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Parameter.h

Parameter.h 9.3 KB
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  1. #ifndef __Parameter_H_
    2. 

  2. #define __Parameter_H_
    3. 

  3. #include <SystemDefinition.h>
    4. 

  4. 

  5. #define SystemPowerUpTime               (15000)                                                       // 上电等待时间，cpu计数时钟
    6. 

  6. /*芯片参数值------------------------------------------------------------------*/
    7. 

  7. /*CPU and PWM Parameter*/
    8. 

  8. 

  9. /*CPU Parameter*/
    10. 

  10. #define MCU_CLOCK                       (24.0)                                                        ///< (MHz) 主频
    11. 

  11. 

  12. #define PWM_CYCLE                       (1000.0 / PWM_FREQUENCY)                                      ///< 周期us
    13. 

  13. #define SAMP_FREQ                       (PWM_FREQUENCY * 1000)                                        ///< 采样频率(HZ)
    14. 

  14. #define TPWM_VALUE                      (1.0 / SAMP_FREQ)                                             ///< 载波周期(S)
    15. 

  15. #define PWM_VALUE_LOAD                  (uint16)(MCU_CLOCK * 1000 *2 / PWM_FREQUENCY)                 ///< PWM 定时器重载值 20190514修改
    16. 

  16. 

  17. #define SAcc_Value(SpeedValue)          ((float)32767.0*(SpeedValue*LOOP_TIME/1000.0) / MOTOR_SPEED_BASE)
    18. 

  18. 

  19. 

  20. /*three resistor overmodule Parameter*/
    21. 

  21. #define OVERMOD_TIME                    (2.0)                                                         ///< 三电阻过调制时间(us)，建议值2.0
    22. 

  22. /*deadtime compensation*/
    23. 

  23. #define DT_TIME                         (0.0)                                                         ///< 死区补偿时间(us)，适用于双电阻和三电阻，建议值是1/2死区时间
    24. 

  24. /*min pulse*/
    25. 

  25. #define GLI_TIME                        (0.0)                                                         ///< 桥臂窄脉宽消除(us),建议值0.5
    26. 

  26. 

  27. /*deadtime Parameter*/
    28. 

  28. #define PWM_LOAD_DEADTIME               (PWM_DEADTIME * MCU_CLOCK)                                    ///< 死区设置值
    29. 

  29. #define PWM_OVERMODULE_TIME             (OVERMOD_TIME * MCU_CLOCK / 2)                                ///< 过调制时间
    30. 

  30. #define PWM_DLOWL_TIME                  (DLL_TIME * MCU_CLOCK / 2)                                    ///<下桥臂最小时间
    31. 

  31. /*single resistor sample Parameter*/
    32. 

  32. #define PWM_TS_LOAD                     (uint16)(_Q16 / PWM_CYCLE * MIN_WIND_TIME / 16)               ///< 单电阻采样设置值
    33. 

  33. #define PWM_DT_LOAD                     (uint16)(_Q16 / PWM_CYCLE * DT_TIME / 16)                     ///< 死区补偿值
    34. 

  34. #define PWM_TGLI_LOAD                   (uint16)(_Q16 / PWM_CYCLE * (GLI_TIME + PWM_DEADTIME) / 16)   ///< 最小脉冲
    35. 

  35. 

  36. /*硬件板子参数设置值------------------------------------------------------------------*/
    37. 

  37. /*hardware current sample Parameter*/
    38. 

  38. 

  39. 

  40. #if (HW_ADC_VREF==VREF5_0)
    41. 

  41.  #define HW_ADC_REF                     (5.0)                                    ///< (V)  ADC参考电压
    42. 

  42. #elif (HW_ADC_VREF==VREF4_5)
    43. 

  43.  #define HW_ADC_REF                     (4.5)                                    ///< (V)  ADC参考电压
    44. 

  44. #elif (HW_ADC_VREF==VREF4_0)
    45. 

  45.  #define HW_ADC_REF                     (4.0)                                    ///< (V)  ADC参考电压
    46. 

  46. #elif (HW_ADC_VREF==VREF3_0)
    47. 

  47.  #define HW_ADC_REF                     (3.0)                                    ///< (V)  ADC参考电压
    48. 

  48. #endif
    49. 

  49. 

  50. #define RV                              ((RV1 + RV2 ) / RV2)               ///< 分压比
    51. 

  51. /* -----时间设置值----- */
    52. 

  52. #define Calib_Time						(1000)  
    53. 

  53. /* -----保护参数值----- */
    54. 

  54. #define GetCurrentOffsetValueLow		(16383-GetCurrentOffsetValue)                                                      ///<  偏置电压差值低点 
    55. 

