更新中动100码电机参数

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

configs/autogen_config_z100_enc.h

@@ -1,12 +1,12 @@
-/* auto gen 2024/2/19 11:07:04*/
+/* auto gen 2024/2/19 16:25:38*/
 #ifndef _AUTOGEN_CONFIG_H__
 #define _AUTOGEN_CONFIG_H__
 
 #define CONFIG_Version 1
 #define CONFIG_Motor_Poles  5
-#define CONFIG_Motor_Ld  4.5E-05f
-#define CONFIG_Motor_Lq  9.6E-05f
-#define CONFIG_Motor_Rs  0.008f
+#define CONFIG_Motor_Ld  5E-05
+#define CONFIG_Motor_Lq  6.9E-05f
+#define CONFIG_Motor_Rs  0.015f
 #define CONFIG_Motor_Flux  0.019f
 #define CONFIG_Motor_PLLBand  200
 #define CONFIG_Motor_EpmPLL  400
@@ -14,17 +14,17 @@
 #define CONFIG_Motor_FwEnable  1
 #define CONFIG_Motor_FwDutyStart  90
 #define CONFIG_Motor_MaxFwDCurr  100
-#define CONFIG_Motor_MaxTorque  200
+#define CONFIG_Motor_MaxTorque  350
 #define CONFIG_Motor_EncOffset  0
 #define CONFIG_Foc_MaxDCVol  110
 #define CONFIG_Foc_MinDCVol  70
-#define CONFIG_Foc_MaxPhaseCurr  300
+#define CONFIG_Foc_MaxPhaseCurr  400
 #define CONFIG_Foc_MaxRPM  9000
 #define CONFIG_Foc_MaxEPMRPM  300
 #define CONFIG_Foc_MaxEPMTorque  100
 #define CONFIG_Foc_MaxEPMRPMBk  170
 #define CONFIG_Foc_MaxEPMTorqueBk  80
-#define CONFIG_Foc_MaxTorque  300
+#define CONFIG_Foc_MaxTorque  350
 #define CONFIG_Foc_MaxEbrkTorque  40
 #define CONFIG_Foc_MaxIDC  100
 #define CONFIG_Foc_MaxAutoHoldTorque  100
@@ -32,13 +32,13 @@
 #define CONFIG_Foc_ThroEndVol  4.15f
 #define CONFIG_Foc_ThroMinVol  0.4f
 #define CONFIG_Foc_ThroMaxVol  4.6f
-#define CONFIG_Foc_CurrCtrlBandWith  200
+#define CONFIG_Foc_CurrCtrlBandWith  400
 #define CONFIG_Foc_ThroDecTime  10
-#define CONFIG_Foc_PID_VelLim_Kp 0.5f
-#define CONFIG_Foc_PID_VelLim_Ki 2.5f
+#define CONFIG_Foc_PID_VelLim_Kp 0.2f
+#define CONFIG_Foc_PID_VelLim_Ki 1.5f
 #define CONFIG_Foc_PID_VelLim_Kd 0
-#define CONFIG_Foc_PID_VelCtrl_Kp 0.1f
-#define CONFIG_Foc_PID_VelCtrl_Ki 3.5f
+#define CONFIG_Foc_PID_VelCtrl_Kp 0.2f
+#define CONFIG_Foc_PID_VelCtrl_Ki 1.5f
 #define CONFIG_Foc_PID_VelCtrl_Kd 0
 #define CONFIG_Foc_PID_Autohold_Kp 0.01f
 #define CONFIG_Foc_PID_Autohold_Ki 0.2f
@@ -46,15 +46,15 @@
 #define CONFIG_Foc_PID_IDCLim_Kp 5
 #define CONFIG_Foc_PID_IDCLim_Ki 15
 #define CONFIG_Foc_PID_IDCLim_Kd 0
-#define CONFIG_Foc_PID_EPM_Kp 0.2f
-#define CONFIG_Foc_PID_EPM_Ki 7.5f
+#define CONFIG_Foc_PID_EPM_Kp 0.1f
+#define CONFIG_Foc_PID_EPM_Ki 1
 #define CONFIG_Foc_PID_EPM_Kd 0
 #define CONFIG_Settings_AutoHold  1
 #define CONFIG_Settings_BrkShutPower  1
 #define CONFIG_Settings_TcsEnable  0
-#define CONFIG_Gear0_MaxSpeed 1000
-#define CONFIG_Gear0_MaxTorque 100
-#define CONFIG_Gear0_MaxIdc 30
