BLDC 控制算法疑问

roger8408 · 发表于 2016-6-27 11:39:48

通过给定位移dis,时间t，加速度acc就能让电机自动运行，这样的算法看不懂，公式是根据哪类曲线推算出来，求大神解析一下：

unsigned char setTPath(int64_t dis,int64_t t,int acc)
{

   treferencepos=getPosition();
   t_destin=dis;
   dis=1000*(dis-treferencepos);
   t=10*t;
   if(vel>0)
   {
         dec=-acc;
         if(vel*t-vel*vel/acc/2>dis)
         {
            if(vel*vel/acc/2>dis)
            dec=acc;
            acc=-acc;

         }
}
else
{
      dec=acc;
      if(vel*t+vel*vel/acc/2>dis)
      {
         acc=-acc;
      }
      else
      {
         if(vel*vel/acc/2<dis)
            dec=-acc;
      }

}
if(dec/acc==-1)
{
         temp=t*t+2*vel*t/acc-4*dis/acc+3*vel*vel/acc/acc;
         if(temp<0)return 1;
         temp=sqrt(temp);
         acctime=(t-vel/acc-temp)/2;
         dectime=t-(acctime+vel/acc);

         if(acctime>0&&dectime>acctime&&dectime<t)
         ;
         else
         {
            acctime=(t-vel/acc+temp)/2;
            dectime=t-(acctime+vel/acc);
            if(acctime>0&&dectime>acctime&&dectime<t)
                  ;
            else
            return 2;
         }
}
else
{
         acctime=(dis-vel*t-vel*vel/2/acc)/(vel+acc*t);
         dectime=t+vel/acc+acctime;
}
return 0;
}