\u8bfb\u5b8c\u8fd9\u4e00\u7ae0，\u4f60\u624d\u7b97\u771f\u6b63\u6478\u5230 FOC \u7684\u6838\u5fc3\u903b\u8f91\u3002<\/p>\n
\n
1. Park \u53d8\u6362\u5230\u5e95\u89e3\u51b3\u4e86\u4ec0\u4e48\u95ee\u9898？<\/h2>\n
\u5148\u4e00\u53e5\u8bdd\u603b\u7ed3：<\/p>\n
Park \u53d8\u6362：\u628a \u03b1\u03b2 \u9759\u6b62\u5750\u6807\u7cfb，\u53d8\u6362\u5230 dq \u65cb\u8f6c\u5750\u6807\u7cfb，\u8ba9\u4ea4\u6d41\u91cf\u53d8\u6210\u76f4\u6d41\u91cf\u3002<\/p>\n
\u5c55\u5f00\u8bf4：<\/p>\n
- \n
- \u03b1\u03b2 \u5750\u6807\u7cfb：\u56fa\u5b9a\u5728\u5b9a\u5b50\u4e0a，\u4e0d\u52a8<\/li>\n
- dq \u5750\u6807\u7cfb：\u56fa\u5b9a\u5728\u8f6c\u5b50\u4e0a，\u8ddf\u7740\u8f6c\u5b50\u4e00\u8d77\u65cb\u8f6c<\/li>\n<\/ul>\n
\u5f53\u4f60\u7ad9\u5728 \u201c\u65cb\u8f6c\u7684\u8f6c\u5b50\u201d \u89c6\u89d2\u53bb\u770b\u7535\u6d41：<\/p>\n
- \n
- \u539f\u6765\u968f\u65f6\u95f4\u6b63\u5f26\u6ce2\u52a8\u7684 I\u03b1\u200b,I\u03b2\u200b<\/li>\n
- \u4f1a\u53d8\u6210\u4e24\u4e2a\u7a33\u5b9a\u4e0d\u53d8\u7684\u76f4\u6d41\u5206\u91cf Id\u200b,Iq\u200b<\/li>\n<\/ul>\n
\u4ea4\u6d41\u53d8\u76f4\u6d41\u610f\u5473\u7740\u4ec0\u4e48？<\/p>\n
- \n
- \u53ef\u4ee5\u7528\u666e\u901a PI \u8c03\u8282\u5668\u76f4\u63a5\u63a7\u5236<\/li>\n
- \u53ef\u4ee5\u505a\u5230\u5b8c\u5168\u89e3\u8026：\u78c1\u573a\u5f52\u78c1\u573a，\u529b\u77e9\u5f52\u529b\u77e9<\/li>\n
- \u63a7\u5236\u7b80\u5355\u3001\u7a33\u5b9a\u3001\u54cd\u5e94\u5feb\u3001\u4f4e\u901f\u5e73\u6ed1<\/li>\n<\/ul>\n
\u8fd9\u5c31\u662f FOC \u80fd\u540a\u6253\u65b9\u6ce2\u9a71\u52a8\u7684\u6839\u672c\u539f\u56e0\u3002<\/p>\n
2. d \u8f74\u4e0e q \u8f74\u7684\u7269\u7406\u610f\u4e49<\/h2>\n
\u5bf9\u8868\u8d34\u5f0f\u6c38\u78c1\u540c\u6b65\u7535\u673a PMSM（\u6211\u4eec\u5e38\u7528\u7684 BLDC \u7edd\u5927\u591a\u6570\u90fd\u662f\u8fd9\u79cd）：<\/p>\n
- \n
- \n
d \u8f74（direct axis）\u76f4\u8f74\u4e0e\u8f6c\u5b50\u6c38\u78c1\u4f53\u78c1\u573a\u65b9\u5411\u4e00\u81f4\u5bf9\u5e94：\u52b1\u78c1\u5206\u91cf<\/p>\n<\/li>\n
- \n
q \u8f74（quadrature axis）\u4ea4\u8f74\u8d85\u524d d \u8f74 90\u00b0 \u7535\u89d2\u5ea6\u5bf9\u5e94：\u8f6c\u77e9\u5206\u91cf<\/p>\n<\/li>\n<\/ul>\n
\u63a7\u5236\u76ee\u6807\u6781\u5176\u6e05\u6670：<\/h4>\n
- \n
