关于Fast 角度增量 extern void EST_setForceAngleDelta_pu(EST_Handle handle,const _iq angleDelta_pu);

//! \brief Sets the force angle delta value in the estimator in per unit (pu), IQ24.
//! \details This function sets a forced angle delta, which represents the increments
//! to be added to or subtracted from the forced angle. The higher this value is, the higher
//! frequency will be generated when the angle is forced (estimated angle is bypassed when//! in forced angle mode). By default the forced angle frequency is set in user.h.//! The following example shows how to set a forced angle frequency from Hertz (Hz) to per unit:
//! \code
//! #define USER_NUM_ISR_TICKS_PER_CTRL_TICK (1)
//! #define USER_NUM_CTRL_TICKS_PER_EST_TICK (1)
//! #define USER_PWM_FREQ_kHz (15.0)
//! #define USER_ISR_FREQ_Hz (USER_PWM_FREQ_kHz * 1000.0)
//! #define USER_CTRL_FREQ_Hz (uint_least32_t)(USER_ISR_FREQ_Hz/USER_NUM_ISR_TICKS_PER_CTRL_TICK)
//! #define USER_EST_FREQ_Hz (uint_least32_t)(USER_CTRL_FREQ_Hz/USER_NUM_CTRL_TICKS_PER_EST_TICK)
//! #define USER_FORCE_ANGLE_FREQ_Hz (1.0)
//!
//! _iq delta_hz_to_pu_sf = _IQ(1.0/(float_t)USER_EST_FREQ_Hz);
//! _iq Force_Angle_Freq_Hz = _IQ(USER_FORCE_ANGLE_FREQ_Hz);
//! _iq Force_Angle_Delta_pu = _IQmpy(Force_Angle_Freq_Hz, delta_hz_to_pu_sf);
//!
//! EST_setForceAngleDelta_pu(handle, Force_Angle_Delta_pu);
//! \endcode
//! \param[in] handle The estimator (EST) handle
//! \param[in] angleDelta_pu The force angle delta value, pu
extern void EST_setForceAngleDelta_pu(EST_Handle handle,const _iq angleDelta_pu);

我 想改变 强迫角度频率 的加速时间  ，用这个函数不起作用。 即使是 EST_setForceAngleDelta_pu(EST_Handle handle,0)，  还是一下就启动到强迫频率。 如何使用这个函数？

Susan Yang：

进入force angle后，如果目标转速低于force angle设定的频率，那么会以force angle的频率选择，一般设定是1~2Hz, 如果设定的目标转速大于force angle的频率，那么用force angle 转动后，电机会慢慢加速到目标转速。

理论上您可以使用函数EST_setForceAngleDelta_pu（）快速更改force angle的频率，参考下图