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修改传动比

This commit is contained in:
起床就犯困 2025-06-30 16:34:13 +08:00
parent 31f43d05cc
commit 3b990dd88c
4 changed files with 59 additions and 37 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 #ifdef PTZ_MEDIUM_WORM_L6235D_AS5047D
///*******************************标准云台******************************/ ///*******************************标准云台******************************/
///水平电机减速比 ///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 ///水平大齿轮减速比
#define PTZ_HORI_BIG_GEAR_RATIO 80.0//62.0 #define PTZ_HORI_BIG_GEAR_RATIO 80.0//62.0
///水平总减速比 ///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 ///水平电机调速模拟电压最大值
#define PTZ_HORI_VR_MAX 1999 #define PTZ_HORI_VR_MAX 1999
///水平电机调速模拟电压最小值 ///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 ///水平电机最小转速
#define PTZ_HORI_MOTOR_MIN_SPEED 400.0//600.0 #define PTZ_HORI_MOTOR_MIN_SPEED 400.0//600.0
///水平云台最大转速 ///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 ///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 ///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 ///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 ///磁编码器与云台轴之间的减速比
#define PTZ_VERT_BIG_GEAR_RATIO 80.0//54.00 #define PTZ_VERT_BIG_GEAR_RATIO 80.0//54.00
///垂直总减速比 ///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 ///垂直电机调速模拟电压最大值
#define PTZ_VERT_VR_MAX 1999 #define PTZ_VERT_VR_MAX 1999
///垂直电机调速模拟电压最小值 ///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 ///垂直电机最小转速
#define PTZ_VERT_MOTOR_MIN_SPEED 400.0//600.0 #define PTZ_VERT_MOTOR_MIN_SPEED 400.0//600.0
///垂直云台最大转速 ///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 ///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 ///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 //电机磁极对数

25
APP/Service/service_statusmonitor.c
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@ -13,24 +13,41 @@ static char ptz_temp_volt_current_fault_detect_task()
{//只报故障，不做响应 {//只报故障，不做响应
static unsigned short int time_ms; static unsigned short int time_ms;
static char hori_fault = 0;
static char vert_fault = 0;
time_ms ++; time_ms ++;
if(time_ms < 50) if(time_ms < 50)
{ {
//轻型云台峰值电流5.4A， //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 ) 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。 {//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) {
g_ptz.fault_detect.Phase_curr_H = FAULT;//水平电机相电流过大，报警 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); 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 ) 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。 {//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) {
g_ptz.fault_detect.Phase_curr_V = FAULT;//垂直电机相电流过大，报警 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); ptz_vert_stop(PTZ_VERT_STOP_TIME);
} }
}
}
else {
vert_fault = 0;
}
return 1; return 1;
} }
else else

35
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(); H_Hall_state.Hall_value = h_hall_senser_value_get();
if((H_Hall_state.Hall_value <= 6)&&(H_Hall_state.Hall_value >= 1)) 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]();
// }
//直齿云台转向
if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT) if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
{//µç»úÕýת- 1 {//µç»úÕýת- 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[(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
// 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]();
// }
} }
} }
@ -395,11 +395,16 @@ void v_bldc_six_step()
V_Hall_state.Hall_value = v_hall_senser_value_get(); V_Hall_state.Hall_value = v_hall_senser_value_get();
if((V_Hall_state.Hall_value <= 6)&&(V_Hall_state.Hall_value >= 1)) if((V_Hall_state.Hall_value <= 6)&&(V_Hall_state.Hall_value >= 1))
{ {
if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP) // if(g_ptz.vert_direction_set == PTZ_VERT_DIR_UP)
{//电机正转- 1 // {//电机正转- 1
v_six_step_commu[V_Hall_state.Hall_value -1](); // v_six_step_commu[V_Hall_state.Hall_value -1]();
}else{//电机反转 // }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](); 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]();
} }

2
PROJECT/OS2.ewp
View File

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