From 3b990dd88c04e0ab7a6b776041bda1f05e1e1e5d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E8=B5=B7=E5=BA=8A=E5=B0=B1=E7=8A=AF=E5=9B=B0?= <11730503+psx123456@user.noreply.gitee.com> Date: Mon, 30 Jun 2025 16:34:13 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=BC=A0=E5=8A=A8=E6=AF=94?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- APP/Common/ptz_default_value.h | 20 +++++++------- APP/Service/service_statusmonitor.c | 33 ++++++++++++++++------ BSP/Driver/full_bridge/full_bridge.c | 41 ++++++++++++++++------------ PROJECT/OS2.ewp | 2 +- 4 files changed, 59 insertions(+), 37 deletions(-) diff --git a/APP/Common/ptz_default_value.h b/APP/Common/ptz_default_value.h index 0b4b671..e3f7313 100644 --- a/APP/Common/ptz_default_value.h +++ b/APP/Common/ptz_default_value.h @@ -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 25.0//(25.0 * 1.5)//20 + #define PTZ_HORI_MOTOR_RATIO 10.0//(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 2000.0//2325//1240.0 + #define PTZ_HORI_RATIO 800.0//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 1.5//1.29//2.4 + #define PTZ_HORI_MAX_SPEED 3.75//1.29//2.4 ///水平云台最小转速 - #define PTZ_HORI_MIN_SPEED 0.2//0.3//0.26//0.4 + #define PTZ_HORI_MIN_SPEED 0.5//0.3//0.26//0.4 ///水平云台默认最佳速度 - #define PTZ_HORI_BEST_SPEED 1.2//2.0 + #define PTZ_HORI_BEST_SPEED 2.7//2.0 /**********************************************************/ ///磁编码器和电机之间的减速比 - #define PTZ_VERT_MOTOR_RATIO 75.0//(50.0 * (52.0 / 35.0))//20.0 + #define PTZ_VERT_MOTOR_RATIO 22.5//(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 6000.0//4011.429//1080.0 + #define PTZ_VERT_RATIO 1800.0//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 0.5//0.74//2.7 + #define PTZ_VERT_MAX_SPEED 1.66//0.74//2.7 ///垂直云台最小转速 - #define PTZ_VERT_MIN_SPEED 0.07//0.1//0.15//0.5 + #define PTZ_VERT_MIN_SPEED 0.22//0.1//0.15//0.5 ///垂直云台默认最佳速度 - #define PTZ_VERT_BEST_SPEED 0.4//0.7//2.0 + #define PTZ_VERT_BEST_SPEED 1.2//0.7//2.0 //电机磁极对数 diff --git a/APP/Service/service_statusmonitor.c b/APP/Service/service_statusmonitor.c index c727ad5..fc588b2 100644 --- a/APP/Service/service_statusmonitor.c +++ b/APP/Service/service_statusmonitor.c @@ -13,24 +13,41 @@ static char ptz_temp_volt_current_fault_detect_task() {//只报故障，不做响应 static unsigned short int time_ms; + static char hori_fault = 0; + static char vert_fault = 0; + time_ms ++; if(time_ms < 50) { //轻型云台峰值电流5.4A， if(H_ADC_Collect.Phase_curr_V >= PHASE_CURRENT ||H_ADC_Collect.Phase_curr_U >= PHASE_CURRENT ||H_ADC_Collect.Phase_curr_W >= PHASE_CURRENT ) {//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。 - - 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); + if (g_ptz.fault_detect.Phase_curr_H != FAULT) { + hori_fault++; + if (hori_fault > 10) { + 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); + } + } } + else { + hori_fault = 0; + } + if(V_ADC_Collect.Phase_curr_V >= PHASE_CURRENT ||V_ADC_Collect.Phase_curr_U >= PHASE_CURRENT ||V_ADC_Collect.Phase_curr_W >= PHASE_CURRENT ) {//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。 - - 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); + if (g_ptz.fault_detect.Phase_curr_V != FAULT) { + vert_fault++; + if (vert_fault > 10) { + 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); + } + } } + else { + vert_fault = 0; + } + return 1; } else diff --git a/BSP/Driver/full_bridge/full_bridge.c b/BSP/Driver/full_bridge/full_bridge.c index dda1723..6ccc56a 100644 --- a/BSP/Driver/full_bridge/full_bridge.c +++ b/BSP/Driver/full_bridge/full_bridge.c @@ -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](); + } //直齿云台转向 - 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](); - } + // } } } @@ -395,12 +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[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) diff --git a/PROJECT/OS2.ewp b/PROJECT/OS2.ewp index 1498948..7b060ff 100644 --- a/PROJECT/OS2.ewp +++ b/PROJECT/OS2.ewp @@ -825,7 +825,7 @@