diy无感无刷电机霍尔安装_无感无刷电机驱动制作

243行：

#define SPEED_LOOP_FREQUENCY_HZ       1000

#define PID_SPEED_KP_DEFAULT  19736   //PID中P值初始值

#define PID_SPEED_KI_DEFAULT  800     //PID中I值初始值

#define PID_SPEED_KD_DEFAULT  0

#define SP_KPDIV      512     //PID中P值除以的系数 越大则P的控制越弱

#define SP_KIDIV      16384   //PID中I值除以的系数

#define SP_KDDIV      16

#define SPD_DIFFERENTIAL_TERM_ENABLING DISABLE   //PID中微分未使用

电机启动参数调节(分几步开环启动及所需的时间、速度等)：

#define ALIGNMENT_DURATION      700

#define ALIGNMENT_ANGLE_DEG     90

#define FINAL_I_ALIGNMENT       2997

// With ALIGNMENT_ANGLE_DEG equal to 90 degrees final alignment

// phase current = (FINAL_I_ALIGNMENT * 1.65/ Av)/(32767 * Rshunt)

// being Av the voltage gain between Rshunt and A/D input

#define STARTING_ANGLE_DEG     90  

#define PHASE1_DURATION100

#define PHASE1_FINAL_SPEED_RPM 50

#define PHASE1_FINAL_CURRENT   2075

#define PHASE2_DURATION500

#define PHASE2_FINAL_SPEED_RPM 500

#define PHASE2_FINAL_CURRENT   2151

#define PHASE3_DURATION200

#define PHASE3_FINAL_SPEED_RPM 1000

#define PHASE3_FINAL_CURRENT   2227

#define PHASE4_DURATION200

#define PHASE4_FINAL_SPEED_RPM 2000

#define PHASE4_FINAL_CURRENT   4150 //4150

#define PHASE5_DURATION2000

#define PHASE5_FINAL_SPEED_RPM 2000

#define PHASE5_FINAL_CURRENT   4150 //4150

#define ENABLE_SL_ALGO_FROM_PHASE      3  //启动需几个阶段