From 5b78a89047dce89e11c93d91b09081cb7d71ae8c Mon Sep 17 00:00:00 2001 From: Michael Chemic Date: Sun, 28 Jul 2024 22:53:27 +0800 Subject: [PATCH] =?UTF-8?q?readme=20=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Core/Src/main.c | 4 +- FOC_Related/FOC/FOC.c | 12 +- FOC_Related/PID/pid.c | 20 +- ...ETx_Demo_Blink+STM32G474RETxDemoBlink.cprj | 2 +- ...2G474RETx_Demo_Blink.uvguix.Michael_Chemic | 32 +-- .../STM32G474RETx_Demo_Blink.axf | Bin 486396 -> 486244 bytes .../STM32G474RETx_Demo_Blink.build_log.htm | 2 +- .../STM32G474RETx_Demo_Blink.hex | 6 +- .../STM32G474RETx_Demo_Blink.htm | 4 +- .../STM32G474RETx_Demo_Blink.map | 47 +--- ...Tx_Demo_Blink_STM32G474RETx_Demo_Blink.dep | 6 +- MDK-ARM/STM32G474RETx_Demo_Blink/foc.o | Bin 38580 -> 37808 bytes MDK-ARM/STM32G474RETx_Demo_Blink/main.o | Bin 11632 -> 11604 bytes MDK-ARM/STM32G474RETx_Demo_Blink/pid.o | Bin 2644 -> 2648 bytes MDK-ARM/tmp/.ninja_log | 8 +- MDK-ARM/tmp/1/.ninja_log | 2 + .../STM32G474RETxDemoBlink/.ninja_deps | Bin 41476 -> 43120 bytes .../STM32G474RETxDemoBlink/.ninja_log | 36 ++- .../STM32G4-DRV8301-FOC/Core/Src/main.o | Bin 12672 -> 12644 bytes .../STM32G4-DRV8301-FOC/FOC_Related/FOC/FOC.o | Bin 35000 -> 35000 bytes .../STM32G4-DRV8301-FOC/FOC_Related/PID/pid.o | Bin 2884 -> 2884 bytes STM32G474RETx_Demo_Blink.pdf | Bin 0 -> 367694 bytes STM32G474RETx_Demo_Blink.txt | 242 ++++++++++++++++++ 23 files changed, 326 insertions(+), 97 deletions(-) create mode 100644 STM32G474RETx_Demo_Blink.pdf create mode 100644 STM32G474RETx_Demo_Blink.txt diff --git a/Core/Src/main.c b/Core/Src/main.c index 55b9cbf..c7737c5 100644 --- a/Core/Src/main.c +++ b/Core/Src/main.c @@ -231,11 +231,11 @@ int main(void) // } // ABZ_Set_Angle(5); - ABZ_Set_Speed(100);// 速度闭环。 + ABZ_Set_Speed(10);// 速度闭环。 // openloop debug // Current_Speed(2.0f, 0.1f); - // Open_Loop_Control(0.2f, -0.1f); // 开环控制顺时针，设置电压和速度。 + //Open_Loop_Control(0.2f, -0.1f); // 开环控制顺时针，设置电压和速度。 // Open_Loop_Control(1.0f, -0.01f); // 开环控制逆时针，设置电压和速度。 // ABZ编码器debug diff --git a/FOC_Related/FOC/FOC.c b/FOC_Related/FOC/FOC.c index bf3e011..e500dd8 100644 --- a/FOC_Related/FOC/FOC.c +++ b/FOC_Related/FOC/FOC.c @@ -173,8 +173,8 @@ void FOC_ABZ_Init(int _PP, int _DIR) // 值传递。 PP = _PP; DIR = _DIR; - - setTorque(2, _2PI); + + setTorque(3, _2PI); HAL_Delay(3000); setTorque(0, _2PI); @@ -262,8 +262,8 @@ void Open_Loop_Control(float Uq, float speed) // char buffer[50]; // 用于存储转换后的字符串 // int length = 0; float angle_el; // 初始化电角度 - - while (1) + float circulation; + for (circulation=0;circulation<1000;circulation++) { // Read_ADC1_Values(); @@ -282,8 +282,10 @@ void Open_Loop_Control(float Uq, float speed) // HAL_UART_Transmit(&huart1, (uint8_t *)buffer, length, HAL_MAX_DELAY); // 延时，确保控制频率 - HAL_Delay(1); // 根据实际情况调整延时 + HAL_Delay(1);//等待到达目标机械角度 } + + HAL_Delay(2000); // 根据实际情况调整延时 } /*********************************************** diff --git a/FOC_Related/PID/pid.c b/FOC_Related/PID/pid.c index 97966cd..de49cbc 100644 --- a/FOC_Related/PID/pid.c +++ b/FOC_Related/PID/pid.c @@ -44,15 +44,17 @@ void PID_init() // // pid_speed.Kd = 0.00001f; // 速度环微分系数初始化为0.0008 // // 速度环pid，ABZ编码器 - pid_speed.Set = 0.0f; // 设置目标值初始化为0 - pid_speed.Actual = 0.0f; // 实际值初始化为0 - pid_speed.err = 0.0f; // 当前误差初始化为0 - pid_speed.err_last = 0.0f; // 上次误差初始化为0 - pid_speed.voltage = 0.0f; // 输出电压初始化为0 - pid_speed.integral = 0.0f; // 积分项初始化为0 - pid_speed.Kp = 0.002f; // 速度环比例系数初始化为0.11 - pid_speed.Ki = 0.0005f; // 速度环积分系数初始化为0.005 - pid_speed.Kd = 0.00001f; // 速度环微分系数初始化为0.0008 + pid_speed.Set = 0.0f; // 设置目标值初始化为0 + pid_speed.Actual = 0.0f; // 实际值初始化为0 + pid_speed.err = 0.0f; // 当前误差初始化为0 + pid_speed.err_last = 0.0f; // 上次误差初始化为0 + pid_speed.voltage = 0.0f; // 输出电压初始化为0 + pid_speed.integral = 0.0f; // 积分项初始化为0 + pid_speed.Kp = 0.002f; // 速度环比例系数初始化为0.11 + pid_speed.Ki = 0.0005f; // 速度环积分系数初始化为0.005 + pid_speed.Kd = 0.00001f; // 速度环微分系数初始化为0.0008 + + // 电流环pid pid_current.Set = 0.0f; // 设置目标值初始化为0 diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink.cprj b/MDK-ARM/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink.cprj index 4d312e4..13e4370 100644 --- a/MDK-ARM/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink.cprj +++ b/MDK-ARM/STM32G474RETx_Demo_Blink+STM32G474RETxDemoBlink.cprj @@ -1,6 +1,6 @@ - + Automatically generated project diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink.uvguix.Michael_Chemic b/MDK-ARM/STM32G474RETx_Demo_Blink.uvguix.Michael_Chemic index 3ff353c..ef55cd1 100644 --- a/MDK-ARM/STM32G474RETx_Demo_Blink.uvguix.Michael_Chemic +++ b/MDK-ARM/STM32G474RETx_Demo_Blink.uvguix.Michael_Chemic @@ -20,12 +20,12 @@ 346 Code Coverage - 725 136 + 725 160 204 Performance Analyzer - 885 132 132 100 + 885 @@ -1360,7 +1360,7 @@ 50003 50003 - 0 + 1 0 0 0 @@ -1370,11 +1370,11 @@ 0 16 - 860300006600000036040000A3010000 + BD000000660000003604000081000000 16 - A4000000BB0000005A01000065010000 + 0A0000000A0000006E0000006E000000 @@ -1822,7 +1822,7 @@ 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All rights reserved. License Information: xxx xxx xxx User-based license: Keil MDK Community (non-commercial free of charge) -Valid until: Jun 1 2033. Cached until: Aug 2 2024 +Valid until: Jun 1 2033. Cached until: Aug 3 2024 Tool Versions: Toolchain: Keil MDK Community (non-commercial free of charge Version: 5.37.0.0 diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.hex b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.hex index 88f5a4a..8ffe69d 100644 --- a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.hex +++ b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.hex @@ -177,7 +177,7 @@ :100AF00000F06CBD704700004FF4005001F01CB8CE :100B0000EFF3108072B600BFFEE7000000000000A7 :100B1000B0B52DED048B9FED2C8A40F2040440F219 -:100B20000805C2F20004C2F20005B0EE000AF0EEC1 +:100B20000805C2F20004C2F20005B0EE080AF0EEB9 :100B3000480A2060296004F0CBFE40F6B83000F08F :100B400031FE9FED220AF0EE480A04F0C1FE28684B :100B50002168484300EE100AB8EEC09AFFF7AAFEDB @@ -1418,8 +1418,8 @@ :10588000C2F2000494ED020AFBF7A2F9D4E9000188 :10589000FBF73EF9FFF788FAFFF794FA4FF09040D4 :1058A0004FF480610122FCF741FA40F60000C4F693 -:1058B00000004FF400710122FCF738FA9FED038AD3 -:1058C000B0EE480AFBF790F8FAE700BF0000C842C4 +:1058B00000004FF400710122FCF738FAB2EE048ABE +:1058C000B0EE480AFBF790F8FAE70000000000008D :1058D0002DE9F04F81B02DED088B82B040F20C071E :1058E000C2F2000797ED001ABEEE002A21EE028AEE :1058F000B4EE408AF1EE10FA0CDCB6EE002A21EE8E diff --git a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.htm b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.htm index ba20ab0..cd88234 100644 --- a/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.htm +++ b/MDK-ARM/STM32G474RETx_Demo_Blink/STM32G474RETx_Demo_Blink.htm @@ -3,7 +3,7 @@ Static Call Graph - [STM32G474RETx_Demo_Blink\STM32G474RETx_Demo_Blink.axf]

Static Call Graph for image STM32G474RETx_Demo_Blink\STM32G474RETx_Demo_Blink.axf

-

#<CALLGRAPH># ARM Linker, 6180002: Last Updated: Sat Jul 27 22:32:42 2024 +

#<CALLGRAPH># ARM Linker, 6180002: Last Updated: Sun Jul 28 07:44:51 2024

Maximum Stack Usage = 432 bytes + Unknown(Cycles, Untraceable Function Pointers)

Call chain for Maximum Stack Depth:

@@ -1503,7 +1503,7 @@ Global Symbols
[Address Reference Count : 1]
  • startup_stm32g474xx.o(RESET)
-

main (Thumb, 296 bytes, Stack size 80 bytes, main.o(.text.main)) +

main (Thumb, 290 bytes, Stack size 80 bytes, main.o(.text.main))

[Stack]

  • Max Depth = 432
  • Call Chain = main ⇒ FOC_ABZ_Init ⇒ setTorque ⇒ __hardfp_sin ⇒ __ieee754_rem_pio2 ⇒ __aeabi_dadd ⇒ _double_epilogue ⇒ _double_round

[Calls]