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compare: pengsx:标准版-80蜗杆
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pengsx:2
pengsx:标准版-80蜗杆
pengsx:标准版
pengsx:标准60-1.25蜗杆
pengsx:加热版
pengsx:标准版，TMR3109磁编
pengsx:H25k_V50k_齿轮传动
pengsx:H3k_V50k
pengsx:H10k_V25k
pengsx:H10k_V15k
pengsx:master

3 Commits
master ... 标准版-80蜗杆

Author SHA1 Message Date
起床就犯困 8ac0fd9bca 1 2025-08-11 15:29:16 +08:00
起床就犯困 f98396c3fc 标准版减速比 2025-08-11 10:26:38 +08:00
起床就犯困 9d5b77c9e1 修改减速比和电流过流保护 2025-07-01 09:11:36 +08:00
6 changed files with 89 additions and 36 deletions
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14
APP/Common/ptz_default_value.h
View File

@ -73,7 +73,7 @@
#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 25.0 //(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
@ -89,7 +89,7 @@
///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 1.5 //1.5//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 0.2//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
@ -98,11 +98,11 @@
/**********************************************************/ /**********************************************************/
///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 75.0 //75.0//(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 6000.0 //6000.0//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 0.5 //0.5//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 0.07 //0.07//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 0.4 //0.4//0.7//2.0
//电机磁极对数 //电机磁极对数

31
APP/Device/Device_speed/speed_to_bldc.c
View File

@ -121,7 +121,7 @@ static float ptz_hori_pid_calculate(float H_SampSpeed)
//е÷ËÙ·½Ê½ //е÷ËÙ·½Ê½
static void ptz_hori_pid_task() static void ptz_hori_pid_task()
{ {
unsigned int time = 0; // unsigned int time = 0;
char i = 0; char i = 0;
while(1) while(1)
{ {
@ -550,14 +550,25 @@ static void ptz_hori_pid_task()
g_ptz.hori_pid.hall_h2_count + g_ptz.hori_pid.hall_h2_count +
g_ptz.hori_pid.hall_h3_count; g_ptz.hori_pid.hall_h3_count;
// static uint32_t timeH, lastTimeH, horiTime;
// timeH = OSTimeGet();
// horiTime = timeH - lastTimeH;
// if (horiTime < 0) {
// continue;
// }
// lastTimeH = timeH;
if(g_ptz.hori_pid.hall_h123_count >= 2) if(g_ptz.hori_pid.hall_h123_count >= 2)
{ {
g_ptz.hori_pid.hall_h123_motor_speed = g_ptz.hori_pid.hall_h123_motor_speed =
60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) / 60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) /
(float)PTZ_HORI_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM; (float)PTZ_HORI_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM;
// g_ptz.hori_pid.hall_h123_motor_speed =
// 60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) /
// (float)horiTime / PTZ_HORI_ONE_CYCLE_HALL_NUM;
} }
g_ptz.hori_motor_speed_hall_actual = g_ptz.hori_pid.hall_h123_motor_speed; g_ptz.hori_motor_speed_hall_actual = g_ptz.hori_pid.hall_h123_motor_speed;
/* ********************************** */ /* ********************************** */
@ -767,7 +778,7 @@ static float ptz_vert_pid_calculate(float SampSpeed)
//е÷ËÙ·½Ê½ //е÷ËÙ·½Ê½
static void ptz_vert_pid_task() static void ptz_vert_pid_task()
{ {
unsigned int time = 0; // unsigned int time = 0;
char i = 0; char i = 0;
while(1) while(1)
{ {
@ -1191,11 +1202,23 @@ static void ptz_vert_pid_task()
g_ptz.vert_pid.hall_h2_count + g_ptz.vert_pid.hall_h2_count +
g_ptz.vert_pid.hall_h3_count; g_ptz.vert_pid.hall_h3_count;
// static uint32_t timeV, lastTimeV, vertTime;
// timeV = OSTimeGet();
// vertTime = timeV - lastTimeV;
// if (vertTime < 0) {
// continue;
// }
// lastTimeV = timeV;
if(g_ptz.vert_pid.hall_h123_count >= 2) if(g_ptz.vert_pid.hall_h123_count >= 2)
{ {
g_ptz.vert_pid.hall_h123_motor_speed = g_ptz.vert_pid.hall_h123_motor_speed =
60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) / 60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) /
(float)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM; (float)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM;
// g_ptz.vert_pid.hall_h123_motor_speed =
// 60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) /
// (float)vertTime / PTZ_VERT_ONE_CYCLE_HALL_NUM;
} }