- Id\u200b=0：\u5f31\u78c1\u63a7\u5236\u4ee5\u5916，\u9ed8\u8ba4\u90fd\u8ba9 d \u8f74\u7535\u6d41\u4e3a 0，\u4e0d\u524a\u5f31\u78c1\u573a，\u6548\u7387\u6700\u9ad8<\/li>\n
- Iq\u200b：\u60f3\u529b\u6c14\u5927\u5c31\u52a0\u5927 Iq\u200b，\u60f3\u5239\u8f66\u5c31\u51cf\u5c0f\u751a\u81f3\u53cd\u5411<\/li>\n<\/ul>\n
\u8fd9\u5c31\u662f\u7ecf\u5178\u7684：<\/p>\n
Id\u200b=0 FOC \u63a7\u5236\u7b56\u7565<\/h3>\n
3. \u7535\u89d2\u5ea6 \u03b8 \u662f\u6574\u4e2a\u53d8\u6362\u7684 \u201c\u94a5\u5319\u201d<\/h2>\n
Park \u53d8\u6362\u672c\u8d28\u662f\u77e2\u91cf\u65cb\u8f6c，\u65cb\u8f6c\u591a\u5c11\u5ea6，\u7531\u7535\u89d2\u5ea6 \u03b8 \u51b3\u5b9a\u3002<\/p>\n
\u7535\u89d2\u5ea6\u600e\u4e48\u6765？<\/h4>\n
![](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260812003252-6a7bbf3438803.png\")
<\/p>\n\u03b8 \u7684\u4f5c\u7528：<\/h4>\n
\u5b83\u4ee3\u8868\u5f53\u524d\u8f6c\u5b50\u78c1\u573a\u6307\u5411\u7684\u89d2\u5ea6，\u51b3\u5b9a\u4e86 dq \u5750\u6807\u7cfb\u76f8\u5bf9\u4e8e \u03b1\u03b2 \u5750\u6807\u7cfb\u65cb\u8f6c\u4e86\u591a\u5c11\u3002<\/p>\n
\u6ca1\u6709 \u03b8，Park \u53d8\u6362\u65e0\u4ece\u8c08\u8d77\u3002\u03b8 \u4e0d\u51c6 \u2192 FOC \u76f4\u63a5\u6296\u3001\u5578\u53eb\u3001\u65e0\u529b\u3001\u53d1\u70ed\u3002<\/p>\n
\n4. Park \u53d8\u6362\u6807\u51c6\u516c\u5f0f\u63a8\u5bfc<\/h2>\n
4.1 \u53d8\u6362\u5173\u7cfb<\/h3>\n
\u4ece \u03b1\u03b2 \u9759\u6b62\u5750\u6807\u7cfb，\u9006\u65f6\u9488\u65cb\u8f6c \u03b8，\u5f97\u5230 dq \u65cb\u8f6c\u5750\u6807\u7cfb：<\/p>\n
![](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260812003252-6a7bbf3468cc9.png\")
<\/p>\n5. \u53cd Park \u53d8\u6362（FOC \u8f93\u51fa\u5fc5\u5907）<\/h2>\n
\u7535\u6d41\u73af\u8ba1\u7b97\u5b8c Vd\u200b,Vq\u200b \u4e4b\u540e，\u8981\u53d8\u56de \u03b1\u03b2 \u7ed9 SVPWM \u7528，\u8fd9\u5c31\u662f\u53cd Park\u3002<\/p>\n
\u516c\u5f0f：<\/p>\n
![](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260812003252-6a7bbf34807f4.png\")
<\/p>\n6. \u5b8c\u6574\u4ee3\u7801\u5b9e\u73b0（\u6d6e\u70b9\u7248）<\/h2>\n
6.1 Park \u53d8\u6362<\/h3>\n
#include "math.h"<\/p>\n
\/**
\n * @brief Park \u53d8\u6362: \u03b1\u03b2 \u2192 dq
\n * @param I\u03b1, I\u03b2: \u4e24\u76f8\u9759\u6b62\u7535\u6d41
\n * @param theta: \u7535\u89d2\u5ea6(\u5f27\u5ea6)
\n * @param Id, Iq: \u8f93\u51fa\u76f4\u6d41\u91cf
\n *\/
