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Parameter.h

Parameter.h 7.4 KB
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  1. #ifndef __Parameter_H_
    2. 

  2. #define __Parameter_H_
    3. 

  3. #include <Myproject.h>
    4. 

  4. 

  5. #define PWM_CYCLE                       (1000.0 / PWM_FREQUENCY)                      // 周期us
    6. 

  6. #define SAMP_FREQ                       (PWM_FREQUENCY * 1000)                        // 采样频率(HZ)
    7. 

  7. #define TPWM_VALUE                      (1.0 / SAMP_FREQ)                             // 载波周期(S)
    8. 

  8. #define PWM_VALUE_LOAD                  (uint16)(MCU_CLOCK * 1000 *2 / PWM_FREQUENCY) // PWM 定时器重载值
    9. 

  9. 

  10. #define DLL_TIME                        (1.3)            // 双电阻最小脉宽设置(us),建议值为死区时间值+0.2us以上
    11. 

  11. #define OVERMOD_TIME                    (2.0)            // 三电阻过调制时间(us)，建议值2.0
    12. 

  12. #define DT_TIME                         (1.0)            // 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
    13. 

  13. #define GLI_TIME                        (0.5)            // 桥臂窄脉宽消除(us),建议值0.5
    14. 

  14. 

  15. /*deadtime Parameter*/
    16. 

  16. #define PWM_LOAD_DEADTIME               (PWM_DEADTIME * MCU_CLOCK)             // 死区设置值
    17. 

  17. #define PWM_OVERMODULE_TIME             (OVERMOD_TIME * MCU_CLOCK / 2)         // 过调制时间
    18. 

  18. #define PWM_DLOWL_TIME                  (DLL_TIME * MCU_CLOCK / 2)             //下桥臂最小时间
    19. 

  19. /*single resistor sample Parameter*/
    20. 

  20. #define PWM_TS_LOAD                     (uint16)(_Q16 / PWM_CYCLE * MIN_WIND_TIME / 16)            // 单电阻采样设置值
    21. 

  21. #define PWM_DT_LOAD                     (uint16)(_Q16 / PWM_CYCLE * DT_TIME / 16)                  // 死区补偿值
    22. 

  22. #define PWM_TGLI_LOAD                   (uint16)(_Q16 / PWM_CYCLE * (GLI_TIME + PWM_DEADTIME) / 16)  // 最小脉冲
    23. 

  23. 

  24. 

  25. 

  26. #define P_Power(POWER)                  _Q15(POWER*2/HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE/1.5)
    27. 

  27. #define P_PowerReal          	         (3*((uint32)mcFocCtrl.Powerlpf*HW_BOARD_CURR_BASE*HW_BOARD_VOLTAGE_BASE))/4/32767
    28. 

  28. #define I_IReal_10          	           (uint32)(10*HW_BOARD_CURR_BASE*mcFocCtrl.IDQFlt/1.414/1.35)/32767
    29. 

  29.   
    30. 

  30. /*硬件过流保护DAC值*/
    31. 

  31. #define DAC_OvercurrentValue            (_Q8(I_ValueX(OverHardcurrentValue ))+0x7F)
    32. 

  32. /*转矩补偿时硬件过流保护DAC值*/
    33. 

  33. #define TorDAC_OvercurrentValue         (_Q8(I_ValueX(TorOverHardcurrentValue ))+0x7F) 
    34. 

  34. 

  35. 

  36. #define BASE_FREQ                       ((MOTOR_SPEED_BASE / 60) * Pole_Pairs)  // 基准频率
    37. 

  37. 

  38. 

  39. #define I_ValuePFCIAC(Curr_Value)       _Q15(Curr_Value * PFC_RSHUNT * PFC_AMPGAIN / HW_ADC_REF)
    40. 

  40. #define DAC_PFCOvercurrentValue         _Q8(PFCOverCurrentValue * PFC_RSHUNT * PFC_AMPGAIN / HW_ADC_REF)+0x3F
    41. 

  41. 

  42. 

  43. 

