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修改减速比，过流保护

This commit is contained in:
起床就犯困 2025-07-04 15:36:50 +08:00
parent 3b990dd88c
commit 37c56a1a9e
6 changed files with 39 additions and 39 deletions
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20
APP/Common/ptz_default_value.h
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@ -73,11 +73,11 @@
#ifdef PTZ_MEDIUM_WORM_L6235D_AS5047D
///*******************************标准云台******************************/
///水平电机减速比
#define PTZ_HORI_MOTOR_RATIO 10.0//(25.0 * 1.5)//20
#define PTZ_HORI_MOTOR_RATIO 3.0//(25.0 * 1.5)//20
///水平大齿轮减速比
#define PTZ_HORI_BIG_GEAR_RATIO 80.0//62.0
///水平总减速比
#define PTZ_HORI_RATIO 800.0//2325//1240.0
#define PTZ_HORI_RATIO 240.0//2325//1240.0
///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
@ -89,20 +89,20 @@
///水平电机最小转速
#define PTZ_HORI_MOTOR_MIN_SPEED 400.0//600.0
///水平云台最大转速
#define PTZ_HORI_MAX_SPEED 3.75//1.29//2.4
#define PTZ_HORI_MAX_SPEED 12.5//1.29//2.4
///水平云台最小转速
#define PTZ_HORI_MIN_SPEED 0.5//0.3//0.26//0.4
#define PTZ_HORI_MIN_SPEED 1.67//0.3//0.26//0.4
///水平云台默认最佳速度
#define PTZ_HORI_BEST_SPEED 2.7//2.0
#define PTZ_HORI_BEST_SPEED 9.0//2.0
/**********************************************************/
///磁编码器和电机之间的减速比
#define PTZ_VERT_MOTOR_RATIO 22.5//(50.0 * (52.0 / 35.0))//20.0
#define PTZ_VERT_MOTOR_RATIO 75.0//(50.0 * (52.0 / 35.0))//20.0
///磁编码器与云台轴之间的减速比
#define PTZ_VERT_BIG_GEAR_RATIO 80.0//54.00
///垂直总减速比
#define PTZ_VERT_RATIO 1800.0//4011.429//1080.0
#define PTZ_VERT_RATIO 6000.0//4011.429//1080.0
///垂直电机调速模拟电压最大值
#define PTZ_VERT_VR_MAX 1999
///垂直电机调速模拟电压最小值
@ -114,11 +114,11 @@
///垂直电机最小转速
#define PTZ_VERT_MOTOR_MIN_SPEED 400.0//600.0
///垂直云台最大转速
#define PTZ_VERT_MAX_SPEED 1.66//0.74//2.7
#define PTZ_VERT_MAX_SPEED 0.5//0.74//2.7
///垂直云台最小转速
#define PTZ_VERT_MIN_SPEED 0.22//0.1//0.15//0.5
#define PTZ_VERT_MIN_SPEED 0.067//0.1//0.15//0.5
///垂直云台默认最佳速度
#define PTZ_VERT_BEST_SPEED 1.2//0.7//2.0
#define PTZ_VERT_BEST_SPEED 0.4//0.7//2.0
//电机磁极对数

4
APP/Device/Device_speed/speed_to_bldc.h
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@ -80,7 +80,7 @@
#define PTZ_HORI_PID_HORI_TD 0//0.001//微分系数
#define PTZ_HORI_PID_INPUT_LIMIT 100.0//PID调速输入值限定
#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 80.0//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_VERT_KP 20.0//6//6.0//比例系数
@ -88,7 +88,7 @@
#define PTZ_VERT_PID_VERT_TD 0//0.001//微分系数
#define PTZ_VERT_PID_INPUT_LIMIT 100.0//PID调速输入值限定
#define PTZ_VERT_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_OUTPUT_LIMIT 100.0//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_T_MAX 80//75u//PID调速最大周期
#define PTZ_VERT_PID_T_MAX 80//75u//PID调速最大周期

