/** * @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 /* Define to prevent recursive inclusion -------------------------------------*/ /* Private define ------------------------------------------------------------*/ #define SystemPowerUpTime (15000) // 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 /* -----时间设置值----- */ #define Calib_Time (1000) /* -----保护参数值----- */ #define GetCurrentOffsetValueLow (16383-GetCurrentOffsetValue) ///< 偏置电压差值低点 #define GetCurrentOffsetValueHigh (16383+GetCurrentOffsetValue) ///< 偏置电压差值高点 /* -----过温保护值设置----- */ #define Tempera_Value(NTC_Value) _Q15(NTC_Value/HW_ADC_REF) /// /*电流基准的电路参数*/ #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 /*hardware voltage sample Parameter*/ /*母线电压采样分压电路参数*/ #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) /* obsever parameter set value */ #define BASE_FREQ ((MOTOR_SPEED_BASE / 60.0) * Pole_Pairs) ///< 基准频率 #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(0.8*RS*HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE) #define OBS_K3T _Q8(2.5) #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 /*逆风判断时的估算算法设置值------------------------------------------------------------*/ #define SPEED_KLPF_WIND _Q15(_2PI*SPD_BW_WIND*TPWM_VALUE) ///< 2PI*SPD_BW_Wind*Tpwm #define OBSW_KP_GAIN_WIND _Q12(2*_2PI*ATT_COEF*ATO_BW_WIND/BASE_FREQ) #define OBSW_KI_GAIN_WIND _Q15(_2PI*ATO_BW_WIND*ATO_BW_WIND*TPWM_VALUE/BASE_FREQ) #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) /* -----Current Calib----- * /* -----(Disable)---禁止-- */ /* -----(Enable)----使能-- */ #define CalibENDIS (Enable) /* -----SVPWM mode----- * /* -----(SVPWM_5_Segment)---五段式-- */ /* -----(SVPWM_7_Segment)---七段式-- */ #define SVPMW_Mode (SVPWM_7_Segment) /* -----double resistor sample mode----- * /* -----(DouRes_1_Cycle)---1 周期采样完 ia, ib-- */ /* -----(DouRes_2_Cycle)---交替采用ia, ib, 2周期采样完成-- */ #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 /** * 初始位置检测 * @param (Disable) 禁止 * @param (Enable) 使能 */ #define PosCheckEnable (Disable) ///< 初始位置检测 /* -----按键软件滤波值----- */ #define KeyFilterTime (60) ///< (ms) 按键软件滤波值 #define LowVoltageSwitch (0) #define HighVoltageSwitch (1) #endif