{"id":76833,"date":"2026-02-23T11:50:16","date_gmt":"2026-02-23T03:50:16","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/76833.html"},"modified":"2026-02-23T11:50:16","modified_gmt":"2026-02-23T03:50:16","slug":"%e8%a7%a3%e7%a0%81foc%e4%b8%ad%e7%9a%84%e9%9a%90%e5%bd%a2%e8%89%ba%e6%9c%af%ef%bc%9a%e5%8d%95%e7%94%b5%e9%98%bb%e9%87%87%e6%a0%b7%e8%83%8c%e5%90%8e%e7%9a%84%e4%bf%a1%e5%8f%b7","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/76833.html","title":{"rendered":"\u89e3\u7801FOC\u4e2d\u7684\u2018\u9690\u5f62\u2019\u827a\u672f\uff1a\u5355\u7535\u963b\u91c7\u6837\u80cc\u540e\u7684\u4fe1\u53f7\u91cd\u6784\u4e0e\u7cfb\u7edf\u97e7\u6027\u8bbe\u8ba1"},"content":{"rendered":"<h2>\u89e3\u7801FOC\u4e2d\u7684\u2018\u9690\u5f62\u2019\u827a\u672f&#xff1a;\u5355\u7535\u963b\u91c7\u6837\u80cc\u540e\u7684\u4fe1\u53f7\u91cd\u6784\u4e0e\u7cfb\u7edf\u97e7\u6027\u8bbe\u8ba1<\/h2>\n<p>\u5728\u7535\u673a\u63a7\u5236\u9886\u57df&#xff0c;\u78c1\u573a\u5b9a\u5411\u63a7\u5236&#xff08;FOC&#xff09;\u65e9\u5df2\u6210\u4e3a\u9ad8\u6027\u80fd\u9a71\u52a8\u7684\u4e3b\u6d41\u6280\u672f&#xff0c;\u4f46\u5982\u4f55\u5728\u8d44\u6e90\u53d7\u9650\u7684\u5d4c\u5165\u5f0f\u5e73\u53f0\u4e0a\u5b9e\u73b0\u4f4e\u6210\u672c\u3001\u9ad8\u53ef\u9760\u6027\u7684\u89e3\u51b3\u65b9\u6848&#xff0c;\u4e00\u76f4\u662f\u5de5\u7a0b\u5e08\u4eec\u9762\u4e34\u7684\u6311\u6218\u3002\u5355\u7535\u963b\u91c7\u6837\u6280\u672f\u56e0\u5176\u786c\u4ef6\u7ed3\u6784\u7b80\u6d01\u3001\u6210\u672c\u4f4e\u5ec9\u800c\u5907\u53d7\u9752\u7750&#xff0c;\u5c24\u5176\u5728\u65e0\u4eba\u673a\u7535\u8c03\u3001\u7535\u52a8\u5de5\u5177\u7b49\u9ad8\u566a\u58f0\u73af\u5883\u4e2d&#xff0c;\u5176\u6297\u5e72\u6270\u80fd\u529b\u4e0e\u7cfb\u7edf\u97e7\u6027\u8bbe\u8ba1\u663e\u5f97\u5c24\u4e3a\u91cd\u8981\u3002\u672c\u6587\u5c06\u6df1\u5165\u63a2\u8ba8\u5355\u7535\u963b\u91c7\u6837\u80cc\u540e\u7684\u4fe1\u53f7\u91cd\u6784\u539f\u7406&#xff0c;\u4ee5\u53ca\u5982\u4f55\u5728\u975e\u7406\u60f3\u6761\u4ef6\u4e0b\u901a\u8fc7\u7b97\u6cd5\u4f18\u5316\u548c\u7cfb\u7edf\u8bbe\u8ba1\u63d0\u5347\u9c81\u68d2\u6027&#xff0c;\u4e3a\u5d4c\u5165\u5f0f\u8f6f\u4ef6\u5de5\u7a0b\u5e08\u548c\u7b97\u6cd5\u7814\u7a76\u4eba\u5458\u63d0\u4f9b\u5b9e\u7528\u53c2\u8003\u3002<\/p>\n<h3>1. 