FOC无感开环启动排除掉高频注入这种直接识别当前转子dq轴的位置直接闭环启动，大部分的常规启动方式就是三段式启动，对齐-强拖-观测器介入-观测器误差稳定后平滑过渡-闭环。

这里就只写出I/F（V/F）启动的角度输出的代码，力矩就是一条y=kx+b的直线，没什么好说的。

这里的逻辑是我搭建的Simulink仿真的逻辑

simulink仿真如下图

相关参数

#define MOTOR_POLE_PAIRS		4	//4对极#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

开环启动控制头文件

struct OpenLoopControl
{int8_t CloseLoopFlag;		//指示是否可以切入闭环float StartAngle;				//初始角度,对齐的角度float OpenLoopAngleAcc;	//角加速度float OpenLoopAngleSpeed;	//角速度float OpenLoopElecTheta;	//电角度uint16_t OpenLoopAccCount;	//计数器uint16_t OpenLoopAccTime;	//时间float OpenLoopOutAngle;	//计算出的开环实际角度float OpenLoopTorqueSlop;	//开环力矩斜率float OpenLoopOutTorque;	//计算出的实际力矩，V/F是电压，I/F是电流
};void OpenLoopSlopInit(void);
void OpenLoopCtrl(void);

相关实现

#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;
}	//开环曲线计算
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;}
}

该开环启动算法是在1ms的周期执行的实测如下