1. autohold pll带宽设置为100

2. 速度不为0才做欠压记录

Signed-off-by: huhui <huhui@sharkgulf.com>

Applications/app/nv_storage.c

@@ -538,7 +538,7 @@ void nv_storage_init(void) {
 	m_params.offset = 0.0f; //编码器做了零位置校准
 	m_params.est_pll_band = 200;
 	m_params.flux_linkage = MOTOR_Flux;
-	m_params.pos_lock_pll_band = 200;
+	m_params.pos_lock_pll_band = 100;
 #endif
 #if CONFIG_MOT_TYPE==MOTOR_BLUESHARK_A1
 	m_params.offset = 0.0f; //编码器做了零位置校准

Applications/foc/limit.c

@@ -203,7 +203,9 @@ u16 vbus_under_vol_limit(void) {
 		u16 lim_value = _vol_limiter(vol, lim);
 		if (lim_value != HW_LIMIT_NONE) {
 			if (mc_set_critical_error(FOC_CRIT_UN_Vol_Err)) {
-				mc_crit_err_add_s16(FOC_CRIT_UN_Vol_Err, vol);
+				if (PMSM_FOC_GetSpeed() > CONFIG_ZERO_SPEED_RPM) {
+					mc_crit_err_add_s16(FOC_CRIT_UN_Vol_Err, vol);
+				}
 			}
 			return lim_value;
 		}

Applications/foc/motor/motor.c

@@ -1063,7 +1063,9 @@ static void motor_vbus_crit_low(s16 curr_vbus) {
 				PMSM_FOC_Stop();
 			}
 			if (mc_set_critical_error(FOC_CRIT_Vol_HW_Err)) {
-				mc_crit_err_add_s16(FOC_CRIT_Vol_HW_Err, curr_vbus);
+				if (PMSM_FOC_GetSpeed() > CONFIG_ZERO_SPEED_RPM) {
+					mc_crit_err_add_s16(FOC_CRIT_Vol_HW_Err, curr_vbus);
+				}
 			}
 		}
 	}else {