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&#043; I_b &#043; I_c &#061; 0\\\\)&#xff09;&#xff0c;\u7ed3\u5408\u91c7\u6837\u7535\u963b\u7535\u6d41\u548c\u6247\u533a\u4fe1\u606f&#xff0c;\u8ba1\u7b97\u5404\u76f8\u7535\u6d41\u503c\u3002<\/li>\n<\/ul>\n<p>\u5b9e\u9645\u5e94\u7528\u4e2d&#xff0c;\u91cd\u6784\u7b97\u6cd5\u9700\u5e94\u5bf9\u591a\u79cd\u975e\u7406\u60f3\u573a\u666f\u3002\u4f8b\u5982&#xff0c;\u5728\u6247\u533a\u5207\u6362\u65f6&#xff0c;\u7535\u6d41\u6ce2\u5f62\u53ef\u80fd\u51fa\u73b0\u6bdb\u523a&#xff0c;\u5bfc\u81f4\u91cd\u6784\u8bef\u5dee\u3002\u4e00\u79cd\u6709\u6548\u7684\u89e3\u51b3\u65b9\u6848\u662f\u5ef6\u8fdf\u6247\u533a\u5224\u65ad&#xff08;\u5982\u4f7f\u7528secter_post\u53d8\u91cf\u66ff\u4ee3\u5b9e\u65f6\u6247\u533a\u503c&#xff09;&#xff0c;\u907f\u514d\u8bef\u5224\u5e26\u6765\u7684\u8ba1\u7b97\u9519\u8bef\u3002\u540c\u65f6&#xff0c;\u91c7\u6837\u70b9\u5ef6\u8fdf\u9700\u6839\u636e\u786c\u4ef6\u7279\u6027\u52a8\u6001\u8c03\u6574&#xff0c;\u4f8b\u5982\u572864MHz PWM\u65f6\u949f\u4e0b&#xff0c;1\u03bcs\u5bf9\u5e9464\u4e2a\u8ba1\u6570\u5355\u4f4d&#xff0c;\u9700\u901a\u8fc7\u5b9e\u9a8c\u6821\u51c6\u6700\u4f73\u503c\u3002<\/p>\n<p>\u63d0\u793a&#xff1a;\u7535\u6d41\u91cd\u6784\u7684\u7cbe\u5ea6\u9ad8\u5ea6\u4f9d\u8d56\u91c7\u6837\u65f6\u5e8f\u7684\u51c6\u786e\u6027&#xff0c;\u5efa\u8bae\u901a\u8fc7\u793a\u6ce2\u5668\u6355\u83b7\u5b9e\u9645\u7535\u6d41\u6ce2\u5f62&#xff0c;\u9a8c\u8bc1\u91c7\u6837\u70b9\u662f\u5426\u907f\u5f00\u5f00\u5173\u566a\u58f0\u533a\u57df\u3002<\/p>\n<h3>2. \u9ad8\u566a\u58f0\u73af\u5883\u4e0b\u7684\u6297\u5e72\u6270\u8bbe\u8ba1<\/h3>\n<p>\u5728\u9ad8\u566a\u58f0\u73af\u5883\u4e2d&#xff08;\u5982\u65e0\u4eba\u673a\u7535\u8c03&#xff09;&#xff0c;\u7535\u673a\u9a71\u52a8\u7cfb\u7edf\u9762\u4e34\u7535\u78c1\u5e72\u6270\u3001\u6e29\u5ea6\u6f02\u79fb\u548c\u7535\u538b\u6ce2\u52a8\u7b49\u591a\u91cd\u6311\u6218\u3002\u5355\u7535\u963b\u91c7\u6837\u7cfb\u7edf\u9700\u901a\u8fc7\u786c\u4ef6\u548c\u8f6f\u4ef6\u534f\u540c\u8bbe\u8ba1\u63d0\u5347\u6297\u5e72\u6270\u80fd\u529b\u3002<\/p>\n<p>\u786c\u4ef6\u5c42\u9762\u7684\u4f18\u5316\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\u91c7\u6837\u7535\u8def\u8bbe\u8ba1&#xff1a;\u91c7\u7528\u5dee\u5206\u653e\u5927\u7535\u8def\u6291\u5236\u5171\u6a21\u566a\u58f0&#xff0c;\u5e76\u