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Parameter.h

Parameter.h 4.2 KB
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  1. #ifndef __Parameter_H_
    2. 

  2. #define __Parameter_H_
    3. 

  3. #include <Myproject.h>
    4. 

  4. 

  5. 

  6. #define P_Power(POWER)                  _Q15(POWER*2/HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE/1.5)
    7. 

  7. 

  8. #define DAC_OvercurrentValue            (_Q8(I_ValueX(OverHardcurrentValue ))+0x7F)
    9. 

  9. 

  10. 

  11. 

  12. 

  13. #define S_Value(SpeedValue)          	_Q15(SpeedValue/MOTOR_SPEED_BASE)
    14. 

  14. 

  15. #define MAX_BEMF_VOLTAGE                ((MOTOR_SPEED_BASE*Ke)/(1000.0))
    16. 

  16. #define MAX_OMEG_RAD_SEC                ((float)(_2PI*BASE_FREQ))
    17. 

  17. 

  18. 

  19. 

  20. #if (EstimateAlgorithm==AO)
    21. 

  21.     #define OBS_K1T                         _Q11((3.0/(125.0*1.0))*(LQ/TPWM_VALUE)*(HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE))
    22. 

  22.     #define OBS_K2T                         _Q11(RS*HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE)
    23. 

  23.     #define OBS_K2T_Actual                  _Q11(RS*HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE)
    24. 

  24.     #define OBS_K3T                         _Q8(2.5)
    25. 

  25.     #define OBS_K4T                         _Q15(((LD-LQ)*TPWM_VALUE*MAX_OMEG_RAD_SEC)/(LD+RS*TPWM_VALUE))	
    26. 

  26. #else
    27. 

  27.     #define OBS_K1T                         _Q15(LD/(LD+RS*TPWM_VALUE))
    28. 

  28.     #define OBS_K2T                         _Q13((TPWM_VALUE/(LD+RS*TPWM_VALUE))*(HW_BOARD_VOLTAGE_BASE_Start/HW_BOARD_CURR_BASE))
    29. 

  29.     #define OBS_K2T_Actual                  _Q13((TPWM_VALUE/(LD+RS*TPWM_VALUE))*(HW_BOARD_VOLTAGE_BASE/HW_BOARD_CURR_BASE))
    30. 

  30.     #define OBS_K3T                         _Q15((TPWM_VALUE/(LD+RS*TPWM_VALUE))*(MAX_BEMF_VOLTAGE/HW_BOARD_CURR_BASE))
    31. 

  31.     #define OBS_K4T                         _Q15(((LD-LQ)*TPWM_VALUE*MAX_OMEG_RAD_SEC)/(LD+RS*TPWM_VALUE))
    32. 

  32. #endif
    33. 

  33. 

  34. 

  35. #define OBSW_KP_GAIN                    _Q12(2*_2PI*ATT_COEF*ATO_BW/BASE_FREQ)
    36. 

  36. #define OBSW_KI_GAIN                    _Q15(_2PI*ATO_BW*ATO_BW*TPWM_VALUE/BASE_FREQ)
    37. 

  37. 

  38. #define OBSW_KP_GAIN_RUN                _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN/BASE_FREQ)
    39. 

  39. #define OBSW_KI_GAIN_RUN                _Q15(_2PI*ATO_BW_RUN*ATO_BW_RUN*TPWM_VALUE/BASE_FREQ)
    40. 

  40. 

  41. #define OBSW_KP_GAIN_RUN1               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN1/BASE_FREQ)
    42. 

  42. #define OBSW_KI_GAIN_RUN1               _Q15(_2PI*ATO_BW_RUN1*ATO_BW_RUN1*TPWM_VALUE/BASE_FREQ)
    43. 

  43. 

  44. #define OBSW_KP_GAIN_RUN2               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN2/BASE_FREQ)
    45. 

  45. #define OBSW_KI_GAIN_RUN2               _Q15(_2PI*ATO_BW_RUN2*ATO_BW_RUN2*TPWM_VALUE/BASE_FREQ)
    46. 

  46. 

  47. #define OBSW_KP_GAIN_RUN3               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN3/BASE_FREQ)
    48. 

  48. #define OBSW_KI_GAIN_RUN3               _Q15(_2PI*ATO_BW_RUN3*ATO_BW_RUN3*TPWM_VALUE/BASE_FREQ)
    49. 

  49. 

  50. #define OBSW_KP_GAIN_RUN4               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN4/BASE_FREQ)
    51. 

  51. #define OBSW_KI_GAIN_RUN4               _Q15(_2PI*ATO_BW_RUN4*ATO_BW_RUN4*TPWM_VALUE/BASE_FREQ)
    52. 

  52. 

  53. #define OBS_FBASE                       _Q15(BASE_FREQ*TPWM_VALUE)
    54. 

  54. #define OBS_KLPF                        _Q15(_2PI*BASE_FREQ*TPWM_VALUE)
    55. 

  55. #define SPEED_KLPF                      _Q15(_2PI*SPD_BW*TPWM_VALUE)
    56. 

  56. #define OBS_EA_KS                       _Q15((2*MOTOR_SPEED_SMOMIN_RPM*_2PI*BASE_FREQ*TPWM_VALUE)/MOTOR_SPEED_BASE)
    57. 

  57. 

  58. #define OBSE_PLLKP_GAIN1                _Q11(((2*ATT_COEF*_2PI*E_BW1*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    59. 

  59. #define OBSE_PLLKI_GAIN1                _Q11((_2PI*E_BW1*_2PI*E_BW1*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    60. 

  60. 

  61. #define OBSE_PLLKP_GAIN2                _Q11(((2*ATT_COEF*_2PI*E_BW2*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    62. 

  62. #define OBSE_PLLKI_GAIN2                _Q11((_2PI*E_BW2*_2PI*E_BW2*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    63. 

  63. 

  64. #define OBSE_PLLKP_GAIN3                _Q11(((2*ATT_COEF*_2PI*E_BW3*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    65. 

  65. #define OBSE_PLLKI_GAIN3                _Q11((_2PI*E_BW3*_2PI*E_BW3*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    66. 

  66. 

  67. #define OBSE_PLLKP_GAIN4                _Q11(((2*ATT_COEF*_2PI*E_BW4*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    68. 

  68. #define OBSE_PLLKI_GAIN4                _Q11((_2PI*E_BW4*_2PI*E_BW4*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    69. 

  69. 

  70. #define OBSE_PLLKP_GAIN5                _Q11(((2*ATT_COEF*_2PI*E_BW5*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    71. 

  71. #define OBSE_PLLKI_GAIN5                _Q11((_2PI*E_BW5*_2PI*E_BW5*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    72. 

  72. 

  73. 

  74. #endif
    75.