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- /**
- * @copyright (C) COPYRIGHT 2022 Fortiortech Shenzhen
- * @file Parameter.h
- * @author Fortiortech Appliction Team
- * @note Last modify author is Marcel He
- * @since 2021-04-11
- * @date 2022-07-14
- * @brief This file contains all FOC debug parameter used for Motor Control.
- */
- /* Define to prevent recursive inclusion -------------------------------------*/
- #ifndef __Parameter_H_
- #define __Parameter_H_
- #include <definition.h>
- /* Define to prevent recursive inclusion -------------------------------------*/
- /* Private define ------------------------------------------------------------*/
- #define SystemPowerUpTime (55000) // 上电等待时间，cpu计数时钟
- /*芯片参数值------------------------------------------------------------------*/
- /*CPU and PWM Parameter*/
- /*CPU Parameter*/
- #define MCU_CLOCK (24.0) ///< (MHz) 主频
- #define PWM_CYCLE (1000.0 / PWM_FREQUENCY) ///< 周期us
- #define SAMP_FREQ (PWM_FREQUENCY * 1000) ///< 采样频率(HZ)
- #define TPWM_VALUE (1.0 / SAMP_FREQ) ///< 载波周期(S)
- #define PWM_VALUE_LOAD (uint16)(MCU_CLOCK * 1000 *2 / PWM_FREQUENCY) ///< PWM 定时器重载值 20190514修改
- #define SAcc_Value(SpeedValue) ((float)32767.0*(SpeedValue*LOOP_TIME/1000.0) / MOTOR_SPEED_BASE)
- /*three resistor overmodule Parameter*/
- #define OVERMOD_TIME (2.0) ///< 三电阻过调制时间(us)，建议值2.0
- /*deadtime compensation*/
- #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
- /*min pulse*/
- #define GLI_TIME (0.0) ///< 桥臂窄脉宽消除(us),建议值0.5
- /*deadtime Parameter*/
- #define PWM_LOAD_DEADTIME (PWM_DEADTIME * MCU_CLOCK) ///< 死区设置值
- #define PWM_OVERMODULE_TIME (OVERMOD_TIME * MCU_CLOCK / 2) ///< 过调制时间
- #define PWM_DLOWL_TIME (DLL_TIME * MCU_CLOCK / 2) ///<下桥臂最小时间
- /*single resistor sample Parameter*/
- #define PWM_TS_LOAD (uint16)(_Q16 / PWM_CYCLE * MIN_WIND_TIME / 16) ///< 单电阻采样设置值
- #define PWM_DT_LOAD (uint16)(_Q16 / PWM_CYCLE * DT_TIME / 16) ///< 死区补偿值
- #define PWM_TGLI_LOAD (uint16)(_Q16 / PWM_CYCLE * (GLI_TIME + PWM_DEADTIME) / 16) ///< 最小脉冲
- /*硬件板子参数设置值------------------------------------------------------------------*/
- /*hardware current sample Parameter*/
- #if (HW_ADC_VREF==VREF5_0)
- #define HW_ADC_REF (5.0) ///< (V) ADC参考电压
- #elif (HW_ADC_VREF==VREF4_5)
- #define HW_ADC_REF (4.5) ///< (V) ADC参考电压
- #elif (HW_ADC_VREF==VREF4_0)
- #define HW_ADC_REF (4.0) ///< (V) ADC参考电压
- #elif (HW_ADC_VREF==VREF3_0)
- #define HW_ADC_REF (3.0) ///< (V) ADC参考电压
- #endif
- #define RV ((RV1 + RV2 ) / RV2) ///< 分压比
- #define HW_BOARD_CURR_MAX (HW_ADC_REF / 2 / HW_AMPGAIN / HW_RSHUNT) ///< 最大采样电流
- #define HW_BOARD_CURR_MIN (-HW_BOARD_CURR_MAX) ///< 最小采样电流
- #define HW_BOARD_CURR_BASE (HW_BOARD_CURR_MAX * 2) ///< 电流基准
- #define HW_BOARD_VOLT_MAX (HW_ADC_REF * RV) ///< (V) ADC可测得的最大母线电压
- #define HW_BOARD_VOLTAGE_BASE (HW_BOARD_VOLT_MAX / 1.732) ///< 电压基准
- /*硬件过流保护DAC值*/
- #define DAC_OverCurrentValue _Q8(I_ValueX(HWOCValue)) + 0x7F ///< 该结果是进行了右移一位的结果
- #define Align_Theta _Q15((float)Align_Angle / 180.0)
