每ms加一只会使速度上升速度越来越高,不能这么做,要用matlab按照矩频特性生成一个加速曲线表。
生成的原理是,转一个角度提供的能量是相同的,加速时每步的动能增量相同(供电电压足够的情况下);速度再高是由于反电势接近电源电压就不能再这么算,只能近似把每步动能增量降下来。
然后就算得以下这样的速表:
#ifndef _STEPACCPERIOD_V2_H_
#define _STEPACCPERIOD_V2_H_
const u16 stepaccperiod[] = 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