9009\u62e9\u4f4e\u6f02\u79fb\u3001\u9ad8\u5171\u6a21\u6291\u5236\u6bd4\u7684\u8fd0\u653e\u3002<\/li>\n<li>ADC\u914d\u7f6e&#xff1a;\u5229\u7528\u6ce8\u5165\u91c7\u6837\u6a21\u5f0f&#xff08;\u5982STM32\u7684ADC\u6ce8\u5165\u901a\u9053&#xff09;\u5728\u7279\u5b9a\u65f6\u523b\u89e6\u53d1\u91c7\u6837&#xff0c;\u51cf\u5c11\u5f00\u5173\u566a\u58f0\u5f71\u54cd\u3002<\/li>\n<li>\u6ee4\u6ce2\u8bbe\u8ba1&#xff1a;\u5728\u91c7\u6837\u8def\u5f84\u4e0a\u6dfb\u52a0RC\u4f4e\u901a\u6ee4\u6ce2\u5668&#xff0c;\u622a\u6b62\u9891\u7387\u901a\u5e38\u8bbe\u7f6e\u4e3a\u8fdc\u9ad8\u4e8ePWM\u9891\u7387&#xff08;\u598216kHz&#xff09;&#xff0c;\u4ee5\u907f\u514d\u76f8\u4f4d\u5ef6\u8fdf\u3002<\/li>\n<\/ul>\n<p>\u8f6f\u4ef6\u5c42\u9762\u7684\u6297\u5e72\u6270\u63aa\u65bd\u66f4\u4e3a\u5173\u952e&#xff1a;<\/p>\n<ul>\n<li>\u81ea\u9002\u5e94\u6ee4\u6ce2\u7b97\u6cd5&#xff1a;\u6839\u636e\u566a\u58f0\u7279\u6027\u52a8\u6001\u8c03\u6574\u6ee4\u6ce2\u5668\u53c2\u6570\u3002\u4f8b\u5982&#xff0c;\u5728\u7535\u673a\u9ad8\u901f\u8fd0\u884c\u65f6\u964d\u4f4e\u6ee4\u6ce2\u5f3a\u5ea6&#xff0c;\u4ee5\u4fdd\u7559\u9ad8\u9891\u4fe1\u53f7\u6210\u5206\u3002<\/li>\n<li>\u52a8\u6001\u8865\u507f\u673a\u5236&#xff1a;\u5b9e\u65f6\u6821\u51c6ADC\u96f6\u6f02\u548c\u589e\u76ca\u8bef\u5dee\u3002\u7cfb\u7edf\u53ef\u5728PWM\u96f6\u77e2\u91cf\u65f6\u6bb5\u91c7\u6837\u7535\u963b\u7535\u538b&#xff0c;\u8ba1\u7b97\u96f6\u6f02\u8865\u507f\u503c&#xff0c;\u5e76\u5728\u91cd\u6784\u65f6\u51cf\u53bb\u8be5\u503c\u3002<\/li>\n<li>\u5197\u4f59\u91c7\u6837\u4e0e\u5e73\u5747&#xff1a;\u5bf9\u540c\u4e00\u76f8\u7535\u6d41\u8fdb\u884c\u591a\u6b21\u91c7\u6837&#xff08;\u59824\u6b21&#xff09;&#xff0c;\u901a\u8fc7\u6ed1\u52a8\u5e73\u5747\u6216\u4e2d\u503c\u6ee4\u6ce2\u964d\u4f4e\u968f\u673a\u566a\u58f0\u5f71\u54cd\u3002<\/li>\n<\/ul>\n<p>\u4ee5\u4e0b\u662f\u4e00\u4e2a\u7b80\u5355\u7684\u96f6\u6f02\u6821\u51c6\u4ee3\u7801\u793a\u4f8b&#xff1a;<\/p>\n<p>\/\/ ADC\u96f6\u6f02\u6821\u51c6\u51fd\u6570<br \/>\nvoid AdcOffsetCalibrate(void) {<br \/>\n    uint32_t sum &#061; 0;<br \/>\n    for (int i &#061; 0; i &lt; 1024; i&#043;&#043;) {<br \/>\n        sum &#043;&#061; ADC1-&gt;DR; \/\/ \u91c7\u6837\u96f6\u77e2\u91cf\u65f6\u7684ADC\u503c<br \/>\n    }<br \/>\n    gAdcOffset &#061; sum &gt;&gt; 10; \/\/ \u8ba1\u7b97\u5e73\u5747\u503c<br \/>\n}<\/p>\n<p>\u8868&#xff1a;\u5355\u7535\u963b\u91c7\u6837\u7cfb\u7edf\u5e38\u89c1\u566a\u58f0\u6e90\u53ca\u6291\u5236\u63aa\u65bd<\/p>\n<table>\n<tr>\u566a\u58f0\u7c7b\u578b\u4ea7\u751f\u539f\u56e0\u6291\u5236\u65b9\u6cd5<\/tr>\n<tbody>\n<tr>\n<td>\u5f00\u5173\u566a\u58f0<\/td>\n<td>MOSFET\u5f00\u5173\u77ac\u6001<\/td>\n<td>\u4f18\u5316\u91c7\u6837\u65f6\u5e8f&#xff0c;\u6dfb\u52a0\u786c\u4ef6\u6ee4\u6ce2\u5668<\/td>\n<\/tr>\n<tr>\n<td>ADC\u91cf\u5316\u8bef\u5dee<\/td>\n<td>ADC\u5206\u8fa8\u7387\u9650\u5236<\/td>\n<td>\u591a\u6b21\u91c7\u6837\u5e73\u5747&#xff0c;\u63d0\u9ad8ADC\u65f6\u949f\u9891\u7387<\/td>\n<\/tr>\n<tr>\n<td>\u6e29\u5ea6\u6f02\u79fb<\/td>\n<td>\u73af\u5883\u6e29\u5ea6\u53d8\u5316<\/td>\n<td>\u5b9a\u671f\u96f6\u6f02\u6821\u51c6&#xff0c;\u4f7f\u7528\u6e29\u5ea6\u8865\u507f\u7b97\u6cd5<\/td>\n<\/tr>\n<tr>\n<td>\u6b7b\u533a\u5931\u771f<\/td>\n<td>\u6b7b\u533a\u65f6\u95f4\u5bfc\u81f4\u7684\u7535\u538b\u8bef\u5dee<\/td>\n<td>\u6b7b\u533a\u8865\u507f\u7b97\u6cd5&#xff0c;\u6839\u636e\u7535\u6d41\u65b9\u5411\u8c03\u6574\u5360\u7a7a\u6bd4<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>3. \u7cfb\u7edf\u97e7\u6027\u8bbe\u8ba1\u4e0e\u6545\u969c\u6062\u590d<\/h3>\n<p>\u7cfb\u7edf\u97e7\u6027&#xff08;Resilience&#xff09;\u6307\u7cfb\u7edf\u5728\u5f02\u5e38\u6761\u4ef6\u4e0b\u7ef4\u6301\u529f\u80fd\u6216\u5feb\u901f\u6062\u590d\u7684\u80fd\u529b\u3002\u5bf9\u4e8e\u5355\u7535\u963b\u91c7\u6837FOC\u7cfb\u7edf&#xff0c;\u97e7\u6027\u8bbe\u8ba1\u9700\u6db5\u76d6\u4ece\u4fe1\u53f7\u91c7\u96c6\u5230\u63a7\u5236\u8f93\u51fa\u7684\u5168\u94fe\u6761\u3002<\/p>\n<p>\u5173\u952e\u97e7\u6027\u8bbe\u8ba1\u7b56\u7565\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\u6545\u969c\u68c0\u6d4b\u4e0e\u4fdd\u62a4&#xff1a;\u5b9e\u65f6\u76d1\u6d4b\u8fc7\u6d41\u3001\u8fc7\u538b\u3001\u6b20\u538b\u548c\u5835\u8f6c\u7b49\u6545\u969c\u3002\u4f8b\u5982&#xff0c;\u5f53\u91c7\u6837\u7535\u6d41\u8d85\u8fc7\u9608\u503c\u65f6&#xff0c;\u7acb\u5373\u89e6\u53d1PWM\u5173\u95ed&#xff08;\u5982\u8c03\u7528HAL_TIM_PWM_Stop()\u51fd\u6570&#xff09;&#xff0c;\u5e76\u70b9\u4eae\u6545\u969c\u6307\u793a\u706f\u3002<\/li>\n<li>\u5bb9\u9519\u63a7\u5236\u7b97\u6cd5&#xff1a;\u5728\u91c7\u6837\u6570\u636e\u5f02\u5e38\u65f6&#xff0c;\u91c7\u7528