- #define P_Value(PowerValue) _Q15(PowerValue*2.0/HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE/1.5)
- /* obsever parameter set value */
- #define MAX_BEMF_VOLTAGE ((MOTOR_SPEED_BASE*Ke)/(1000.0))
- #define MAX_OMEG_RAD_SEC ((float)(_2PI*BASE_FREQ))
- #define ATT_COEF (0.85) ///< 无需改动
- //自适应估算器模式使能
- #if (EstimateAlgorithm == AO)
- #define OBS_K1T _Q11((1.0*3.0/(125.0*1.0))*(LQ/TPWM_VALUE)*(HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE))
- #define OBS_K2T _Q11(0.6*RS*HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE)
- #define OBS_K3T _Q8(2.35)
- #define OBS_K4T _Q15(((LD-LQ)*TPWM_VALUE*MAX_OMEG_RAD_SEC)/(LD+RS*TPWM_VALUE))
- #else
- #define OBS_K1T _Q15(LD/(LD+RS*TPWM_VALUE))
- #define OBS_K2T _Q13(1.4*(TPWM_VALUE/(LD+RS*TPWM_VALUE))*(HW_BOARD_VOLTAGE_BASE/HW_BOARD_CURR_BASE))
- #define OBS_K3T _Q15((TPWM_VALUE/(LD+RS*TPWM_VALUE))*(MAX_BEMF_VOLTAGE/HW_BOARD_CURR_BASE))
- #define OBS_K4T _Q15(((LD-LQ)*TPWM_VALUE*MAX_OMEG_RAD_SEC)/(LD+RS*TPWM_VALUE))
- #endif
- #define OBSW_KP_GAIN_START _Q12(2*_2PI*ATT_COEF*ATO_BW_START/BASE_FREQ)
- #define OBSW_KI_GAIN_START _Q15(_2PI*ATO_BW_START*ATO_BW_START*TPWM_VALUE/BASE_FREQ)
- #define OBSW_KP_GAIN_RUN1 _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN1/BASE_FREQ)
- #define OBSW_KI_GAIN_RUN1 _Q15(_2PI*ATO_BW_RUN1*ATO_BW_RUN1*TPWM_VALUE/BASE_FREQ)
- #define OBSW_KP_GAIN_RUN2 _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN2/BASE_FREQ)
- #define OBSW_KI_GAIN_RUN2 _Q15(_2PI*ATO_BW_RUN2*ATO_BW_RUN2*TPWM_VALUE/BASE_FREQ)
- #define OBSW_KP_GAIN_RUN3 _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN3/BASE_FREQ)
- #define OBSW_KI_GAIN_RUN3 _Q15(_2PI*ATO_BW_RUN3*ATO_BW_RUN3*TPWM_VALUE/BASE_FREQ)
- #define OBSW_KP_GAIN_RUN4 _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN4/BASE_FREQ)
- #define OBSW_KI_GAIN_RUN4 _Q15(_2PI*ATO_BW_RUN3*ATO_BW_RUN4*TPWM_VALUE/BASE_FREQ)
- #define OBS_FBASE _Q15(BASE_FREQ*TPWM_VALUE) ///< Fbase*Tpwm*32768
- #define OBS_KLPF _Q15(_2PI*BASE_FREQ*TPWM_VALUE) ///< 2PI*Fbase*Tpwm
- #define SPEED_KLPF _Q15(_2PI*SPD_BW*TPWM_VALUE) ///< 2PI*SPD_BW*Tpwm
- #define OBS_EA_KS _Q15((2*MOTOR_SPEED_SMOMIN_RPM*_2PI*BASE_FREQ*TPWM_VALUE)/MOTOR_SPEED_BASE) // SMO的最小速度
- #define OBSE_PLLKP_GAIN _Q11(((2*ATT_COEF*_2PI*E_BW*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
- #define OBSE_PLLKI_GAIN _Q11((_2PI*E_BW*_2PI*E_BW*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
- #define CalibENDIS (Enable)
- #define SVPMW_Mode (SVPWM_7_Segment)
- #define DouRes_Sample_Mode (DouRes_1_Cycle)
- /* 电机启动参数值 */
- //open 算法启动参数
- #define MOTOR_OPEN_RAMP_ACC (30.0) ///< 强拖启动的增量(每载波周期加一次)
- #define MOTOR_OPEN_RAMP_MIN S_Value(0.0) ///< 强拖启动的初始速度
- #define MOTOR_OPEN_RAMP_CNT (100.0) ///< 强拖启动的执行次数(MOTOR_OPEN_ACC_CNT*256)
- /* 正常运行时估算算法的参数设置值 */
- #define OBS_KSLIDE _Q15(0.85) ///< SMO算法里的滑膜增益值
- #define E_BW (450.0) ///< PLL算法里的反电动势滤波值
- #endif
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