\nvoid Park_Transform(float Ialpha, float Ibeta, float theta, float *Id, float *Iq)
\n{
\n float sin_theta = sinf(theta);
\n float cos_theta = cosf(theta);<\/p>\n*Id = Ialpha * cos_theta + Ibeta * sin_theta;
\n *Iq = -Ialpha * sin_theta + Ibeta * cos_theta;
\n}<\/p>\n6.2 \u53cd Park \u53d8\u6362<\/p>\n
\/**
\n * @brief \u53cdPark\u53d8\u6362: dq \u2192 \u03b1\u03b2
\n * @param Vd, Vq: \u7535\u538b\u6307\u4ee4
\n * @param theta: \u7535\u89d2\u5ea6(\u5f27\u5ea6)
\n * @param Valpha, Vbeta: \u8f93\u51fa\u9759\u6b62\u5750\u6807\u7cfb\u7535\u538b
\n *\/
\nvoid Inv_Park(float Vd, float Vq, float theta, float *Valpha, float *Vbeta)
\n{
\n float sin_theta = sinf(theta);
\n float cos_theta = cosf(theta);<\/p>\n*Valpha = Vd * cos_theta – Vq * sin_theta;
\n *Vbeta = Vd * sin_theta + Vq * cos_theta;
\n}<\/p>\n7. \u5b9a\u70b9\u4f18\u5316\u7248（\u65e0 FPU \u5355\u7247\u673a\u9002\u7528）<\/h2>\n
\u5bf9 STM32F103 \u7b49\u8d44\u6e90\u7d27\u5f20\u7684 MCU，\u53ef\u4ee5\u7528\u6b63\u5f26\u4f59\u5f26\u8868 + Q15 \u5b9a\u70b9：<\/p>\n
\/\/ \u6b63\u5f26\u4f59\u5f26\u8868(\u03b8:0~360\u00b0,\u7cbe\u5ea61\u00b0), Q15\u683c\u5f0f
\nconst int16_t sin_table[] = {
\n \/\/ \u81ea\u884c\u586b\u5165 0~359\u00b0 \u7684 sin*32767
\n};<\/p>\n#define GET_SIN(deg) sin_table[deg%360]
\n#define GET_COS(deg) sin_table[(deg+90)%360]<\/p>\nvoid Park_Fixed(int16_t Ialpha, int16_t Ibeta, uint16_t theta_deg, int16_t *Id, int16_t *Iq)
\n{
\n int32_t sin_theta = GET_SIN(theta_deg);
\n int32_t cos_theta = GET_COS(theta_deg);<\/p>\n*Id = ((int32_t)Ialpha * cos_theta + (int32_t)Ibeta * sin_theta) >> 15;
\n *Iq = ((int32_t)-Ialpha * sin_theta + (int32_t)Ibeta * cos_theta) >> 15;
\n}<\/p>\n\u5de5\u7a0b\u5efa\u8bae：<\/p>\n
- \n
- \u6709 FPU（F4\/F7\/H7\/G4）\u76f4\u63a5\u7528\u6d6e\u70b9，\u7b80\u5355\u597d\u8c03<\/li>\n
- \u65e0 FPU \u7528\u67e5\u8868\u6cd5，\u901f\u5ea6\u6781\u5feb<\/li>\n<\/ul>\n
\n8. \u4e3a\u4ec0\u4e48\u53d8\u6362\u540e Id\u3001Iq \u662f\u76f4\u6d41（\u6700\u5173\u952e\u7684\u7406\u89e3）<\/h2>\n
\u4e3e\u4e2a\u76f4\u89c2\u4f8b\u5b50：<\/p>\n
- \n
- \u4f60\u7ad9\u5728\u5730\u9762（\u03b1\u03b2）\u770b\u98ce\u8f66\u53f6\u7247，\u4f4d\u7f6e\u4e00\u76f4\u5728\u53d8，\u662f\u4ea4\u6d41<\/li>\n
