4008云台电机FOC控制程序
使用MT6813编码器通过spi通讯获取位置绝对值
uart串口实现modbus RTU通讯
电流环16K，速度环8K，位置环4K
STM32F103C8T6主控，开发环境keil
基本思路： 定时器计数触发ADC采样，ADC采样完成触发回调函数进行foc运算，更新三路mos管占空比计数值 启动程序强拖校准电机对齐alpha轴
ADC注入采样采集双下桥电流 STM32配置定时器1通道4触发adc采样，foc控制函数放在ADC采样完成回调函数 定点数运算+移位+查表，提升程序运行速度
添加多个控制模式
编码器校正模式1：用于获取启动时编码器角度与alpha轴设置0角度的差值，同时通过正反转方式获取编码器线性修正值，在后续角度计算中做线性插补；
占空比模式2：进行三相占空比控制，可以设置三相占空比数值，用于判断电机三相驱动与控制是否正常；
开环电压模式3：可以设置需要的Ualpha和Ubeta，然后进行SVPWM控制，主要用于验证FOC算法是否正确；
底层具体配置详见STM32CubeMX文件 FOC_Mini_Board.ioc keil工程启动文件在MDK-ARM文件中 主要文件分为Algorithm、Application、Hardware、Infrastructure四个文件
其中Algorithm包含基本FOC算法、PID控制环和角度正余弦查表
Application包含编码器SPI通讯、串口modbus通讯、滤波、通讯变量字典
Hardware包含硬件和底层的参数配置
Infrastructure包含底层文件配置，从CubeMx中底层代码生成后部分修改拷贝过来
硬件原理图：https://oshwhub.com/wjz-wind/low_power_driver_motor_board_copy
8010 gimbal motor FOC control program
Using MT6813 encoder to obtain absolute position value through SPI communication
Implementing Modbus RTU communication through UART serial port
Current loop 16K, speed loop 8K, position loop 4K
STM32F103C8T6 main control, development environment keil
Basic idea: Timer counting triggers ADC sampling, ADC sampling completes triggering callback function for FOC operation, updating the duty cycle count values of three MOSFETs
Start the program to forcefully drag the calibration motor to align with the alpha axis
ADC injection sampling for dual bridge current acquisition
STM32 configuration timer 1, channel 4 triggers ADC sampling, and the FOC control function is placed in the ADC sampling completion callback function
Fixed point number operation+shift+table lookup to improve program running speed
The specific configuration of the underlying layer can be found in the STM32CubeMX file FOC_ Mini_ Board.ioc
The Keil project startup file is in the MDK-ARM file
The main files are divided into four categories: Algorithm, Application, Hardware, and Infrastructure
Among them, Algorithm includes basic FOC algorithm, PID control loop, and angle sine and cosine lookup table
Application includes encoder SPI communication, serial port modbus communication, filtering, and communication variable dictionary Hardware includes hardware and underlying parameter configurations
Infrastructure includes underlying file configurations, which are partially modified and copied from CubeMx after generating the underlying code
Hardware schematic diagram：https://oshwhub.com/wjz-wind/low_power_driver_motor_board_copy