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ESP32 simple foc 移植odriver anti-cogging.

1.硬件，在淘宝买的。esp32 +simple foc(最新). 下电阻三采样。

2. 效果，见视频https://www.bilibili.com/video/BV1xg4y1X7Yr/?vd_source=4fd70d693021f289fb2d339c6c040719

3.代码添加（生成前馈数组，就与补偿齿槽效应的扭矩）

void loop() {static int ccc,changed_tar,dis_cc;static float tar = 0;// iterative setting FOC phase voltagemotor.loopFOC();// iterative function setting the outter loop targetmotor.move();if (1){if (fabs(motor.shaftVelocity())<0.0001 && fabs(motor.shaftAngle()-tar)<0.0003 && ccc>100 && changed_tar){char bufcmd1[50];if (changed_tar == 1){ccc = 0;changed_tar = 2;}else{   sprintf(bufcmd1,"stop:%f %f %f %f %f",tar*180/3.14159,motor.shaftAngle()*180/3.14159,fabs(motor.shaftAngle()-tar)*180/3.14159,motor.shaftVelocity(),motor.current_sp);Serial.println(bufcmd1);ccc = 10001;changed_tar = 0;}}if(ccc++>10000 && changed_tar == 0){char bufcmd[50];unsigned int buf;changed_tar = 1;ccc = 0;tar +=0.0035;//0.2 degreemotor.target = tar;}}// monitoring the state variables
//  motor.monitor();   //会影响程序执行速度，与studio交互的配置3共3处// user communicationcommand.run();}

补偿位置 ，在BLDCMotor.cpp下的。void BLDCMotor::move(float new_target)

case MotionControlType::velocity:static int ffccc;int ttt;// velocity set point - sensor precision: this calculation is numerically precise.shaft_velocity_sp = target;// calculate the torque commandif (shaft_angle<0){ind = floor(fmod(-shaft_angle,2*_PI)*286.0f);}else{ind = floor(fmod(shaft_angle,2*_PI)*286.0f);}ttt = ind;if (ind>=1797)ind = 1796;if (ind<=0)ind = 0;current_sp = anti_cogging_map[ind]*anti_cogging_coef+PID_velocity(shaft_velocity_sp - shaft_velocity); // if current/foc_current torque controlif (ffccc++>20000){char buf[40];ffccc = 0;sprintf(buf,"V:%f %f %f %d %d",target,current_sp,shaft_angle,ttt,torque_controller);Serial.println(buf);}// if torque controlled through voltage control

基本原理

• 就是每次步进一个很小的角度（我这里是0.2度），选择360度，然后生成一个大的数组，以后在到达的角度固定前馈进去就行了，主要是保存上面的motor.current_sp.存成一个数组就行了。

后续再补充。