写一个用simplefoc闭环控制无刷电机的代码
时间: 2024-05-11 09:19:05 浏览: 6
以下是一个使用SimpleFOC库进行闭环控制无刷电机的示例代码:
```C++
#include <SimpleFOC.h>
// Motor instance
BLDCMotor motor = BLDCMotor(7);
// define the voltage input pins
#define VOLTAGE_PIN A0 // or any other analog pin
// define the current sense pins
#define PHASE_A_PIN A1 // or any other analog pin
#define PHASE_B_PIN A2 // or any other analog pin
#define PHASE_C_PIN A3 // or any other analog pin
// current sense initialization
// set the zero current voltage (also called Vref) for each phase
CurrentSense3PWM current_sense = CurrentSense3PWM(PHASE_A_PIN, PHASE_B_PIN, PHASE_C_PIN, VOLTAGE_PIN, 0.5, 0.5, 0.5, 0.0);
// motor control loop function
void controlLoop() {
// set the target voltage (in volts)
float target_voltage = 5.0;
// get the current values
current_sense.loopFOC();
// set the target current (in amps)
float target_current = target_voltage / motor.voltage_limit;
// set the target current to the motor
motor.move(target_current);
}
void setup() {
// initialize the serial communication
Serial.begin(115200);
// initialize the motor
motor.init();
// set the voltage limit for the motor
motor.voltage_limit = 12.0;
// set the current limit for the motor
motor.current_limit = 1.0;
// set the control loop function
motor.controlLoop = controlLoop;
// set the current sense object to the motor
motor.current_sense = ¤t_sense;
// initialize the current sense
current_sense.init();
// enable the motor
motor.enable();
}
void loop() {
// run the motor control loop
motor.loopFOC();
// print the motor angle and voltage to the serial monitor
Serial.print(motor.shaft_angle, 3);
Serial.print("\t");
Serial.println(motor.voltage);
}
```
这个例子中,我们使用了SimpleFOC库和一个BLDCMotor类实例来控制无刷电机。我们还使用了一个CurrentSense3PWM类实例来读取电机的电流和电压。在controlLoop()函数中,我们设置了目标电压,并使用FOC库的move()函数将目标电流设置到电机上。在setup()函数中,我们初始化了电机和当前感应器,设置了电压和电流限制,并启用了电机。在loop()函数中,我们运行了电机控制循环,并将电机角度和电压打印到串口监视器中。
请注意,这只是一个简单的示例,您需要根据您的具体应用程序进行调整和修改。