更改PMSM_FOC_Get_Real_Torque -> PMSM_FOC_Get_Real_dqVector，DQ轴电流矢量

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

Applications/app/app.c

@@ -133,7 +133,7 @@ static u32 _app_plot_task(void * args) {
 		can_plot2((s16)(PMSM_FOC_Get()->in.s_targetTorque*100.0f), (s16)PMSM_FOC_GetSpeed());
 		//can_plot3((s16)PMSM_FOC_Get()->vel_lim_adrc.z1, (s16)PMSM_FOC_Get()->vel_lim_adrc.z2, (s16)PMSM_FOC_GetSpeed());
 	}else if (plot_type == 2) {
-		can_plot2(eCtrl_get_RefTorque(), PMSM_FOC_Get_Real_Torque());
+		can_plot2(eCtrl_get_RefTorque(), PMSM_FOC_Get_Real_dqVector());
 	}else if (plot_type == 3) {
 		//can_plot2(PMSM_FOC_GetSpeed(), foc_observer_smo_speed());
 		plot_smo_angle();

Applications/foc/core/PMSM_FOC_Core.c

@@ -472,7 +472,7 @@ u8 PMSM_FOC_CtrlMode(void) {
 #else
 			float target_troque = gFoc_Ctrl.in.s_targetTorque;
 			if (gFoc_Ctrl.pi_id->is_sat || gFoc_Ctrl.pi_iq->is_sat) {
-				target_troque = PMSM_FOC_Get_Real_Torque();
+				target_troque = PMSM_FOC_Get_Real_dqVector();
 			}
 			PI_Controller_Reset(&gFoc_Ctrl.pi_speed, target_troque);
 #endif
@@ -483,7 +483,7 @@ u8 PMSM_FOC_CtrlMode(void) {
 			PI_Controller_Reset(&gFoc_Ctrl.pi_torque, gFoc_Ctrl.in.s_targetTorque);
 #endif
 		}else if ((preMode == CTRL_MODE_TRQ) && (gFoc_Ctrl.out.n_RunMode == CTRL_MODE_EBRAKE)) {
-			float real_trq = PMSM_FOC_Get_Real_Torque() * 0.9f;
+			float real_trq = PMSM_FOC_Get_Real_dqVector() * 0.9f;
 			eCtrl_reset_Current(min(real_trq, gFoc_Ctrl.in.s_targetTorque));
 			eCtrl_set_TgtCurrent(-PMSM_FOC_GeteBrkPhaseCurrent());
 		}	
@@ -674,7 +674,7 @@ void PMSM_FOC_Slow_Task(void) {
 	PMSM_FOC_idqCalc();
 }
 
-float PMSM_FOC_Get_Real_Torque(void) {
+float PMSM_FOC_Get_Real_dqVector(void) {
 	if (gFoc_Ctrl.out.s_RealCurrentFiltered == 0) {
 		gFoc_Ctrl.out.s_RealCurrentFiltered = sqrtf(SQ(gFoc_Ctrl.out.s_FilterIdq.d) + SQ(gFoc_Ctrl.out.s_FilterIdq.q));
 	}
@@ -937,7 +937,7 @@ bool PMSM_FOC_Set_Torque(float trq) {
 }
 
 void PMSM_FOC_Reset_Torque(void) {
-	float real_trq = PMSM_FOC_Get_Real_Torque();
+	float real_trq = PMSM_FOC_Get_Real_dqVector();
 	eCtrl_reset_Torque(real_trq);
 }
 

Applications/foc/core/PMSM_FOC_Core.h

@@ -296,7 +296,7 @@ void PMSM_FOC_Set_PlotType(Plot_t t);
 bool PMSM_FOC_RunTime_Limit(void);
 void PMSM_FOC_RT_PhaseCurrLim(float lim);
 void PMSM_FOC_RT_LimInit(void);
-float PMSM_FOC_Get_Real_Torque(void);
+float PMSM_FOC_Get_Real_dqVector(void);
 void PMSM_FOC_Reset_Torque(void);
 void PMSM_FOC_SpeedDirectLimit(float limit);
 bool PMSM_FOC_iDC_is_Limited(void);

Applications/foc/core/torque.c

@@ -139,7 +139,7 @@ void request_torque(float thro_ration) {
 		}
 		PMSM_FOC_Set_Torque(torque_ctrl.torque_req);
 	}else if (mc_throttle_released() && eCtrl_get_FinalTorque() != 0){
-		float real_trq = PMSM_FOC_Get_Real_Torque() * REAL_DQ_CEOF;
+		float real_trq = PMSM_FOC_Get_Real_dqVector() * REAL_DQ_CEOF;
 		float ref_now = min(real_trq, eCtrl_get_RefTorque());
 		eCtrl_reset_Torque(ref_now);
 		PMSM_FOC_Set_Torque(0);

Applications/foc/motor/motor.c

@@ -932,7 +932,7 @@ static bool mc_run_stall_process(u8 run_mode) {
 			}
 			motor.runStall_time = 0;
 			motor.b_runStall = false; //转把释放，清除堵转标志
-		}else if (PMSM_FOC_Get_Real_Torque() >= CONFIG_STALL_MAX_CURRENT){
+		}else if (PMSM_FOC_Get_Real_dqVector() >= CONFIG_STALL_MAX_CURRENT){
 			if (ABS(PMSM_FOC_GetSpeed()) < 1.0f && (motor.runStall_time == 0)) {
 				motor.runStall_time = get_tick_ms();
 				motor.runStall_pos = motor_encoder_get_position();

Applications/prot/can_foc_msg.c

@@ -132,7 +132,7 @@ void can_report_ext_status(u8 can) {
 
 void can_report_plot_values(u8 can) {
     s16 trq_ref = eCtrl_get_RefTorque() * 10;
-	s16 real_ref = PMSM_FOC_Get_Real_Torque() * 10;
+	s16 real_ref = PMSM_FOC_Get_Real_dqVector() * 10;
 	can_plot2(trq_ref, real_ref);
 }