- \u4f60\u5750\u5728\u98ce\u8f66\u8f6c\u5b50\u4e0a（dq）\u4e00\u8d77\u8f6c，\u53f6\u7247\u76f8\u5bf9\u4f60\u4e0d\u52a8，\u662f\u76f4\u6d41<\/li>\n<\/ul>\n
\u5bf9\u5e94\u5230\u7535\u673a：<\/p>\n
- \n
- \u3001 \u968f\u7535\u89d2\u5ea6\u6b63\u5f26\u6ce2\u52a8<\/li>\n
- \u7528 \u03b8 \u540c\u6b65\u65cb\u8f6c\u540e，\u6ce2\u52a8\u88ab \u201c\u62b5\u6d88\u201d \u4e86<\/li>\n
- \u8f93\u51fa\u7684 \u3001 \u53d8\u6210\u6052\u5b9a\u76f4\u6d41<\/li>\n<\/ul>\n
\u4e8e\u662f：<\/p>\n
- \n
- \u7528 PI \u63a7\u5236\u5668\u53bb\u7a33 Id\u3001Iq<\/li>\n
- \u5c31\u50cf\u63a7\u5236\u7b80\u5355\u76f4\u6d41\u7535\u673a\u4e00\u6837\u8f7b\u677e<\/li>\n<\/ul>\n
\u8fd9\u5c31\u662f FOC \u7684\u6570\u5b66\u9b54\u6cd5\u3002<\/p>\n
\n9. \u5de5\u7a0b\u9ad8\u9891\u8e29\u5751<\/h2>\n
9.1 \u03b8 \u89d2\u5ea6\u65b9\u5411\u53cd\u4e86<\/h3>\n
\u73b0\u8c61：<\/p>\n
- \n
- \u7535\u673a\u4e00\u8f6c\u5c31\u5578\u53eb\u3001\u6296\u52a8\u3001\u7535\u6d41\u5de8\u5927<\/li>\n
- \u6539\u65b9\u5411\u4e5f\u6ca1\u7528<\/li>\n<\/ul>\n
\u539f\u56e0：<\/p>\n
- \n
- \u7535\u89d2\u5ea6 \u03b8 \u9012\u589e\u65b9\u5411\u4e0e\u8f6c\u5b50\u5b9e\u9645\u65cb\u8f6c\u65b9\u5411\u76f8\u53cd<\/li>\n<\/ul>\n
\u89e3\u51b3：<\/p>\n
theta = -theta;<\/p>\n
\u6216\u53cd\u5e8f Hall \u8ba1\u7b97\u89d2\u5ea6\u3002<\/p>\n
9.2 sin\/cos \u89d2\u5ea6\u5355\u4f4d\u4e0d\u7edf\u4e00<\/h3>\n
- \n
- \u4ee3\u7801\u91cc\u7528\u5f27\u5ea6，\u8ba1\u7b97\u65f6\u7528\u89d2\u5ea6<\/li>\n
- \u7ed3\u679c\u5b8c\u5168\u9519\u4e71<\/li>\n<\/ul>\n
\u7edf\u4e00\u89c4\u5219：<\/p>\n
- \n
- C \u8bed\u8a00 math.h：sinf\/cosf \u4e00\u5f8b\u7528\u5f27\u5ea6<\/li>\n
- \u970d\u5c14 \/ \u7f16\u7801\u5668：\u5148\u8f6c\u5f27\u5ea6\u518d\u4f20\u5165<\/li>\n<\/ul>\n
9.3 dq \u8f74\u5b9a\u4e49\u53cd\u4e86<\/h3>\n
\u6709\u4e9b\u8d44\u6599 \/ \u7535\u673a\u5e93\u5b9a\u4e49：Iq\u200b=I\u03b1\u200bsin\u03b8+I\u03b2\u200bcos\u03b8\u7b26\u53f7\u4e0d\u4e00\u6837，\u4f1a\u5bfc\u81f4：<\/p>\n
- \n
- \u529b\u77e9\u65b9\u5411\u76f8\u53cd<\/li>\n
- \u7535\u673a\u98de\u8f66\u3001\u5931\u63a7<\/li>\n<\/ul>\n
\u89e3\u51b3：\u6574\u5957 FOC \u5750\u6807\u7cfb\u4ece\u5934\u5230\u5c3e\u4fdd\u6301\u4e00\u81f4，\u4e0d\u8981\u6df7\u7528\u591a\u5bb6\u5e93\u516c\u5f0f\u3002<\/p>\n
9.4 \u89d2\u5ea6\u5ef6\u8fdf\u672a\u8865\u507f<\/h3>\n
