进入弱磁后q轴电流适当的减小，最大不超过0.7倍

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

Applications/foc/motor/motor_param.c

@@ -350,6 +350,10 @@ void motor_mpta_fw_lookup(float rpm, float torque, dq_t *dq_out) {
 	if ((mot_contrl()->duty_filterd >= CONFIG_CONTRL_FW_START_DUTY) && (CONFIG_CONTRL_FW_START_DUTY < CONFIG_SVM_MODULATION)) {
 		d = -f_map(mot_contrl()->duty_filterd, CONFIG_CONTRL_FW_START_DUTY, CONFIG_SVM_MODULATION, 0, mc_conf()->m.max_fw_id);
 	}
+	float d_r = ABS(d) / (mc_conf()->m.max_fw_id * 3);
+	d_r = fclamp(d_r, 0, 0.3f);
+	d_r = 1.0f - d_r;
+	torque = torque * d_r;
 #endif
 	q = torque;
 #endif