进入弱磁加判断开始duty必须小于最大调制率

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

Applications/foc/foc_config.h

@@ -4,7 +4,7 @@
 #include "bsp/bsp.h"
 
 #define CONFIG_ACC_MIN_VOL 30
-#define CONFIG_SVM_MODULATION       1.0f//(1.0F/SQRT3_BY_2)
+#define CONFIG_SVM_MODULATION       1.0f
 #define CONFIG_MIN_CRUISE_RPM 	  1000   /* 能启动定速巡航的最小速度 */
 #define CONFIG_CRUISE_EXIT_RPM    700    /* 自动推出定速巡航的最小速度*/
 #define CONFIG_MIN_RPM_FOR_EBRAKE 800 //进入电流回收的最小转速

Applications/foc/motor/motor_param.c

@@ -347,8 +347,8 @@ void motor_mpta_fw_lookup(float rpm, float torque, dq_t *dq_out) {
 	}
 #else
 #if CONFIG_CONTRL_FW_ENABLE
-	if (mot_contrl()->duty_filterd >= 0.9f) {
-		d = -f_map(mot_contrl()->duty_filterd, 0.9f, 1.0f, 0, mc_conf()->m.max_fw_id);
+	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);
 	}
 #endif
 	q = torque;