  55. #define GetCurrentOffsetValueHigh		(16383+GetCurrentOffsetValue)                                                      ///<  偏置电压差值高点 
    56. 

  56. 

  57. /*电流基准的电路参数*/
    58. 

  58. #define HW_BOARD_CURR_MAX               (HW_ADC_REF / 2 / HW_AMPGAIN / HW_RSHUNT)                     ///< 最大采样电流
    59. 

  59. #define HW_BOARD_CURR_MIN               (-HW_BOARD_CURR_MAX)                                          ///< 最小采样电流
    60. 

  60. #define HW_BOARD_CURR_BASE              (HW_BOARD_CURR_MAX * 2)                                       ///< 电流基准
    61. 

  61. 

  62. /*hardware voltage sample Parameter*/
    63. 

  63. /*母线电压采样分压电路参数*/
    64. 

  64. #define HW_BOARD_VOLT_MAX               (HW_ADC_REF * RV)                           ///< (V)  ADC可测得的最大母线电压
    65. 

  65. #define HW_BOARD_VOLTAGE_BASE           (HW_BOARD_VOLT_MAX / 1.732)                 ///< 电压基准
    66. 

  66. 

  67. 

  68. /*硬件过流保护DAC值*/
    69. 

  69. #define DAC_OverCurrentValue            _Q8(I_ValueX(HWOCValue)) + 0x7F             ///< 该结果是进行了右移一位的结果
    70. 

  70. #define Align_Theta                     _Q15((float)Align_Angle / 180.0)
    71. 

  71. 

  72. 

  73. /* obsever parameter set value */
    74. 

  74. #define BASE_FREQ                       ((MOTOR_SPEED_BASE / 60.0) * Pole_Pairs)                        ///< 基准频率
    75. 

  75. 

  76. #define MAX_BEMF_VOLTAGE                ((MOTOR_SPEED_BASE*Ke)/(1000.0))
    77. 

  77. #define MAX_OMEG_RAD_SEC                ((float)(_2PI*BASE_FREQ))
    78. 

  78. 

  79. #define ATT_COEF                       (0.85)                                  ///< 无需改动
    80. 

  80. 

  81. 

  82. //自适应估算器模式使能
    83. 

  83. #if (EstimateAlgorithm == AO) 
    84. 

  84.     #define OBS_K1T                     _Q11((1.0*3.0/(125.0*1.0))*(LQ/TPWM_VALUE)*(HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE))
    85. 

  85.     #define OBS_K2T                     _Q11(0.8*RS*HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE)
    86. 

  86.     #define OBS_K3T                     _Q8(2.5)
    87. 

  87.     #define OBS_K4T                     _Q15(((LD-LQ)*TPWM_VALUE*MAX_OMEG_RAD_SEC)/(LD+RS*TPWM_VALUE))
    88. 

  88. #else
    89. 

  89.     #define OBS_K1T                     _Q15(LD/(LD+RS*TPWM_VALUE))
    90. 

  90.     #define OBS_K2T                     _Q13(1.4*(TPWM_VALUE/(LD+RS*TPWM_VALUE))*(HW_BOARD_VOLTAGE_BASE/HW_BOARD_CURR_BASE))
    91. 

  91.     #define OBS_K3T                     _Q15((TPWM_VALUE/(LD+RS*TPWM_VALUE))*(MAX_BEMF_VOLTAGE/HW_BOARD_CURR_BASE))
    92. 

  92.     #define OBS_K4T                     _Q15(((LD-LQ)*TPWM_VALUE*MAX_OMEG_RAD_SEC)/(LD+RS*TPWM_VALUE))
    93. 

  93. #endif
    94. 

  94. 

  95. 

  96. #define OBSW_KP_GAIN_START              _Q12(2*_2PI*ATT_COEF*ATO_BW_START/BASE_FREQ)
    97. 

  97. #define OBSW_KI_GAIN_START              _Q15(_2PI*ATO_BW_START*ATO_BW_START*TPWM_VALUE/BASE_FREQ)
    98. 

  98. 

  99. #define OBSW_KP_GAIN_RUN1               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN1/BASE_FREQ)
    100. 

  100. #define OBSW_KI_GAIN_RUN1               _Q15(_2PI*ATO_BW_RUN1*ATO_BW_RUN1*TPWM_VALUE/BASE_FREQ)
    101. 

  101. 

  102. #define OBSW_KP_GAIN_RUN2               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN2/BASE_FREQ)
    103. 

  103. #define OBSW_KI_GAIN_RUN2               _Q15(_2PI*ATO_BW_RUN2*ATO_BW_RUN2*TPWM_VALUE/BASE_FREQ)
    104. 

  104. 

