目前我正在使用x-Nucleo-IHM07M1开发板驱动一个直流无刷电机，下载的是en.X-CUBE-SPN7_v1.1.0 模板程序，发现程序最多达到36000 rpm左右然后就上不去了，不管改变PI哪个参数都不行，请问这套方波的模板程序能够达到这么高的转速吗？需要怎么调，下面是我的MC_Sixstep_param.h ：/* ****************************************************************************
==============================================================================
###### BASIC PARAMETERS ######
==============================================================================
**************************************************************************** */
#define NUM_POLE_PAIRS 2 /*!< Number of Motor Pole pairs */
#define DIRECTION 0 /*!< Set motor direction CW = 0 and CCW = 1*/
#define TARGET_SPEED 60000 /*!< Target speed in closed loop control */
#define POTENTIOMETER 0 /*!< Enable (1)/Disable (0) the potentiometer */
/* ****************************************************************************
==============================================================================
###### ADVANCED PARAMETERS ######
==============================================================================
**************************************************************************** */
/*!< ********************* Open loop control *********************************/
#define STARTUP_CURRENT_REFERENCE 600 /*!< StartUP Currente Reference (2000 = 2.2A)*/
#define ACC 900000 /*!< Mechanical acceleration rate (setting available in manual mode, LOAD_TYPE = 0) */
#define MINIMUM_ACC 500 /*!< Mechanical acceleration rate for BIG load application */
#define NUMBER_OF_STEPS 20000 /*!< Number of elements for motor start-UP (max value 65535)*/
#define TIME_FOR_ALIGN 500 /*!< Time for alignment (msec)*/
#define BUTTON_DELAY 1000 /*!< Delay time to enable push button for new command (1 = 1msec)*/
#define NUMBER_ZCR 12 /*!< Number of zero crossing event during the startup for closed loop control begin */
/*!< ********************* Closed Loop control *********************************/
#define SPEED_LOOP_TIME 1 /*!< Speed Loop time (1 = 1msec) */
#define KP_GAIN 140 /*!< Kp parameter for PI regulator */
#define KI_GAIN 3 /*!< Ki parameter for PI regulator */
#define KP_DIV 4096 /*!< Kp parameter divider for PI regulator */
#define KI_DIV 4096 /*!< Ki parameter divider for PI regulator */
#define LOWER_OUT_LIMIT 10 /*!< Low Out value of PI regulator */
#define UPPER_OUT_LIMIT 900 /*!< High Out value of PI regulator */
#define MAX_POT_SPEED 70000 /*!< Maximum Speed regulated by potentiometer */
#define MIN_POT_SPEED 10000 /*!< Minimum Speed regulated by potentiometer */
#define VAL_POT_SPEED_DIV 2 /*!< Validation potentiometer speed divider */
#define INITIAL_DEMAGN_DELAY 10 /*!< Initial value for delay time during startup for Bemf detection */
/*!< Zero Crossissing parameters */
#define BEMF_THRSLD_DOWN 100 /*!< Zero Crossing threshold */
#define BEMF_THRSLD_UP 100 /*!< Zero Crossing threshold */
/*!< Speed filtering parameters */
#define FILTER_DEEP 10 /*!< Number of bits for digital filter */
#define HFBUFFERSIZE 10
#define ADC_SPEED_TH 40 /*!<Fixed treshold to change the target speed (t.b.f) */
/*!< Motor stall detection parameters */
#define BEMF_CONSEC_DOWN_MAX 10 /*!< Maximum value of BEMF Consecutive Threshold Falling Crossings Counter in closed loop */
#define BEMF_CNT_EVENT_MAX 100 /*!< Maximum number of BEMF Counter in open loop*/
/*!< Debug pin */
#define GPIO_ZERO_CROSS 1 /*!< Enable (1) the GPIO toggling for zero crossing detection */
#define GPIO_COMM 1 /*!< Enable (1) the GPIO toggling for commutation */
/*!< Demo mode parameters */
#define DEMO_START_TIME 5000 /*!< Time (msec) to keep the motor in run mode */
#define DEMO_STOP_TIME 2000 /*!< Time (msec) to keep the motor in stop mode */
/*!< Look UP table for dynamic demagn control of speed */
#define DEMAGN_VAL_1 1 /*!< Look UP table for dynamic demagn control for speed into (10000,12000] or [-12000,-10000) range */
#define DEMAGN_VAL_2 2 /*!< Look UP table for dynamic demagn control for speed into ( 7800,10000] or [-10000,- 7800) range */
#define DEMAGN_VAL_3 3 /*!< Look UP table for dynamic demagn control for speed into ( 6400, 7800] or [- 7800,- 6400) range */
#define DEMAGN_VAL_4 4 /*!< Look UP table for dynamic demagn control for speed into ( 5400, 6400] or [- 6400,- 5400) range */
#define DEMAGN_VAL_5 5 /*!< Look UP table for dynamic demagn control for speed into ( 4650, 5400] or [- 5400,- 4650) range */
#define DEMAGN_VAL_6 6 /*!< Look UP table for dynamic demagn control for speed into ( 4100, 4650] or [- 4650,- 4100) range */
#define DEMAGN_VAL_7 7 /*!< Look UP table for dynamic demagn control for speed into ( 3650, 4100] or [- 4100,- 3650) range */
#define DEMAGN_VAL_8 8 /*!< Look UP table for dynamic demagn control for speed into ( 3300, 3650] or [- 3650,- 3300) range */
#define DEMAGN_VAL_9 9 /*!< Look UP table for dynamic demagn control for speed into ( 2600, 3300] or [- 3300,- 2600) range */
#define DEMAGN_VAL_10 10 /*!< Look UP table for dynamic demagn control for speed into ( 1800, 2600] or [- 2600,- 1800) range */
#define DEMAGN_VAL_11 11 /*!< Look UP table for dynamic demagn control for speed into ( 1500, 1800] or [- 1800,- 1500) range */
#define DEMAGN_VAL_12 12 /*!< Look UP table for dynamic demagn control for speed into ( 1300, 1500] or [- 1500,- 1300) range */
#define DEMAGN_VAL_13 13 /*!< Look UP table for dynamic demagn control for speed into ( 1000, 1300] or [- 1300,- 1000) range */
#define DEMAGN_VAL_14 14 /*!< Look UP table for dynamic demagn control for speed into [ 500, 1000] or [- 1000,- 500] range */
#define TRUE 1 /*!< Define TRUE */
#define FALSE 0 /*!< Define FALSE */
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