如果定义为伺服控制器,速度控制允许正负扭矩，可以产生反冲电流

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

Applications/foc/core/PMSM_FOC_Core.c

@@ -770,10 +770,18 @@ void PMSM_FOC_idqCalc(void) {
 #else
 		if (maxSpeed >= 0) {
 			gFoc_Ctrl.pi_vel.max = eRamp_get_intepolation(&gFoc_Ctrl.rtLim.torqueLimRamp);
+#ifdef CONFIG_SERVO_MOTOR
+			gFoc_Ctrl.pi_vel.min = -eRamp_get_intepolation(&gFoc_Ctrl.rtLim.torqueLimRamp);
+#else
 			gFoc_Ctrl.pi_vel.min = -CONFIG_MAX_NEG_TORQUE;
+#endif
 		}else if (maxSpeed < 0) {
 			gFoc_Ctrl.pi_vel.min = -eRamp_get_intepolation(&gFoc_Ctrl.rtLim.torqueLimRamp);
+#ifdef CONFIG_SERVO_MOTOR
+			gFoc_Ctrl.pi_vel.max = eRamp_get_intepolation(&gFoc_Ctrl.rtLim.torqueLimRamp);
+#else
 			gFoc_Ctrl.pi_vel.max = CONFIG_MAX_NEG_TORQUE;
+#endif
 		}
 
 		if ((maxSpeed == 0) && (gFoc_Ctrl.in.s_motVelocity < CONFIG_MIN_RPM_EXIT_EBRAKE)) {