  105. #define OBSW_KP_GAIN_RUN3               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN3/BASE_FREQ)
    106. 

  106. #define OBSW_KI_GAIN_RUN3               _Q15(_2PI*ATO_BW_RUN3*ATO_BW_RUN3*TPWM_VALUE/BASE_FREQ)
    107. 

  107. 

  108. #define OBSW_KP_GAIN_RUN4               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN4/BASE_FREQ)
    109. 

  109. #define OBSW_KI_GAIN_RUN4               _Q15(_2PI*ATO_BW_RUN3*ATO_BW_RUN4*TPWM_VALUE/BASE_FREQ)
    110. 

  110. 

  111. 

  112. #define OBS_FBASE                       _Q15(BASE_FREQ*TPWM_VALUE)                                    ///< Fbase*Tpwm*32768
    113. 

  113. #define OBS_KLPF                        _Q15(_2PI*BASE_FREQ*TPWM_VALUE)                               ///< 2PI*Fbase*Tpwm
    114. 

  114. #define SPEED_KLPF                      _Q15(_2PI*SPD_BW*TPWM_VALUE)                                  ///< 2PI*SPD_BW*Tpwm
    115. 

  115. #define OBS_EA_KS                       _Q15((2*MOTOR_SPEED_SMOMIN_RPM*_2PI*BASE_FREQ*TPWM_VALUE)/MOTOR_SPEED_BASE)     // SMO的最小速度
    116. 

  116. 

  117. 

  118. /*逆风判断时的估算算法设置值------------------------------------------------------------*/
    119. 

  119. #define SPEED_KLPF_WIND                 _Q15(_2PI*SPD_BW_WIND*TPWM_VALUE)               ///< 2PI*SPD_BW_Wind*Tpwm
    120. 

  120. #define OBSW_KP_GAIN_WIND               _Q12(2*_2PI*ATT_COEF*ATO_BW_WIND/BASE_FREQ)
    121. 

  121. #define OBSW_KI_GAIN_WIND               _Q15(_2PI*ATO_BW_WIND*ATO_BW_WIND*TPWM_VALUE/BASE_FREQ) 
    122. 

  122. 

  123. #define OBSE_PLLKP_GAIN                 _Q11(((2*ATT_COEF*_2PI*E_BW*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    124. 

  124. #define OBSE_PLLKI_GAIN                 _Q11((_2PI*E_BW*_2PI*E_BW*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    125. 

  125. 

  126. 

  127. /* -----Current Calib----- *
    128. 

  128. /* -----(Disable)---禁止-- */                                                         
    129. 

  129. /* -----(Enable)----使能-- */
    130. 

  130. #define CalibENDIS                      (Enable)
    131. 

  131. 

  132. /* -----SVPWM mode----- *
    133. 

  133. /* -----(SVPWM_5_Segment)---五段式-- */                                                         
    134. 

  134. /* -----(SVPWM_7_Segment)---七段式-- */
    135. 

  135. #define SVPMW_Mode                      (SVPWM_7_Segment)
    136. 

  136. 

  137. /* -----double resistor sample mode----- *
    138. 

  138. /* -----(DouRes_1_Cycle)---1 周期采样完 ia, ib-- */                                                         
    139. 

  139. /* -----(DouRes_2_Cycle)---交替采用ia, ib, 2周期采样完成-- */
    140. 

  140. #define DouRes_Sample_Mode              (DouRes_1_Cycle)
    141. 

  141. 

  142. 

  143. /* 电机启动参数值 */
    144. 

  144. //open 算法启动参数
    145. 

  145. #define MOTOR_OPEN_RAMP_ACC             (30.0)                                  ///< 强拖启动的增量(每载波周期加一次)
    146. 

  146. #define MOTOR_OPEN_RAMP_MIN             S_Value(0.0)                            ///< 强拖启动的初始速度
    147. 

  147. #define MOTOR_OPEN_RAMP_CNT             (100.0)                                 ///< 强拖启动的执行次数(MOTOR_OPEN_ACC_CNT*256)
    148. 

  148. 

  149. /* 正常运行时估算算法的参数设置值  */
    150. 

  150. #define OBS_KSLIDE                     _Q15(0.85)       ///< SMO算法里的滑膜增益值
    151. 

  151. #define E_BW                           (450.0)          ///< PLL算法里的反电动势滤波值
    152. 

  152. 

  153. #define UADC_Value(Xn0)					_Q15(Xn0/HW_ADC_REF)
    154. 

  154. #define PROTECT_POWER(Xn0)				((float)Xn0*235.09)
    155. 

  155. #define FG_Value                        (TIM4_Fre / BASE_FREQ / FG_K)
    156. 

  156. #endif
    157.