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测试hall速度计算

This commit is contained in:
起床就犯困 2025-06-28 09:00:50 +08:00
parent 012a3bec8c
commit 9d226bec35
4 changed files with 12 additions and 6 deletions
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8
APP/Appcfg/app.c
View File

@ -283,8 +283,14 @@ static void task_print()
// p_tcb = p_tcb->OSTCBPrev; // p_tcb = p_tcb->OSTCBPrev;
// } // }
// term_printf("\r\n"); // term_printf("\r\n");
term_printf("h_angle:%f, v_angle:%f\n", as5047d_hori_get_angle_a(), as5047d_vert_get_angle_a()); // term_printf("h_angle:%f, v_angle:%f\n", as5047d_hori_get_angle_a(), as5047d_vert_get_angle_a());
// term_printf("PidUT_uint : %d \n", g_ptz.hori_pid.PidUT_uint);
// pdebug(DEBUG_LEVEL_DEBUG, "PidUT_uint : %d \n", g_ptz.hori_pid.PidUT_uint);
static char data[50] = {0};
sprintf(data, "PidUT_uint : %d\n", g_ptz.hori_pid.PidUT_uint);
ptz_uart_dev_send(uart_485_handle, data, sizeof(data));
OSTimeDlyHMSM(0u, 0u, 1u, 0u); OSTimeDlyHMSM(0u, 0u, 1u, 0u);
} }

4
APP/Device/Device_speed/speed_to_bldc.c
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@ -1779,8 +1779,8 @@ void get_hori_speed(void)
} }
//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
h_pwm_duty_change(g_ptz.hori_pid.PidUT_uint); // h_pwm_duty_change(g_ptz.hori_pid.PidUT_uint);
// h_pwm_duty_change(600); h_pwm_duty_change(450);
//将当前PID输出值保存 //将当前PID输出值保存
g_ptz.hori_pid.LastUT_float = g_ptz.hori_pid.PidUT_float; g_ptz.hori_pid.LastUT_float = g_ptz.hori_pid.PidUT_float;

4
APP/Device/Device_speed/speed_to_bldc.h
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@ -233,8 +233,8 @@
// #define PTZ_HALL_SPEED_SL 1 // #define PTZ_HALL_SPEED_SL 1
#define PTZ_HORI_PID_T 30u #define PTZ_HORI_PID_T 30u
#define PTZ_HORI_PID_HORI_KP 50.0 //比例系数 #define PTZ_HORI_PID_HORI_KP 25.0 //比例系数
#define PTZ_HORI_PID_HORI_TI 2.5 //积分系数 #define PTZ_HORI_PID_HORI_TI 0.5 //积分系数
#define PTZ_HORI_PID_HORI_TD 0.0 //微分系数 #define PTZ_HORI_PID_HORI_TD 0.0 //微分系数
#define PTZ_HORI_PID_INPUT_LIMIT 100.0//PID调速输入值限定 #define PTZ_HORI_PID_INPUT_LIMIT 100.0//PID调速输入值限定

2
APP/Service/service_statusmonitor.c
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@ -859,7 +859,7 @@ static char ptz_fault_detect_task()
ptz_temp_volt_current_fault_detect_task(); ptz_temp_volt_current_fault_detect_task();
//电机hall故障 //电机hall故障
#ifdef PTZ_BLDC_MOTOR #ifdef PTZ_BLDC_MOTOR
ptz_motor_hall_fault_detect_task(); // ptz_motor_hall_fault_detect_task();
#endif #endif
//故障回传 //故障回传
ptz_fault_return_task(); ptz_fault_return_task();