\u7f16\u7801\u5668\u8bfb\u53d6\u3001ADC \u91c7\u6837\u3001\u8fd0\u7b97\u90fd\u9700\u8981\u65f6\u95f4\u03b8 \u5df2\u7ecf\u53d8\u4e86，\u4f60\u8fd8\u7528\u65e7\u89d2\u5ea6\u2192 \u7535\u6d41\u73af\u76f8\u4f4d\u6ede\u540e \u2192 \u4f4e\u901f\u6296\u3001\u9ad8\u901f\u5f31<\/p>\n
\u9ad8\u7aef FOC \u90fd\u4f1a\u505a：\u89d2\u5ea6\u524d\u9988\u8865\u507f \/ \u89c2\u6d4b\u5668\u76f8\u4f4d\u8865\u507f<\/p>\n
9.5 Id \u6ca1\u6709\u7f6e 0<\/h3>\n
\u8868\u8d34\u5f0f\u7535\u673a\u9ed8\u8ba4 Id=0\u5982\u679c\u4f60\u7ed9 Id \u4e00\u4e2a\u968f\u673a\u521d\u59cb\u503c\u4f1a\u51fa\u73b0：<\/p>\n
- \n
- \u529b\u77e9\u5c0f<\/li>\n
- \u7535\u6d41\u5927<\/li>\n
- \u53d1\u70ed\u4e25\u91cd<\/li>\n
- \u6548\u7387\u6781\u4f4e<\/li>\n<\/ul>\n
10. \u5b8c\u6574 FOC \u7535\u6d41\u73af\u7ed3\u6784<\/h2>\n
\u5b8c\u6574\u7684\u7535\u6d41\u73af\u6d41\u7a0b：<\/p>\n
- ADC \u91c7\u6837\u4e09\u76f8\u7535\u6d41 Iu\u200b,Iv\u200b,Iw\u200b<\/li>\n
- Clark \u53d8\u6362 \u2192 I\u03b1\u200b,I\u03b2\u200b<\/li>\n
- Park \u53d8\u6362 \u2192 Id\u200b,Iq\u200b<\/li>\n
- PI \u95ed\u73af：\n
- \n
- Idref\u200b=0<\/li>\n
- Iqref\u200b \u4e3a\u529b\u77e9\u6307\u4ee4<\/li>\n<\/ul>\n<\/li>\n
- \u8f93\u51fa Vd\u200b,Vq\u200b<\/li>\n
- \u53cd Park \u53d8\u6362 \u2192 V\u03b1\u200b,V\u03b2\u200b<\/li>\n
- \u9001\u5165 SVPWM \u751f\u6210\u4e09\u76f8 PWM<\/li>\n
\u8fd9\u5c31\u662f\u6807\u51c6 Id=0 FOC \u63a7\u5236\u67b6\u6784\u3002<\/p>\n
\n11. \u672c\u7ae0\u603b\u7ed3<\/h2>\n
Park \u53d8\u6362\u662f FOC \u771f\u6b63\u7684\u7075\u9b42，\u6838\u5fc3\u5c31 4 \u70b9：<\/p>\n
- \u529f\u80fd：\u03b1\u03b2 \u9759\u6b62 \u2192 dq \u65cb\u8f6c，\u4ea4\u6d41\u53d8\u76f4\u6d41<\/li>\n
- \u6838\u5fc3\u53d8\u91cf：\u7535\u89d2\u5ea6 \u03b8，\u51b3\u5b9a\u65cb\u8f6c\u89d2\u5ea6<\/li>\n
- \u7269\u7406\u610f\u4e49：\n
- \n
- Id：\u52b1\u78c1，\u9ed8\u8ba4 0<\/li>\n
- Iq：\u8f6c\u77e9，\u63a7\u5236\u529b\u6c14<\/li>\n<\/ul>\n<\/li>\n
- \u516c\u5f0f：\u5fc5\u987b\u8bb0\u4f4f\u4e00\u5bf9\u6b63\u53d8\u6362 + \u53cd\u53d8\u6362，\u4ee3\u7801\u76f4\u63a5\u5957\u7528<\/li>\n
\u5230\u8fd9\u91cc，FOC \u6700\u96be\u7684\u6570\u5b66\u90e8\u5206\u5df2\u7ecf\u5168\u90e8\u7ed3\u675f\u3002<\/p>\n
\u00a0<\/p>\n","protected":false},"excerpt":{"rendered":"
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