#ifndef __TORQUECOMSET_H_
#define __TORQUECOMSET_H_

#include <Myproject.h>

 /*转矩补偿使能位*/
 #define IQCOMPENSATEENBLE                     (0)                                //转矩补偿使能位
 #define OBS_K3T_SPEED_END                     _Q15(1200.0   / MOTOR_SPEED_BASE)  //1200  2200
 #define OBS_K3T_SPEED_START                   _Q15(700.0   / MOTOR_SPEED_BASE)   //700  1700
 
 
 #define TorqueCompensatePeakK_FEN               (0)     //补偿幅值分段使能位
 
 #define TorqueCompensatePeakKEnd               _Q12(1.6)//1.2      // 补偿幅度最大值 0.9
 #define TorqueCompensatePeakKStart             _Q12(1.6)//0.4           //补偿幅度最小值 小负载时
 #define TorqueCompensatePeakKStart2            _Q12(0.8)//0.8           //补偿幅度最小值 大负载时  1.2
 #define TorqueCompensatePeakK_K                _Q12((float)(TorqueCompensatePeakKEnd-TorqueCompensatePeakKStart)/(float)(OBS_K3T_SPEED_END-OBS_K3T_SPEED_START))
 #define TorqueCompensatePeakK_K2               _Q12((float)(TorqueCompensatePeakKEnd-TorqueCompensatePeakKStart2)/(float)(OBS_K3T_SPEED_END-OBS_K3T_SPEED_START))


 #define TorqueCompensateTheta_KP               _Q12(7.0)//8.0   1.0   3.0 2.0
 #define TorqueCompensateTheta_KI               _Q15(0.65)//0.15   0.9   0.5  0.1

 #define TorqueCompensateEnterSpeed             S_Value(2100.0)//进入转矩补偿的转速阈值
 #define TorqueCompensateExitSpeed              S_Value(2200.0)//退出转矩补偿的转速阈值



#endif