xiaozhou       发表于 2021-3-15 11:24:23

电机控制位置环调试

目前最新版本 MotorControl Workbench 5.4.4 只有位置环生成的功能,没有相应的调试界面,请教一下大家,对于ST的FOC位置环调试大家是这么弄的?有么有相关的软件推荐一下?:lol



弗兰克 发表于 2021-4-12 18:14:02

可以参考下面的文档

https://www.st.com/resource/en/application_note/dm00691525-position-control-of-a-threephase-permanent-magnet-motor-using-xcubemcsdk-or-xcubemcsdkful-stmicroelectronics.pdf


iwannabefree 发表于 2021-5-8 19:32:22

弗兰克 发表于 2021-4-12 18:14
可以参考下面的文档

https://www.st.com/resource/en/application_note/dm00691525-position-control-of-a ...

可是这个文档没有涉及怎么具体结合DAC功能调试位置环的PID
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
文档提及的上述操作还是难以实际使用的:
因为WorkBench的GUI界面并没有把位置环的PID参数做进去,不能通过GUI界面直接动态调节参数,
只能 修改代码--->编译--->下载不断尝试,这样费时耗力,难以实操作


弗兰克 发表于 2021-5-11 16:14:13

弗兰克 发表于 2021-4-12 18:14
可以参考下面的文档

https://www.st.com/resource/en/application_note/dm00691525-position-control-of-a ...

目前只能在livewatch里面调试
页: [1]
查看完整版本: 电机控制位置环调试