FOC無感開環啟動排除掉高頻注入這種直接識別當前轉子dq軸的位置直接閉環啟動，大部分的常規啟動方式就是三段式啟動，對齊-強拖-觀測器介入-觀測器誤差穩定后平滑過渡-閉環。

這里就只寫出I/F（V/F）啟動的角度輸出的代碼，力矩就是一條y=kx+b的直線，沒什么好說的。

這里的邏輯是我搭建的Simulink仿真的邏輯

simulink仿真如下圖

相關參數

#define MOTOR_POLE_PAIRS		4	//4對極#define OPEN_LOOP_END_SPEED									300	//RPM
#define OPEN_LOOP_END_TIME									20			//Second
#define OPEN_LOOP_FREQ											0.001f	//1kHz#define OPEN_LOOP_CURRENT                   0.2f      
#define OPEN_LOOP_CURRENT_END								1.1f
#define OPEN_LOOP_VOLTAGE                   0.4f        
#define OPEN_LOOP_VOLTAGE_END								1.1f#define OPEN_LOOP_TORQUE_DURATION						500	//ms

開環啟動控制頭文件

struct OpenLoopControl
{int8_t CloseLoopFlag;		//指示是否可以切入閉環float StartAngle;				//初始角度,對齊的角度float OpenLoopAngleAcc;	//角加速度float OpenLoopAngleSpeed;	//角速度float OpenLoopElecTheta;	//電角度uint16_t OpenLoopAccCount;	//計數器uint16_t OpenLoopAccTime;	//時間float OpenLoopOutAngle;	//計算出的開環實際角度float OpenLoopTorqueSlop;	//開環力矩斜率float OpenLoopOutTorque;	//計算出的實際力矩，V/F是電壓，I/F是電流
};void OpenLoopSlopInit(void);
void OpenLoopCtrl(void);

相關實現

#define PI		3.11415926535f
#define PI_2 (2 * PI)
#define RadGain	2 * PI / 60.0fstatic void OpenLoopTorqueCtrl(void);
static void OpenLoopAngleCtrl(void);struct OpenLoopControl _sOpenLoopHandle;//初始化
void OpenLoopSlopInit(void)
{_sOpenLoopHandle.CloseLoopFlag = 0;_sOpenLoopHandle.OpenLoopOutAngle = 0;_sOpenLoopHandle.OpenLoopOutTorque = OPEN_LOOP_CURRENT;_sOpenLoopHandle.StartAngle = 0;_sOpenLoopHandle.OpenLoopAngleAcc = OPEN_LOOP_END_SPEED * MOTOR_POLE_PAIRS * RadGain / OPEN_LOOP_END_TIME;_sOpenLoopHandle.OpenLoopAccCount = 0;_sOpenLoopHandle.OpenLoopAccTime = (OPEN_LOOP_END_TIME / OPEN_LOOP_FREQ);_sOpenLoopHandle.OpenLoopAngleSpeed = 0.0f;_sOpenLoopHandle.OpenLoopElecTheta = 0.0f;_sOpenLoopHandle.OpenLoopOutAngle = 0.0f;_sOpenLoopHandle.OpenLoopTorqueSlop = (OPEN_LOOP_CURRENT_END - OPEN_LOOP_CURRENT) / OPEN_LOOP_TORQUE_DURATION;
}	//開環曲線計算
void OpenLoopCtrl(void)
{OpenLoopTorqueCtrl();OpenLoopAngleCtrl();_sOpenLoopHandle.OpenLoopOutAngle = fmodf(_sOpenLoopHandle.OpenLoopElecTheta ,PI_2);}	static void OpenLoopTorqueCtrl(void)
{if(_sOpenLoopHandle.OpenLoopOutTorque < OPEN_LOOP_CURRENT_END){_sOpenLoopHandle.OpenLoopOutTorque += _sOpenLoopHandle.OpenLoopTorqueSlop;}else{_sOpenLoopHandle.OpenLoopOutTorque = OPEN_LOOP_CURRENT_END;}
}static void OpenLoopAngleCtrl(void)
{if(_sOpenLoopHandle.OpenLoopAccCount < _sOpenLoopHandle.OpenLoopAccTime){_sOpenLoopHandle.OpenLoopAngleSpeed += _sOpenLoopHandle.OpenLoopAngleAcc * OPEN_LOOP_FREQ;_sOpenLoopHandle.OpenLoopElecTheta += _sOpenLoopHandle.OpenLoopAngleSpeed * OPEN_LOOP_FREQ;_sOpenLoopHandle.OpenLoopAccCount++;}else{_sOpenLoopHandle.OpenLoopElecTheta += _sOpenLoopHandle.OpenLoopAngleSpeed * OPEN_LOOP_FREQ;}
}

該開環啟動算法是在1ms的周期執行的實測如下