关于无刷电机电流环问题（续f40372660坛友）

只看该作者 · 2015-4-10 09:54

关于网友f40372660的提问其实是速度环与电流环之间衔接问题，很多大大们其实说的是电流环的本质，本人从***论坛的 asdmail 的一个程序，与大大们探讨下
//----------------------------------------------------------------------
//速度闭环PID计算程序
//----------------------------------------------------------------------
void Speed_Pid(void)
{
//DesiredSpeed = Motor_Speed/14;
if(Speed >= DesiredSpeed) //计算偏差
{
   SpeedError = Speed - DesiredSpeed;  //测量值大于给定值
   Flags.Speed_error_dir = 1;       //偏差为负数
}
else
{
   SpeedError = DesiredSpeed - Speed;  //给定值大于测量值
   Flags.Speed_error_dir= 0;          //偏差为正负数
}
Txbuff[4] = SpeedError >>8; //将速度偏差值存入发送缓存
Txbuff[5] = SpeedError & 0x00FF;
//Speed = 0x0000; //得到偏差后，将测量到得数据清空

if(Flags.Speed_error_dir ==0) //偏差为正数，则积分数据和偏差相加
{
   SpeedIntegral = SpeedIntegral + SpeedError;  //对偏差进行积分
}

else  //偏差为负数,则积分数据和偏差相减
{
      if(SpeedIntegral>=SpeedError)  //积分大于偏差
      {
         SpeedIntegral = SpeedIntegral - SpeedError;
      }
      else //偏差大于积分
      {
         SpeedIntegral = SpeedError - SpeedIntegral;
      }
}

if(SpeedIntegral >2000)  //积分限幅
   {
      SpeedIntegral = 2000;
   }
Speed_PID = (SpeedError + SpeedIntegral*0 )/100;
Txbuff[8] = Speed_PID >>8;  //将电机速度PID数据存入发送缓存
Txbuff[9] = Speed_PID & 0x00FF;
这是速度环的代码

//----------------------------------------------------------------
//电流闭环PID计算程序
//----------------------------------------------------------------
void Current_Pid(void)
{
DesiredCurrent = Speed_PID; //将速度环输出转换为电流环输入
if(Current >= DesiredCurrent) //计算电流偏差
{
      CurrentError = Current - DesiredCurrent;  //测量值大于给定值
      Flags.Current_error_dir = 1;             //偏差为负
}
else
{
      CurrentError = DesiredCurrent - Current;  //给定值大于测量值
      Flags.Current_error_dir= 0;             //偏差为正
}
//Current = 0x0000; //得到偏差后，将测量到的数据清空
if(Flags.Speed_error_dir ==0) //根据偏差方向，决定积分数据和偏差是相加还是相减
{
   CurrentIntegral = CurrentIntegral + CurrentError;  //对偏差进行积分
}
else
{
   if(CurrentIntegral>=CurrentError)
   {
      CurrentIntegral = CurrentIntegral - CurrentError;
   }
   else
   {
      CurrentIntegral = CurrentError - CurrentIntegral;
   }
}
if(CurrentIntegral >2000)  //积分限幅
   {
      CurrentIntegral = 2000;
   }
Current_PID = (CurrentError + CurrentIntegral/20 )/20;
if(Flags.Speed_error_dir==0)
{
   if(DutyCycle >= 65000)
   {
      DutyCycle = 65535;
   }
   else
   {
      DutyCycle = Current_PID + DutyCycle; //电机加速
      if(DutyCycle >=65000)
      {
         DutyCycle = 65535;
      }
   }
}
else                                     ////电机减速
{
   if(DutyCycle >= Current_PID)
   {
      DutyCycle = DutyCycle - Current_PID;
   }
   else
   {
      DutyCycle = Current_PID - DutyCycle;
   }
}
PDC1 = DutyCycle;
PDC2 = PDC1;
PDC3 = PDC1;
Txbuff[6] = DutyCycle >>8; //将电机占空比数据存入发送缓存
Txbuff[7] = DutyCycle & 0x00FF;
这是电流环的代码

其实问题很简单，就是在代码中红色的 DesiredCurrent = Speed_PID; //将速度环输出转换为电流环输入
在速度环中处理出来的输出 Speed_PID 电流环的给定 DesiredCurrent，中间不需要一些变换吗？