\u9884\u6d4b\u503c\u6216\u5386\u53f2\u503c\u66ff\u4ee3\u3002\u4f8b\u5982&#xff0c;\u82e5\u5f53\u524d\u91c7\u6837\u503c\u504f\u79bb\u5386\u53f2\u5e73\u5747\u503c\u8d85\u8fc730%&#xff0c;\u53ef\u542f\u7528\u5361\u5c14\u66fc\u6ee4\u6ce2\u5668\u8fdb\u884c\u6570\u636e\u878d\u5408\u3002<\/li>\n<li>\u81ea\u9002\u5e94\u53c2\u6570\u8c03\u6574&#xff1a;\u6839\u636e\u8fd0\u884c\u72b6\u6001\u52a8\u6001\u8c03\u6574\u63a7\u5236\u53c2\u6570\u3002\u5982\u5728\u9ad8\u6e29\u73af\u5883\u4e0b&#xff0c;\u81ea\u52a8\u964d\u4f4ePI\u63a7\u5236\u5668\u589e\u76ca&#xff0c;\u907f\u514d\u632f\u8361\u3002<\/li>\n<\/ul>\n<p>\u65e0\u611f\u542f\u52a8\u662f\u97e7\u6027\u8bbe\u8ba1\u7684\u5178\u578b\u573a\u666f\u3002\u4f20\u7edf\u65b9\u6cd5\u53ef\u80fd\u56e0\u8f6c\u5b50\u4f4d\u7f6e\u4f30\u8ba1\u4e0d\u51c6\u5bfc\u81f4\u542f\u52a8\u6296\u52a8\u3002\u6539\u8fdb\u65b9\u6848\u91c7\u7528\u77ed\u65f6\u8109\u51b2\u5b9a\u4f4d\u6cd5&#xff1a;\u5411\u5b9a\u5b50\u65bd\u52a0\u7279\u5b9a\u5e8f\u5217\u7684\u7535\u538b\u8109\u51b2&#xff0c;\u901a\u8fc7\u68c0\u6d4b\u7535\u6d41\u54cd\u5e94\u786e\u5b9a\u8f6c\u5b50\u521d\u59cb\u4f4d\u7f6e\u3002\u542f\u52a8\u9636\u6bb5\u91c7\u7528\u5f00\u73af\u901f\u5ea6\u722c\u5347&#xff0c;\u5f85\u8f6c\u901f\u8fbe\u5230\u9608\u503c&#xff08;\u59822Hz&#xff09;\u540e\u5207\u6362\u81f3\u65e0\u611f\u95ed\u73af\u63a7\u5236\u3002<\/p>\n<p>\u4ee5\u4e0b\u662f\u4e00\u4e2a\u7b80\u5355\u7684\u6545\u969c\u5904\u7406\u4ee3\u7801\u6846\u67b6&#xff1a;<\/p>\n<p>\/\/ \u6545\u969c\u5904\u7406\u4e2d\u65ad\u670d\u52a1\u51fd\u6570<br \/>\nvoid FaultHandler_IRQHandler(void) {<br \/>\n    if (__HAL_TIM_GET_FLAG(&amp;htim1, TIM_FLAG_BREAK)) {<br \/>\n        HAL_TIM_PWM_Stop(&amp;htim1, TIM_CHANNEL_ALL); \/\/ \u7acb\u5373\u5173\u95edPWM<br \/>\n        GPIO_SetPin(FAULT_LED_PIN, 1); \/\/ \u70b9\u4eae\u6545\u969c\u6307\u793a\u706f<br \/>\n        \/\/ \u8bb0\u5f55\u6545\u969c\u65e5\u5fd7&#xff0c;\u4fbf\u4e8e\u540e\u7eed\u5206\u6790<br \/>\n        LogFault(FAULT_OVERCURRENT, __HAL_TIM_GET_COUNTER(&amp;htim1));<br \/>\n    }<br \/>\n}<\/p>\n<p>\u529f\u80fd\u5b89\u5168\u8003\u91cf&#xff08;\u5982ISO 