10
APP/Device/Device_speed/speed_to_bldc.c.rej Normal file
View File

@ -0,0 +1,10 @@
diff a/APP/Device/Device_speed/speed_to_bldc.c b/APP/Device/Device_speed/speed_to_bldc.c (rejected hunks)
@@ -121,7 +121,7 @@
//<2F>µ<EFBFBD><C2B5>ٷ<EFBFBD>ʽ
static void ptz_hori_pid_task()
{
- unsigned int time = 0;
+// unsigned int time = 0;
char i = 0;
while(1)
{

34
APP/Service/service_statusmonitor.c
View File

@ -12,6 +12,10 @@ static char max_temperature_fault;
static char ptz_temp_volt_current_fault_detect_task() 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 unsigned char hori_fault;
static unsigned char vert_fault;
time_ms ++; time_ms ++;
if(time_ms < 50) if(time_ms < 50)
@ -20,16 +24,32 @@ static char ptz_temp_volt_current_fault_detect_task()
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。
g_ptz.fault_detect.Phase_curr_H = FAULT;//水平电机相电流过大，报警 if (g_ptz.fault_detect.Phase_curr_H != FAULT) {
hori_fault++;
ptz_hori_stop(PTZ_HORI_STOP_TIME); 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 ) 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。
g_ptz.fault_detect.Phase_curr_V = FAULT;//垂直电机相电流过大，报警 if (g_ptz.fault_detect.Phase_curr_V != FAULT) {
vert_fault++;
ptz_vert_stop(PTZ_VERT_STOP_TIME); 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; return 1;
} }

26
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) if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
// {//电机正转- 1 {//电机正转- 1
// 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 }else{//电机反转
// h_six_step_commu[H_Hall_state.Hall_value -1](); h_six_step_commu[H_Hall_state.Hall_value -1]();
// } }
//直齿云台转向 // //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)
{//电机正转- 1 // {//电机正转- 1
h_six_step_commu[H_Hall_state.Hall_value -1](); // h_six_step_commu[H_Hall_state.Hall_value -1]();
}else{//电机反转 // }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]();
} // }
} }
} }

10
PROJECT/OS2.ewp
View File

@ -74,7 +74,7 @@
</option> </option>
<option> <option>
<name>OGChipSelectEditMenu</name> <name>OGChipSelectEditMenu</name>
<state>GD32F450xE GD GD32F450xE</state> <state>GD32F470xE GigaDevice GD32F470xE</state>
</option> </option>
<option> <option>
<name>GenLowLevelInterface</name> <name>GenLowLevelInterface</name>
@ -120,17 +120,17 @@
</option> </option>
<option> <option>
<name>GFPUDeviceSlave</name> <name>GFPUDeviceSlave</name>
<state>GD32F450xE GD GD32F450xE</state> <state>GD32F470xE GigaDevice GD32F470xE</state>
</option> </option>
<option> <option>
<name>FPU2</name> <name>FPU2</name>
<version>0</version> <version>0</version>
<state>0</state> <state>4</state>
</option> </option>
<option> <option>
<name>NrRegs</name> <name>NrRegs</name>
<version>0</version> <version>0</version>
<state>0</state> <state>1</state>
</option> </option>
<option> <option>
<name>NEON</name> <name>NEON</name>
@ -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>