  44. #define OVER_PROTECT_VALUE              _Q15(Over_Protect_Voltage  / HW_BOARD_VOLT_MAX)
    45. 

  45. #define UNDER_PROTECT_VALUE             _Q15(Under_Protect_Voltage / HW_BOARD_VOLT_MAX)
    46. 

  46. #define OVER_RECOVER_VALUE              _Q15(Over_Recover_Vlotage  / HW_BOARD_VOLT_MAX)
    47. 

  47. #define UNDER_RECOVER_VALUE             _Q15(Under_Recover_Vlotage / HW_BOARD_VOLT_MAX)
    48. 

  48. 

  49. #define Motor_Open_Ramp_ACC             _Q15(MOTOR_OPEN_ACC     / MOTOR_SPEED_BASE)
    50. 

  50. #define Motor_Open_Ramp_Min             _Q15(MOTOR_OPEN_ACC_MIN / MOTOR_SPEED_BASE)
    51. 

  51. 

  52. #define Motor_Omega_Ramp_Min            _Q15(MOTOR_OMEGA_ACC_MIN / MOTOR_SPEED_BASE)
    53. 

  53. #define Motor_Omega_Ramp_End            _Q15(MOTOR_OMEGA_ACC_END / MOTOR_SPEED_BASE)
    54. 

  54. 

  55. 

  56.  #define S_Value(SpeedValue)          	_Q15(SpeedValue/MOTOR_SPEED_BASE)
    57. 

  57. 

  58. /* obsever parameter set value */
    59. 

  59. #define MAX_BEMF_VOLTAGE                ((MOTOR_SPEED_BASE*Ke)/(1000.0))
    60. 

  60. #define MAX_OMEG_RAD_SEC                ((float)(_2PI*BASE_FREQ))
    61. 

  61. 

  62. 

  63. 

  64. #if (EstimateAlgorithm==AO)
    65. 

  65.     #define OBS_K1T                         _Q11((3.0/(125.0*1.0))*(LQ/TPWM_VALUE)*(HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE))
    66. 

  66.     #define OBS_K2T                         _Q11(RS*HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE)
    67. 

  67.     #define OBS_K2T_Actual                  _Q11(RS*HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE)
    68. 

  68.     #define OBS_K3T                         _Q8(2.5)
    69. 

  69.     #define OBS_K4T                         _Q15(((LD-LQ)*TPWM_VALUE*MAX_OMEG_RAD_SEC)/(LD+RS*TPWM_VALUE))	
    70. 

  70. #else
    71. 

  71.     #define OBS_K1T                         _Q15(LD/(LD+RS*TPWM_VALUE))
    72. 

  72.     #define OBS_K2T                         _Q13((TPWM_VALUE/(LD+RS*TPWM_VALUE))*(HW_BOARD_VOLTAGE_BASE_Start/HW_BOARD_CURR_BASE))
    73. 

  73.     #define OBS_K2T_Actual                  _Q13((TPWM_VALUE/(LD+RS*TPWM_VALUE))*(HW_BOARD_VOLTAGE_BASE/HW_BOARD_CURR_BASE))
    74. 

  74.     #define OBS_K3T                         _Q15((TPWM_VALUE/(LD+RS*TPWM_VALUE))*(MAX_BEMF_VOLTAGE/HW_BOARD_CURR_BASE))
    75. 

  75.     #define OBS_K4T                         _Q15(((LD-LQ)*TPWM_VALUE*MAX_OMEG_RAD_SEC)/(LD+RS*TPWM_VALUE))
    76. 

  76. #endif
    77. 

  77. 

  78. 

  79. #define OBSW_KP_GAIN                    _Q12(2*_2PI*ATT_COEF*ATO_BW/BASE_FREQ)
    80. 

  80. #define OBSW_KI_GAIN                    _Q15(_2PI*ATO_BW*ATO_BW*TPWM_VALUE/BASE_FREQ)
    81. 

  81. 

  82. #define OBSW_KP_GAIN_RUN                _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN/BASE_FREQ)
    83. 