+#define CONFIG_Gear0_MaxSpeed 3000
+#define CONFIG_Gear0_MaxTorque 200
+#define CONFIG_Gear0_MaxIdc 45
 #define CONFIG_Gear0_ZeroAccl 500
 #define CONFIG_Gear0_NormalAccl 100
 #define CONFIG_Gear0_Torque0 100
@@ -67,9 +67,9 @@
 #define CONFIG_Gear0_Torque7 100
 #define CONFIG_Gear0_Torque8 0
 #define CONFIG_Gear0_Torque9 0
-#define CONFIG_Gear1_MaxSpeed 1000
-#define CONFIG_Gear1_MaxTorque 100
-#define CONFIG_Gear1_MaxIdc 30
+#define CONFIG_Gear1_MaxSpeed 4500
+#define CONFIG_Gear1_MaxTorque 200
+#define CONFIG_Gear1_MaxIdc 55
 #define CONFIG_Gear1_ZeroAccl 500
 #define CONFIG_Gear1_NormalAccl 100
 #define CONFIG_Gear1_Torque0 100
@@ -82,9 +82,9 @@
 #define CONFIG_Gear1_Torque7 100
 #define CONFIG_Gear1_Torque8 0
 #define CONFIG_Gear1_Torque9 0
-#define CONFIG_Gear2_MaxSpeed 1000
-#define CONFIG_Gear2_MaxTorque 100
-#define CONFIG_Gear2_MaxIdc 30
+#define CONFIG_Gear2_MaxSpeed 6000
+#define CONFIG_Gear2_MaxTorque 300
+#define CONFIG_Gear2_MaxIdc 65
 #define CONFIG_Gear2_ZeroAccl 500
 #define CONFIG_Gear2_NormalAccl 100
 #define CONFIG_Gear2_Torque0 100
@@ -97,9 +97,9 @@
 #define CONFIG_Gear2_Torque7 100
 #define CONFIG_Gear2_Torque8 0
 #define CONFIG_Gear2_Torque9 0
-#define CONFIG_Gear3_MaxSpeed 1000
-#define CONFIG_Gear3_MaxTorque 100
-#define CONFIG_Gear3_MaxIdc 30
+#define CONFIG_Gear3_MaxSpeed 7500
+#define CONFIG_Gear3_MaxTorque 350
+#define CONFIG_Gear3_MaxIdc 80
 #define CONFIG_Gear3_ZeroAccl 500
 #define CONFIG_Gear3_NormalAccl 100
 #define CONFIG_Gear3_Torque0 100
@@ -110,7 +110,7 @@
 #define CONFIG_Gear3_Torque5 100
 #define CONFIG_Gear3_Torque6 100
 #define CONFIG_Gear3_Torque7 100
-#define CONFIG_Gear3_Torque8 0
+#define CONFIG_Gear3_Torque8 50
 #define CONFIG_Gear3_Torque9 0
 #define CONFIG_GearLow0_MaxSpeed 1000
 #define CONFIG_GearLow0_MaxTorque 100
@@ -205,13 +205,13 @@
 #define CONFIG_EnergyRecovery_Level4_Time 200
 #define CONFIG_EnergyRecovery_Level5_Torque 40
 #define CONFIG_EnergyRecovery_Level5_Time 200
-#define CONFIG_EnergyRecovery_Level6_Torque 45
+#define CONFIG_EnergyRecovery_Level6_Torque 40
 #define CONFIG_EnergyRecovery_Level6_Time 200
-#define CONFIG_EnergyRecovery_Level7_Torque 50
+#define CONFIG_EnergyRecovery_Level7_Torque 40
 #define CONFIG_EnergyRecovery_Level7_Time 200
-#define CONFIG_EnergyRecovery_Level8_Torque 55
+#define CONFIG_EnergyRecovery_Level8_Torque 40
 #define CONFIG_EnergyRecovery_Level8_Time 200
-#define CONFIG_EnergyRecovery_Level9_Torque 60
+#define CONFIG_EnergyRecovery_Level9_Torque 40
 #define CONFIG_EnergyRecovery_Level9_Time 200
 #define CONFIG_CrossZero_Low  1
 #define CONFIG_CrossZero_High  7

