foc算法 C语言代码

FOC（Field Oriented Control）算法是一种控制交流电机的方法，主要用于永磁同步电机（PMSM）和感应电机（IM）等电机类型。它可以使电机输出更加精确和稳定的转矩和速度。

以下是FOC算法的C语言代码示例：

#include <math.h>

// PI控制器结构体
typedef struct {
    float kp;
    float ki;
    float integrator;
    float error;
    float outMax;
    float outMin;
} PI_Controller;

// 相量结构体
typedef struct {
    float d;
    float q;
} VECTOR;

// FOC控制器结构体
typedef struct {
    float idRef;
    float iqRef;
    float id;
    float iq;
    float vd;
    float vq;
    float theta;
    float sinTheta;
    float cosTheta;
    float speed;
    float torque;
    float currentMax;
    float voltageMax;
    float kv;
    float ki;
    float kp;
    PI_Controller piD;
    PI_Controller piQ;
} FOC_Controller;

// 初始化PI控制器
void PI_Init(PI_Controller* pi, float kp, float ki, float outMax, float outMin) {
    pi->kp = kp;
    pi->ki = ki;
    pi->outMax = outMax;
    pi->outMin = outMin;
    pi->integrator = 0;
    pi->error = 0;
}

// 计算PI控制器输出
float PI_Update(PI_Controller* pi, float error) {
    float output;
    pi->error = error;
    pi->integrator += pi->ki * pi->error;
    if (pi->integrator > pi->outMax) {
        pi->integrator = pi->outMax;
    } else if (pi->integrator < pi->outMin) {
        pi->integrator = pi->outMin;
    }
    output = pi->kp * pi->error + pi->integrator;
    if (output > pi->outMax) {
        output = pi->outMax;
    } else if (output < pi->outMin) {
        output = pi->outMin;
    }
    return output;
}

// 初始化FOC控制器
void FOC_Init(FOC_Controller* foc, float currentMax, float voltageMax, float kv, float ki, float kp) {
    PI_Init(&foc->piD, kp, ki, voltageMax, -voltageMax);
    PI_Init(&foc->piQ, kp, ki, voltageMax, -voltageMax);
    foc->idRef = 0;
    foc->iqRef = 0;
    foc->id = 0;
    foc->iq = 0;
    foc->vd = 0;
    foc->vq = 0;
    foc->theta = 0;
    foc->sinTheta = 0;
    foc->cosTheta = 1;
    foc->speed = 0;
    foc->torque = 0;
    foc->currentMax = currentMax;
    foc->voltageMax = voltageMax;
    foc->kv = kv;
    foc->ki = ki;
    foc->kp = kp;
}

// 计算FOC控制器输出
void FOC_Update(FOC_Controller* foc, float ia, float ib, float ic, float angle, float speedRef) {
    VECTOR iabc;
    VECTOR ialphaBeta;
    VECTOR valphaBeta;
    VECTOR valphaBetaStar;
    VECTOR valphaBetaDQ;
    VECTOR idq;
    float thetaDelta;
    float sinThetaDelta;
    float cosThetaDelta;
    float error;
    float vdc;
    float vMax;
    float speedErr;

    iabc.d = 2 / 3.0 * (ia - 0.5 * ib - 0.5 * ic);
    iabc.q = 2 / 3.0 * (0.866 * ib - 0.866 * ic);

    ialphaBeta.d = iabc.d * foc->cosTheta + iabc.q * foc->sinTheta;
    ialphaBeta.q = -iabc.d * foc->sinTheta + iabc.q * foc->cosTheta;

    vdc = sqrt(2.0 / 3.0) * foc->kv * foc->speed;
    vMax = foc->voltageMax - vdc;

    foc->idRef = PI_Update(&foc->piD, foc->idRef - ialphaBeta.d);
    foc->iqRef = PI_Update(&foc->piQ, foc->iqRef - ialphaBeta.q);

    idq.d = foc->idRef;
    idq.q = foc->iqRef;

    valphaBetaDQ.d = foc->cosTheta * foc->vq - foc->sinTheta * foc->vd;
    valphaBetaDQ.q = foc->sinTheta * foc->vq + foc->cosTheta * foc->vd;

    valphaBetaStar.d = idq.d * foc->kp + idq.q * foc->ki;
    valphaBetaStar.q = idq.q * foc->kp - idq.d * foc->ki;

    valphaBeta.d = valphaBetaDQ.d + valphaBetaStar.d;
    valphaBeta.q = valphaBetaDQ.q + valphaBetaStar.q;

    if (valphaBeta.d > vMax) {
        valphaBeta.d = vMax;
    } else if (valphaBeta.d < -vMax) {
        valphaBeta.d = -vMax;
    }

    if (valphaBeta.q > vMax) {
        valphaBeta.q = vMax;
    } else if (valphaBeta.q < -vMax) {
        valphaBeta.q = -vMax;
    }

    valphaBetaDQ.d = foc->cosTheta * valphaBeta.q + foc->sinTheta * valphaBeta.d;
    valphaBetaDQ.q = -foc->sinTheta * valphaBeta.q + foc->cosTheta * valphaBeta.d;

    foc->vd = valphaBetaDQ.d;
    foc->vq = valphaBetaDQ.q;

    thetaDelta = angle - foc->theta;
    sinThetaDelta = sin(thetaDelta);
    cosThetaDelta = cos(thetaDelta);

    foc->theta = angle;
    foc->sinTheta = sinThetaDelta * foc->cosTheta + cosThetaDelta * foc->sinTheta;
    foc->cosTheta = cosThetaDelta * foc->cosTheta - sinThetaDelta * foc->sinTheta;

    foc->id = ialphaBeta.d * foc->cosTheta - ialphaBeta.q * foc->sinTheta;
    foc->iq = ialphaBeta.q * foc->cosTheta + ialphaBeta.d * foc->sinTheta;

    foc->speed = foc->ki * (foc->iqRef - foc->iq);
    speedErr = speedRef - foc->speed;
    error = speedErr * foc->kp;
    error = error > foc->currentMax ? foc->currentMax : error;
    error = error < -foc->currentMax ? -foc->currentMax : error;
    foc->torque = error;
}

以上代码仅供参考，实际使用时需要根据具体情况进行调整和优化。