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pengsx:标准60-1.25蜗杆
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4 Commits
master ... 标准版

Author SHA1 Message Date
起床就犯困 acc2096d7b 更改速度计算 2025-08-11 15:07:21 +08:00
起床就犯困 de3940a003 减少485读写切换io时间 2025-08-11 10:28:14 +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 79 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
///*******************************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 25.0 //(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
@ -89,7 +89,7 @@
///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 1.5 //1.5//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
///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
#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
#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 6000.0 //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 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
#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
#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

27
APP/Device/Device_speed/speed_to_bldc.c
View File

@ -550,11 +550,22 @@ static void ptz_hori_pid_task()
g_ptz.hori_pid.hall_h2_count +
g_ptz.hori_pid.hall_h3_count;
static uint32_t time, lastTime, horiTime;
time = OSTimeGet();
horiTime = time - lastTime;
if (horiTime < 0) {
continue;
}
lastTime = time;
if(g_ptz.hori_pid.hall_h123_count >= 2)
{
// g_ptz.hori_pid.hall_h123_motor_speed =
// 60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) /
// (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)PTZ_HORI_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM;
(float)horiTime / PTZ_HORI_ONE_CYCLE_HALL_NUM;
}
@ -1191,11 +1202,23 @@ static void ptz_vert_pid_task()
g_ptz.vert_pid.hall_h2_count +
g_ptz.vert_pid.hall_h3_count;
static uint32_t time, lastTime, vertTime;
time = OSTimeGet();
vertTime = time - lastTime;
if (vertTime < 0) {
continue;
}
lastTime = time;
if(g_ptz.vert_pid.hall_h123_count >= 2)
{
// g_ptz.vert_pid.hall_h123_motor_speed =
// 60000.0 * (float)(g_ptz.vert_pid.hall_h123_count /*-1*/) /
// (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)PTZ_VERT_PID_T / PTZ_VERT_ONE_CYCLE_HALL_NUM;
(float)vertTime / PTZ_VERT_ONE_CYCLE_HALL_NUM;
}

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()
{//只报故障，不做响应
static unsigned short int time_ms;
static unsigned char hori_fault;
static unsigned char vert_fault;
time_ms ++;
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 )
{//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;
}

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();
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)
{//电机正转- 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
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]();
}
// }
}
}

4
BSP/Driver/usart/Usart.c
View File

@ -237,7 +237,7 @@ void ptz_uart_dev_send(device_handle device, void *data, int len)
if(device == uart_485_handle)
{
PTZ_UART_485_TX;
OSTimeDlyHMSM(0u, 0u, 0u, 10u);
OSTimeDlyHMSM(0u, 0u, 0u, 1u);
for (int i = 0; i<len; i++)
{
@ -254,7 +254,7 @@ void ptz_uart_dev_send(device_handle device, void *data, int len)
}
}
OSTimeDlyHMSM(0u, 0u, 0u, 10u);
OSTimeDlyHMSM(0u, 0u, 0u, 1u);
PTZ_UART_485_RX;
}

10
PROJECT/OS2.ewp
View File

@ -74,7 +74,7 @@
</option>
<option>
<name>OGChipSelectEditMenu</name>
<state>GD32F450xE GD GD32F450xE</state>
<state>GD32F470xE GigaDevice GD32F470xE</state>
</option>
<option>
<name>GenLowLevelInterface</name>
@ -120,17 +120,17 @@
</option>
<option>
<name>GFPUDeviceSlave</name>
<state>GD32F450xE GD GD32F450xE</state>
<state>GD32F470xE GigaDevice GD32F470xE</state>
</option>
<option>
<name>FPU2</name>
<version>0</version>
<state>0</state>
<state>4</state>
</option>
<option>
<name>NrRegs</name>
<version>0</version>
<state>0</state>
<state>1</state>
</option>
<option>
<name>NEON</name>
@ -825,7 +825,7 @@
</option>
<option>
<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>
<name>IlinkIcfFileSlave</name>