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归零的FOC低力矩控制，是否可由位置差来控制 #167

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huangwm999 opened this issue Jan 28, 2023 · 0 comments
Open

归零的FOC低力矩控制，是否可由位置差来控制 #167

huangwm999 opened this issue Jan 28, 2023 · 0 comments

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@huangwm999
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您好，目前的归零和定位设计非常简洁和高效，但FOC的无感模式需要硬件电路上支持，忍不住考虑是否可以移除FOC的无感模式

  1. 目前使用了FOC的力矩变大作为归零依据

  2. 到达机械零点时绝对值编码器的读取值应该也是有所体现

  3. 是否可能以这个做为规律依据

  4. 产生位置的相位差异应该等效于力矩变化量

  5. 这样FOC的力矩控制可能不是必要的，这样可能可以简化FOC和电路的一些部分

  6. 当然 使用FOC的力矩模式，进行动作学习的那个功能也是依赖FOC的力矩模式

  7. 但不妨可考虑把静态情况下的位置值变化作为跟随依据
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