  83. #define OBSW_KI_GAIN_RUN                _Q15(_2PI*ATO_BW_RUN*ATO_BW_RUN*TPWM_VALUE/BASE_FREQ)
    84. 

  84. 

  85. #define OBSW_KP_GAIN_RUN1               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN1/BASE_FREQ)
    86. 

  86. #define OBSW_KI_GAIN_RUN1               _Q15(_2PI*ATO_BW_RUN1*ATO_BW_RUN1*TPWM_VALUE/BASE_FREQ)
    87. 

  87. 

  88. #define OBSW_KP_GAIN_RUN2               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN2/BASE_FREQ)
    89. 

  89. #define OBSW_KI_GAIN_RUN2               _Q15(_2PI*ATO_BW_RUN2*ATO_BW_RUN2*TPWM_VALUE/BASE_FREQ)
    90. 

  90. 

  91. #define OBSW_KP_GAIN_RUN3               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN3/BASE_FREQ)
    92. 

  92. #define OBSW_KI_GAIN_RUN3               _Q15(_2PI*ATO_BW_RUN3*ATO_BW_RUN3*TPWM_VALUE/BASE_FREQ)
    93. 

  93. 

  94. #define OBSW_KP_GAIN_RUN4               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN4/BASE_FREQ)
    95. 

  95. #define OBSW_KI_GAIN_RUN4               _Q15(_2PI*ATO_BW_RUN4*ATO_BW_RUN4*TPWM_VALUE/BASE_FREQ)
    96. 

  96. 

  97. #define OBS_FBASE                       _Q15(BASE_FREQ*TPWM_VALUE)         // Fbase*Tpwm*32768
    98. 

  98. #define OBS_KLPF                        _Q15(_2PI*BASE_FREQ*TPWM_VALUE)    // 2PI*Fbase*Tpwm
    99. 

  99. #define SPEED_KLPF                      _Q15(_2PI*SPD_BW*TPWM_VALUE)       // 2PI*SPD_BW*Tpwm
    100. 

  100. #define OBS_EA_KS                       _Q15((2*MOTOR_SPEED_SMOMIN_RPM*_2PI*BASE_FREQ*TPWM_VALUE)/MOTOR_SPEED_BASE)     // SMO的最小速度
    101. 

  101. 

  102. #define OBSE_PLLKP_GAIN1                _Q11(((2*ATT_COEF*_2PI*E_BW1*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    103. 

  103. #define OBSE_PLLKI_GAIN1                _Q11((_2PI*E_BW1*_2PI*E_BW1*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    104. 

  104. 

  105. #define OBSE_PLLKP_GAIN2                _Q11(((2*ATT_COEF*_2PI*E_BW2*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    106. 

  106. #define OBSE_PLLKI_GAIN2                _Q11((_2PI*E_BW2*_2PI*E_BW2*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    107. 

  107. 

  108. #define OBSE_PLLKP_GAIN3                _Q11(((2*ATT_COEF*_2PI*E_BW3*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    109. 

  109. #define OBSE_PLLKI_GAIN3                _Q11((_2PI*E_BW3*_2PI*E_BW3*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    110. 

  110. 

  111. #define OBSE_PLLKP_GAIN4                _Q11(((2*ATT_COEF*_2PI*E_BW4*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    112. 

  112. #define OBSE_PLLKI_GAIN4                _Q11((_2PI*E_BW4*_2PI*E_BW4*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    113. 

  113. 

  114. #define OBSE_PLLKP_GAIN5                _Q11(((2*ATT_COEF*_2PI*E_BW5*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    115. 

  115. #define OBSE_PLLKI_GAIN5                _Q11((_2PI*E_BW5*_2PI*E_BW5*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    116. 

  116. 

  117. 

  118. 

  119. #define CalibENDIS                      (1)
    120. 

  120. #define SVPMW_Mode                      (SVPWM_7_Segment)
    121. 

  121. #define DouRes_Sample_Mode              (DouRes_1_Cycle)
    122. 

  122. 

  123. 

  124. #endif
    125.