4
APP/Service/service_statusmonitor.c
View File

@ -24,7 +24,7 @@ static char ptz_temp_volt_current_fault_detect_task()
{//堵转检测，防止电机堵转烧坏，结合电机卡死故障监测，与云台工作电流监测。
if (g_ptz.fault_detect.Phase_curr_H != FAULT) {
hori_fault++;
if (hori_fault > 10) {
if (hori_fault > 20) {
g_ptz.fault_detect.Phase_curr_H = FAULT;//水平电机相电流过大，报警
ptz_hori_stop(PTZ_HORI_STOP_TIME);
}
@ -38,7 +38,7 @@ static char ptz_temp_volt_current_fault_detect_task()
{//堵转检测，防止电机堵转烧坏，结合电机卡死故障监测，与云台工作电流监测。
if (g_ptz.fault_detect.Phase_curr_V != FAULT) {
vert_fault++;
if (vert_fault > 10) {
if (vert_fault > 20) {
g_ptz.fault_detect.Phase_curr_V = FAULT;//垂直电机相电流过大，报警
ptz_vert_stop(PTZ_VERT_STOP_TIME);
}

2
APP/Service/service_statusmonitor.h
View File

@ -113,7 +113,7 @@
#define PTZ_HALL_DETECT 30//30
//相电流运行最大值
#define PHASE_CURRENT 3.5
#define PHASE_CURRENT 4.8
#endif
//L6235D涡轮蜗杆重型云台

42
BSP/Driver/full_bridge/full_bridge.c
View File

@ -360,21 +360,21 @@ void h_bldc_six_step()
H_Hall_state.Hall_value = h_hall_senser_value_get();
if((H_Hall_state.Hall_value <= 6)&&(H_Hall_state.Hall_value >= 1))
{
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
{//电机正转- 1
h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
}else{//电机反转
h_six_step_commu[H_Hall_state.Hall_value -1]();
}
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
{//电机正转- 1
h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
}else{//电机反转
h_six_step_commu[H_Hall_state.Hall_value -1]();
}
//Ö±³ÝÔÆ̨תÏò
// if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
// {//电机正转- 1
// if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
// {//电机正转- 1
// h_six_step_commu[H_Hall_state.Hall_value -1]();
// }else{//电机反转
// h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
// h_six_step_commu[H_Hall_state.Hall_value -1]();
// }else{//电机反转
// h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
// }
// }
}
}
@ -395,17 +395,17 @@ void v_bldc_six_step()
V_Hall_state.Hall_value = v_hall_senser_value_get();
if((V_Hall_state.Hall_value <= 6)&&(V_Hall_state.Hall_value >= 1))
{
// if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
// {//电机正转- 1
// v_six_step_commu[V_Hall_state.Hall_value -1]();
// }else{//电机反转
// v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
// }
if (g_ptz.vert_direction_set == PTZ_VERT_DIR_UP) {//电机正转- 1
v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
} else {//电机反转
if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
{//电机正转- 1
v_six_step_commu[V_Hall_state.Hall_value -1]();
}else{//电机反转
v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
}
// if (g_ptz.vert_direction_set == PTZ_VERT_DIR_UP) {//电机正转- 1
// v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
// } else {//电机反转
// v_six_step_commu[V_Hall_state.Hall_value -1]();
// }
// if(g_ptz.vert_pid.PidUT_float < 0)

2
PROJECT/OS2.ewp
View File

@ -825,7 +825,7 @@
</option>
<option>
<name>IlinkIcfFile</name>
<state>D:\psx\Pan-Tilt\1.software\HY\6.0 MW22-01A\BSP\IAR\GD32F450xE.icf</state>
<state>D:\psx\Pan-Tilt\1.software\HY\6.0 MW22-01A\BSP\IAR\GD32F450xE_APP.icf</state>
</option>
<option>
<name>IlinkIcfFileSlave</name>