48 lines
1.3 KiB
C
48 lines
1.3 KiB
C
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/*!
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Copyright 2017 <EFBFBD><EFBFBD> "<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>" <EFBFBD> <EFBFBD><EFBFBD><EFBFBD> "<EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>"
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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\file v_rotor_observer.c
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\brief <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD> (<EFBFBD><EFBFBD>. TRotorObserver)
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\author <EFBFBD><EFBFBD><EFBFBD> "<EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>". http://motorcontrol.ru
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\version v 1.0 28/06/2016
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*/
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/** \addtogroup TRotorObserver */
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/*@{*/
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#include "main.h"
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#ifdef __cplusplus
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#pragma CODE_SECTION("secureRamFuncs")
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#else
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#pragma CODE_SECTION(RotorObserver_calc,"secureRamFuncs");
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#endif
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void RotorObserver_calc(TRotorObserver *p) {
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//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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p->psi_d = p->psi_d + _IQmpy(p->Ks,p->id - p->psi_d);
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p->psi_q = p->psi_q + _IQmpy(p->Ks,p->iq - p->psi_q);
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p->theta_psi_elec = tmu.atan2(p->psi_q ,p->psi_d);
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}
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void RotorObserver_slow_calc(TRotorObserver *p) {
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p->Ks=_IQdiv(FAST_CALC_TS,p->Tr);
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}
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/*@}*/
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