configs/mc_zd100.yml

@@ -1,11 +1,11 @@
-##### "配置文件自动生成，不要手动修改!!"
+##### 配置文件自动生成，不要手动修改!! 2024/2/19 16:25:15
 Version: 1
 CheckCrc: 0
 Motor:
   Poles: 5
-  Ld: 0.000045
-  Lq: 0.000096
-  Rs: 0.008
+  Ld: 5E-05
+  Lq: 6.9E-05
+  Rs: 0.015
   Flux: 0.019
   PLLBand: 200
   EpmPLL: 400
@@ -13,18 +13,18 @@ Motor:
   FwEnable: 1
   FwDutyStart: 90
   MaxFwDCurr: 100
-  MaxTorque: 200 #根据控制方式不同，可能是相电流，可能是真实扭矩
+  MaxTorque: 350
   EncOffset: 0
 Foc:
   MaxDCVol: 110
   MinDCVol: 70
-  MaxPhaseCurr: 300
+  MaxPhaseCurr: 400
   MaxRPM: 9000
   MaxEPMRPM: 300
   MaxEPMTorque: 100
   MaxEPMRPMBk: 170
   MaxEPMTorqueBk: 80
-  MaxTorque: 300
+  MaxTorque: 350
   MaxEbrkTorque: 40
   MaxIDC: 100
   MaxAutoHoldTorque: 100
@@ -32,211 +32,211 @@ Foc:
   ThroEndVol: 4.15
   ThroMinVol: 0.4
   ThroMaxVol: 4.6
-  CurrCtrlBandWith: 200
+  CurrCtrlBandWith: 400
   ThroDecTime: 10
-  PID:  #pid controller
+  PID:
     VelLim:
-      Kp: 0.5
-      Ki: 2.5
-      Kd: 0.0
+      Kp: 0.2
+      Ki: 1.5
+      Kd: 0
     VelCtrl:
-      Kp: 0.1
-      Ki: 3.5
-      Kd: 0.0
+      Kp: 0.2
+      Ki: 1.5
+      Kd: 0
     Autohold:
       Kp: 0.01
       Ki: 0.2
-      Kd: 0.0
+      Kd: 0
     IDCLim:
-      Kp: 5.0
-      Ki: 15.0
-      Kd: 0.0
+      Kp: 5
+      Ki: 15
+      Kd: 0
     EPM:
-      Kp: 0.2
-      Ki: 7.5
+      Kp: 0.1
+      Ki: 1
       Kd: 0
 Settings:
   AutoHold: 1
   BrkShutPower: 1
   TcsEnable: 0
 Gear:
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
+- MaxSpeed: 3000
+  MaxTorque: 200
+  MaxIdc: 45
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 0
+  - 0
+- MaxSpeed: 4500
+  MaxTorque: 200
+  MaxIdc: 55
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 0
+  - 0
+- MaxSpeed: 6000
+  MaxTorque: 300
+  MaxIdc: 65
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 0
+  - 0
+- MaxSpeed: 7500
+  MaxTorque: 350
+  MaxIdc: 80
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 50
+  - 0
 GearLow:
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
-  - MaxSpeed: 1000
-    MaxTorque: 100
-    MaxIdc: 30
-    ZeroAccl: 500
-    NormalAccl: 100
-    Torque:
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 100
-      - 0
-      - 0
+- MaxSpeed: 1000
+  MaxTorque: 100
+  MaxIdc: 30
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 0
+  - 0
+- MaxSpeed: 1000
+  MaxTorque: 100
+  MaxIdc: 30
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 0
+  - 0
+- MaxSpeed: 1000
+  MaxTorque: 100
+  MaxIdc: 30
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 0
+  - 0
+- MaxSpeed: 1000
+  MaxTorque: 100
+  MaxIdc: 30
+  ZeroAccl: 500
+  NormalAccl: 100
+  Torque:
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 100
+  - 0
+  - 0
 Protect:
   Motor:
-    - Entry: 130
-      Exit: 120
-      Value: 0
-    - Entry: 120
-      Exit: 110
-      Value: 34
-    - Entry: 110
-      Exit: 100
-      Value: 66
+  - Entry: 130
+    Exit: 120
+    Value: 0
+  - Entry: 120
+    Exit: 110
+    Value: 34
+  - Entry: 110
+    Exit: 100
+    Value: 66
   MosFet:
-    - Entry: 100
-      Exit: 95
-      Value: 0
-    - Entry: 95
-      Exit: 90
-      Value: 34
-    - Entry: 90
-      Exit: 80
-      Value: 66
+  - Entry: 100
+    Exit: 95
+    Value: 0
+  - Entry: 95
+    Exit: 90
+    Value: 34
+  - Entry: 90
+    Exit: 80
+    Value: 66
   Voltage:
-    - Entry: 60
-      Exit:  70
-      Value: 0
-EnergyRecovery:  # Braking Energy Recovery
-  - Torque: 0
-    Time:   1000
-  - Torque: 10
-    Time:   500
-  - Torque: 15
-    Time:   400  
-  - Torque: 20
-    Time:   300  
-  - Torque: 35
-    Time:   200  
-  - Torque: 40
-    Time:   200  
-  - Torque: 45
-    Time:   200  
-  - Torque: 50
-    Time:   200  
-  - Torque: 55
-    Time:   200  
-  - Torque: 60
-    Time:   200
-CrossZero: #扭矩过零处理
+  - Entry: 60
+    Exit: 70
+    Value: 0
+EnergyRecovery:
+- Torque: 0
+  Time: 1000
+- Torque: 10
+  Time: 500
+- Torque: 15
+  Time: 400
+- Torque: 20
+  Time: 300
+- Torque: 35
+  Time: 200
+- Torque: 40
+  Time: 200
+- Torque: 40
+  Time: 200
+- Torque: 40
+  Time: 200
+- Torque: 40
+  Time: 200
+- Torque: 40
+  Time: 200
+CrossZero:
   Low: 1
   High: 7
   MinStep: 0.03
-  NorStep: 5
+  NorStep: 5