电压环采用PI,
调试时,加上比例环节系数kp,输出波形正常,是一个基本对称的正弦波.
但是加上积分环节Ki后,输出波形上移,波形上下严重不对称.
初步分析,由于输出电压ADC采样和正弦波基准比较后误差含有直流分量导致..
不知道各位大侠有没有什么好的解决方案.
只加比例调节时的波形(ch1:驱动, ch2:输出电压)
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加上ki积分环节,后....
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