26262&#xff09;\u5728\u8d44\u6e90\u53d7\u9650MCU\u4e0a\u540c\u6837\u91cd\u8981\u3002\u867d\u7136STM32F1\u7b49\u5165\u95e8\u7ea7MCU\u7f3a\u4e4f\u786c\u4ef6\u5b89\u5168\u6a21\u5757&#xff0c;\u4f46\u53ef\u901a\u8fc7\u8f6f\u4ef6\u63aa\u65bd\u63d0\u5347\u5b89\u5168\u7b49\u7ea7&#xff1a;<\/p>\n<ul>\n<li>\u4ee3\u7801\u5197\u4f59&#xff1a;\u5173\u952e\u51fd\u6570&#xff08;\u5982\u7535\u6d41\u91cd\u6784&#xff09;\u5b9e\u73b0\u53cc\u7248\u672c&#xff0c;\u8fd0\u884c\u65f6\u6bd4\u8f83\u7ed3\u679c\u3002<\/li>\n<li>\u5b9a\u671f\u81ea\u68c0&#xff1a;\u5728\u7a7a\u95f2\u65f6\u6bb5\u6267\u884c\u5185\u5b58\u548c\u5916\u8bbe\u81ea\u68c0&#xff08;\u5982CRC\u6821\u9a8c&#xff09;\u3002<\/li>\n<li>\u770b\u95e8\u72d7\u7ba1\u7406&#xff1a;\u4f7f\u7528\u72ec\u7acb\u770b\u95e8\u72d7&#xff08;IWDG&#xff09;\u548c\u7a97\u53e3\u770b\u95e8\u72d7&#xff08;WWDG&#xff09;\u53cc\u5197\u4f59\u76d1\u63a7\u3002<\/li>\n<\/ul>\n<h3>4. \u7b97\u6cd5\u4f18\u5316\u4e0e\u6027\u80fd\u63d0\u5347<\/h3>\n<p>\u5355\u7535\u963b\u91c7\u6837\u7cfb\u7edf\u7684\u6027\u80fd\u74f6\u9888\u5e38\u51fa\u73b0\u5728\u7b97\u6cd5\u5b9e\u65f6\u6027\u548c\u7cbe\u5ea6\u4e0a\u3002\u9488\u5bf9STM32F1\u7b49Cortex-M3\u5185\u6838MCU&#xff0c;\u9700\u91c7\u7528\u5b9a\u70b9\u6570\u8fd0\u7b97\u3001\u67e5\u8868\u6cd5\u548c\u9884\u8ba1\u7b97\u7cfb\u6570\u7b49\u4f18\u5316\u624b\u6bb5\u3002<\/p>\n<p>\u7535\u6d41\u73af\u4f18\u5316\u662f\u63d0\u5347\u52a8\u6001\u54cd\u5e94\u7684\u5173\u952e\u3002\u4f20\u7edfPI\u63a7\u5236\u5668\u53c2\u6570\u56fa\u5b9a&#xff0c;\u96be\u4ee5\u9002\u5e94\u8d1f\u8f7d\u53d8\u5316\u3002\u53ef\u91c7\u7528\u81ea\u9002\u5e94PI\u8c03\u8282&#xff0c;\u6839\u636e\u8fd0\u884c\u72b6\u6001\u5728\u7ebf\u66f4\u65b0\u53c2\u6570&#xff1a;<\/p>\n<p>\/\/ \u81ea\u9002\u5e94PI\u53c2\u6570\u8ba1\u7b97\u51fd\u6570<br \/>\nvoid UpdatePiParams(PI_Controller* pi, float load) {<br \/>\n    \/\/ \u6839\u636e\u8d1f\u8f7d\u53d8\u5316\u8c03\u6574KP\u548cKI<br \/>\n    pi-&gt;Kp &#061; BASE_KP * (1.0f &#043; 0.1f * load);<br \/>\n    pi-&gt;Ki &#061; BASE_KI * (1.0f &#043; 0.05f * load);<br \/>\n    \/\/ \u9650\u5236\u53c2\u6570\u8303\u56f4<br \/>\n    pi-&gt;Kp &#061; clamp(pi-&gt;Kp, KP_MIN, KP_MAX);<br \/>\n    pi-&gt;Ki &#061; clamp(pi-&gt;Ki, KI_MIN, KI_MAX);<br \/>\n}<\/p>\n<p>\u65e0\u611f\u4f4d\u7f6e\u4f30\u8ba1\u7cbe\u5ea6\u76f4\u63a5\u5f71\u54cd\u4f4e\u901f\u6027\u80fd\u3002\u6ed1\u6a21\u89c2\u6d4b\u5668&#xff08;SMO&#xff09;\u662f\u5e38\u7528\u65b9\u6848&#xff0c;\u4f46\u5176\u6296\u632f\u95ee\u9898\u53ef\u80fd\u5bfc\u81f4\u4f30\u8ba1\u8bef\u5dee\u3002\u6539\u8fdb\u65b9\u6848\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\u8fb9\u754c\u5c42\u8bbe\u8ba1&#xff1a;\u7528\u9971\u548c\u51fd\u6570\u66ff\u4ee3\u7b26\u53f7\u51fd\u6570&#xff0c;\u51cf\u5c11\u6296\u632f\u3002<\/li>\n<li>\u81ea\u9002\u5e94\u6ed1\u6a21\u589e\u76ca&#xff1a;\u6839\u636e\u8f6c\u901f\u52a8\u6001\u8c03\u6574\u589e\u76ca\u503c&#xff0c;\u9ad8\u901f\u65f6\u589e\u52a0\u589e\u76ca&#xff0c;\u4f4e\u901f\u65f6\u964d\u4f4e\u589e\u76ca\u3002<\/li>\n<li>\u89c2\u6d4b\u5668\u878d\u5408&#xff1a;\u7ed3\u5408SMO\u548c\u9ad8\u9891\u6ce8\u5165\u6cd5&#xff0c;\u8986\u76d6\u5168\u901f\u5ea6\u8303\u56f4\u3002<\/li>\n<\/ul>\n<p>\u8868&#xff1a;\u5355\u7535\u963b\u91c7\u6837\u7cfb\u7edf\u4f18\u5316\u7b56\u7565\u5bf9\u6bd4<\/p>\n<table>\n<tr>\u4f18\u5316\u65b9\u5411\u4f20\u7edf\u65b9\u6cd5\u4f18\u5316\u65b9\u6cd5\u6536\u76ca\u8bf4\u660e<\/tr>\n<tbody>\n<tr>\n<td>\u7535\u6d41\u91cd\u6784<\/td>\n<td>\u56fa\u5b9a\u91c7\u6837\u70b9<\/td>\n<td>\u52a8\u6001\u79fb\u76f8\u7b56\u7565<\/td>\n<td>\u51cf\u5c11\u6247\u533a\u5207\u6362\u6bdb\u523a&#xff0c;\u63d0\u9ad8\u91c7\u6837\u7cbe\u5ea6<\/td>\n<\/tr>\n<tr>\n<td>\u4f4d\u7f6e\u4f30\u8ba1<\/td>\n<td>\u6ed1\u6a21\u89c2\u6d4b\u5668&#xff08;SMO&#xff09;<\/td>\n<td>SMO&#043;\u9ad8\u9891\u6ce8\u5165\u878d\u5408<\/td>\n<td>\u6539\u5584\u4f4e\u901f\u6027\u80fd&#xff0c;\u51cf\u5c11\u6296\u632f<\/td>\n<\/tr>\n<tr>\n<td>\u53c2\u6570\u8fa8\u8bc6<\/td>\n<td>\u79bb\u7ebf\u624b\u52a8\u6d4b\u91cf<\/td>\n<td>\u5728\u7ebf\u81ea\u52a8\u8fa8\u8bc6&#xff08;Ld\/Lq\/Rs&#xff09;<\/td>\n<td>\u9002\u5e94\u7535\u673a\u53c2\u6570\u53d8\u5316&#xff0c;\u63d0\u9ad8\u63a7\u5236\u51c6\u786e\u6027<\/td>\n<\/tr>\n<tr>\n<td>\u5b9e\u65f6\u6027\u4f18\u5316<\/td>\n<td>\u6d6e\u70b9\u8fd0\u7b97<\/td>\n<td>Q\u683c\u5f0f\u5b9a\u70b9\u8fd0\u7b97<\/td>\n<td>\u51cf\u5c11\u8ba1\u7b97\u65f6\u95f4&#xff0c;\u9002\u5408\u8d44\u6e90\u53d7\u9650MCU<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n<h3>5. \u5b9e\u8df5\u6848\u4f8b\u4e0e\u8c03\u8bd5\u6280\u5de7<\/h3>\n<p>\u5728\u5b9e\u9645\u9879\u76ee\u4e2d&#xff0c;\u5355\u7535\u963b\u91c7\u6837\u7cfb\u7edf\u7684\u8c03\u8bd5\u5f80\u5f80\u5360\u5f00\u53d1\u65f6\u95f4\u768450%\u4ee5\u4e0a\u3002\u4ee5\u4e0b\u662f\u51