL
if (g_ptz.hori_speed_actual == 0) { // if (g_ptz.hori_speed_actual == 0) {
h_pwm_duty_change(PTZ_HORI_VR_MIN); // h_pwm_duty_change(PTZ_HORI_VR_MIN);
} // }
/* 使能计算速度 */ /* 使能计算速度 */
g_speed_to_hall.hori_speed_t.flag = calculation_enable; g_speed_to_hall.hori_speed_t.flag = calculation_enable;
/* 超时机制 */ /* 超时机制 */
uint32_t timeOut = 0; uint32_t timeOut = 0;
/* 电机转动后，等待进入hall中断启动速度计算 */ /* 电机转动后，等待进入hall中断启动速度计算 */
while (!(g_speed_to_hall.hori_speed_t.flag == calculation_start while (!(g_speed_to_hall.hori_speed_t.flag == calculation_start
|| g_ptz.hori_start_stop_set == PTZ_HORI_STOP) || g_ptz.hori_start_stop_set == PTZ_HORI_STOP)
&& timeOut < 10) { && timeOut < 15) {
OSTimeDlyHMSM(0u, 0u, 0u, 1u); OSTimeDlyHMSM(0u, 0u, 0u, 1u);
timeOut++; timeOut++;
} }
if (timeOut >= 10) { if (timeOut >= 15) {
g_ptz.hori_speed_actual = 0; g_ptz.hori_speed_actual = 0;
goto timeOutErr; goto timeOutErr;
} }
@ -646,11 +646,11 @@ static void ptz_hori_pid_task()
g_speed_to_hall.hori_speed_t.flag = calculation_ok; g_speed_to_hall.hori_speed_t.flag = calculation_ok;
timeOut = 0; timeOut = 0;
/* 等待最后一个hall信号到来 */ /* 等待最后一个hall信号到来 */
while (!(g_speed_to_hall.hori_speed_t.flag == calculation_end while (!(g_speed_to_hall.hori_speed_t.flag == calculation_end
|| g_ptz.hori_start_stop_set == PTZ_HORI_STOP) || g_ptz.hori_start_stop_set == PTZ_HORI_STOP)
&& timeOut < 10) { && timeOut < 10) {
OSTimeDlyHMSM(0u, 0u, 0u, 1u); OSTimeDlyHMSM(0u, 0u, 0u, 1u);
timeOut++; timeOut++;
} }
@ -1295,9 +1295,9 @@ static void ptz_vert_pid_task()
#ifdef PTZ_HALL_SPEED_SL #ifdef PTZ_HALL_SPEED_SL
if (g_ptz.vert_speed_actual == 0) { // if (g_ptz.vert_speed_actual == 0) {
v_pwm_duty_change(PTZ_VERT_VR_MIN); // v_pwm_duty_change(PTZ_VERT_VR_MIN);
} // }
/* 使能计算速度 */ /* 使能计算速度 */
g_speed_to_hall.vert_speed_t.flag = calculation_enable; g_speed_to_hall.vert_speed_t.flag = calculation_enable;
@ -1308,11 +1308,11 @@ static void ptz_vert_pid_task()
/* 电机转动后，等待进入hall中断启动速度计算 */ /* 电机转动后，等待进入hall中断启动速度计算 */
while (!(g_speed_to_hall.vert_speed_t.flag == calculation_start while (!(g_speed_to_hall.vert_speed_t.flag == calculation_start
|| g_ptz.vert_start_stop_set == PTZ_HORI_STOP) || g_ptz.vert_start_stop_set == PTZ_HORI_STOP)
&& timeOut < 10) { && timeOut < 15) {
OSTimeDlyHMSM(0u, 0u, 0u, 1u); OSTimeDlyHMSM(0u, 0u, 0u, 1u);
timeOut++; timeOut++;
} }
if (timeOut >= 10) { if (timeOut >= 15) {
g_ptz.vert_speed_actual = 0; g_ptz.vert_speed_actual = 0;
goto timeOutErr; goto timeOutErr;
} }
@ -1348,7 +1348,7 @@ static void ptz_vert_pid_task()
+ g_speed_to_hall.vert_speed_t.endTime_us + (SPEED_TIMER_PERIOD - g_speed_to_hall.vert_speed_t.startTime_us); + g_speed_to_hall.vert_speed_t.endTime_us + (SPEED_TIMER_PERIOD - g_speed_to_hall.vert_speed_t.startTime_us);
} }
g_ptz.hori_speed_actual = (float)g_speed_to_hall.vert_speed_t.hallNum * 5000000.0 / (float)time / PTZ_VERT_RATIO; g_ptz.vert_speed_actual = (float)g_speed_to_hall.vert_speed_t.hallNum * 5000000.0 / (float)time / PTZ_VERT_RATIO;
timeOutErr: timeOutErr:
@ -1449,8 +1449,8 @@ timeOutErr:
//将PID输出的电机转速模拟电压等级输入到模拟电压输出芯片 //将PID输出的电机转速模拟电压等级输入到模拟电压输出芯片
// vert_dac1_data_out( g_ptz.vert_pid.PidUT_uint); // vert_dac1_data_out( g_ptz.vert_pid.PidUT_uint);
v_pwm_duty_change(g_ptz.vert_pid.PidUT_uint); v_pwm_duty_change(g_ptz.vert_pid.PidUT_uint);
//将当前PID输出值保存 //将当前PID输出值保存
g_ptz.vert_pid.LastUT_float = g_ptz.vert_pid.PidUT_float; g_ptz.vert_pid.LastUT_float = g_ptz.vert_pid.PidUT_float;

4
APP/Device/Device_speed/speed_to_bldc.h
View File

@ -241,8 +241,8 @@
#define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异 #define PTZ_HORI_PID_OUTPUT_LIMIT 200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
#define PTZ_VERT_PID_T 30u #define PTZ_VERT_PID_T 30u
#define PTZ_VERT_PID_VERT_KP 35.0//比例系数 #define PTZ_VERT_PID_VERT_KP 40.0//比例系数
#define PTZ_VERT_PID_VERT_TI 0.0003 //积分系数 #define PTZ_VERT_PID_VERT_TI 0.0001 //积分系数
#define PTZ_VERT_PID_VERT_TD 0.0 //微分系数 #define PTZ_VERT_PID_VERT_TD 0.0 //微分系数
#define PTZ_VERT_PID_INPUT_LIMIT 100.0//PID调速输入值限定 #define PTZ_VERT_PID_INPUT_LIMIT 100.0//PID调速输入值限定

4
APP/Service/service_statusmonitor.c
View File

@ -300,7 +300,8 @@ static char ptz_motor_rotate_fault_detect_task()
{ {
time_ms = 0; time_ms = 0;
} }
return 1;
//垂直 //垂直
@ -547,7 +548,6 @@ static char ptz_motor_rotate_fault_detect_task()
} }
if(g_ptz.vert_start_stop_set == PTZ_VERT_STOP) if(g_ptz.vert_start_stop_set == PTZ_VERT_STOP)
{ {
vert_rotate_fault_step = 0;//关闭判断 vert_rotate_fault_step = 0;//关闭判断