51 lines
1.6 KiB
C
51 lines
1.6 KiB
C
#include "globalv.h"
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unsigned int TimeCountCompuSpeed=0,TimeCountTemp=0,TimeCountkey=0;
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unsigned int TimeCountRealSpd=0,TimeCountPID=0,TimeCountAvgSpd=0,TimeCountVI=0;
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unsigned char MOTORSTATE=STATESTARTCHECK;
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const unsigned int PWM_EN_TAB[6]={0x001,0x001,0x010,0x010,0x100,0x100};// 6?PWM?????? AB,AC,BC,BA,CA,CB
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const unsigned char STEP_TAB[2][6]={{1,3,2,5,0,4},{4,0,5,2,3,1}};
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uint16_t SampleData[4];//内部参数 U反电动势 V反电动势 母线电压 W反电动势 电压 电流 内部调速 外部调速
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unsigned char ErrorCode=0; //故障状态
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unsigned int Motor_Start_F=0; //电机启停状态
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unsigned int Cur_step=0; //当前换相相序
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unsigned char Dir=1; //方向控制
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unsigned int HALLcount=0,HALLcount1=0,HALLcountTemp; // 霍尔脉冲计数值，用于计算平均速度和瞬时速度
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unsigned int TargS1=150;//PID目标速度
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unsigned int RealS1=0;//实时瞬时速度
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unsigned int RealS=0;//平均速度
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unsigned int SetSpeed=0;
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float KKN=0,KPWMN=0;//计算电位器速度时的斜率
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unsigned int OutPwmValue=0;//输出占空比值
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unsigned int DIin=0; //电流偏置
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unsigned int CanshuV=0;//母线电压100mV为单位
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unsigned int CanshuI=0;//母线电流mA
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//、、、、、、、、、、、、、、、、、以下参数为掉电保存参数
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unsigned int MPolePairs=15; //极对数
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unsigned int MAXSPEED=680; //额定转速
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unsigned int ISH=8;//过流报警值 A
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unsigned int VSH=40;//过压报警值 V
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unsigned int LSH=9;//欠压报警值 V
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//速度闭环参数 实际缩小1000倍
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unsigned int MINSPEED=10; //最低转速
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unsigned int SP=50,SI=50,SD=50;
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////、、、、、、、、、、、、、、、、、、、、、、、、、以上为参数掉电保存参数
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unsigned int STEP_last;
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unsigned int startflag=0,dirflag=1;
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unsigned int LevelSet = 1;
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