e0\u4e2a\u5e38\u89c1\u95ee\u9898\u7684\u89e3\u51b3\u65b9\u6848&#xff1a;<\/p>\n<p>\u95ee\u98981&#xff1a;\u7535\u6d41\u91cd\u6784\u503c\u5728\u7279\u5b9a\u6247\u533a\u8df3\u52a8<\/p>\n<ul>\n<li>\u539f\u56e0&#xff1a;\u6247\u533a\u5224\u65ad\u903b\u8f91\u4e0e\u91c7\u6837\u65f6\u5e8f\u4e0d\u540c\u6b65\u3002<\/li>\n<li>\u89e3\u51b3&#xff1a;\u5c06\u6247\u533a\u5224\u65ad\u5ef6\u8fdf\u81f3\u91c7\u6837\u5b8c\u6210\u540e\u8fdb\u884c&#xff0c;\u786e\u4fdd\u4f7f\u7528\u6b63\u786e\u7684\u6247\u533a\u4fe1\u606f\u91cd\u6784\u7535\u6d41\u3002<\/li>\n<\/ul>\n<p>\u95ee\u98982&#xff1a;\u7535\u673a\u542f\u52a8\u65f6\u6296\u52a8\u6216\u5931\u6b65<\/p>\n<ul>\n<li>\u539f\u56e0&#xff1a;\u521d\u59cb\u4f4d\u7f6e\u4f30\u8ba1\u9519\u8bef\u6216\u542f\u52a8\u53c2\u6570\u4e0d\u5339\u914d\u3002<\/li>\n<li>\u89e3\u51b3&#xff1a;\u91c7\u7528\u8109\u51b2\u5b9a\u4f4d\u6cd5\u7cbe\u786e\u521d\u59cb\u4f4d\u7f6e&#xff0c;\u5e76\u9010\u6b65\u589e\u52a0\u5f00\u73af\u542f\u52a8\u7535\u6d41\u76f4\u81f3\u7535\u673a\u7a33\u5b9a\u8f6c\u52a8\u3002<\/li>\n<\/ul>\n<p>\u95ee\u98983&#xff1a;\u9ad8\u901f\u8fd0\u884c\u65f6\u7535\u6d41\u6ce2\u5f62\u5931\u771f<\/p>\n<ul>\n<li>\u539f\u56e0&#xff1a;\u91c7\u6837\u7a97\u53e3\u8fc7\u7a84&#xff0c;\u672a\u80fd\u6355\u83b7\u5b8c\u6574\u7535\u6d41\u4fe1\u606f\u3002<\/li>\n<li>\u89e3\u51b3&#xff1a;\u4f18\u5316\u79fb\u76f8\u7b97\u6cd5&#xff0c;\u786e\u4fdd\u6700\u5c0f\u5360\u7a7a\u6bd4\u5dee\u5927\u4e8e2\u500d\u6700\u5c0f\u91c7\u6837\u65f6\u95f4&#xff08;Tmin&#xff09;\u3002<\/li>\n<\/ul>\n<p>\u8c03\u8bd5\u8fc7\u7a0b\u4e2d&#xff0c;\u5de5\u5177\u94fe\u7684\u9009\u62e9\u81f3\u5173\u91cd\u8981\u3002\u9664\u4e86\u5e38\u89c4\u7684\u793a\u6ce2\u5668\u548c\u7535\u6d41\u63a2\u5934&#xff0c;\u8fd8\u53ef\u5229\u7528STM32\u7684DAC\u8f93\u51fa\u529f\u80fd&#xff0c;\u5c06\u5173\u952e\u53d8\u91cf&#xff08;\u5982\u4f30\u8ba1\u901f\u5ea6\u3001\u7535\u6d41\u73af\u8f93\u51fa&#xff09;\u8f6c\u6362\u4e3a\u6a21\u62df\u7535\u538b&#xff0c;\u5b9e\u65f6\u89c2\u6d4b\u6ce2\u5f62\u3002\u4f8b\u5982&#xff1a;<\/p>\n<p>\/\/ \u914d\u7f6eDAC\u8f93\u51fa\u8c03\u8bd5\u53d8\u91cf<br \/>\nvoid DacDebugOutput(uint16_t value) {<br \/>\n    DAC-&gt;DHR12R1 &#061; value; \/\/ \u5c06\u53d8\u91cf\u503c\u8f93\u51fa\u81f3DAC\u901a\u90531<br 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