#ifndef __CURRENT_DECOUPLED_CONTROL_H_
#define __CURRENT_DECOUPLED_CONTROL_H_


#define DQCurrentKpKiCalEnable                  (1)

#define CURRENT_DECOUPLED_CONTROL_LD           0.0055 //(LD)
#define CURRENT_DECOUPLED_CONTROL_LQ            0.011//(LQ)
#define CURRENT_DECOUPLED_CONTROL_PSI           (Psi*0.9)
typedef struct
{    
    int16    Omega;
	  int16    DCurrent0;
    int16    QCurrent0;
    int16    DCurrent;
    int16    QCurrent;
    int16    DcVoltage;
    int16    DDutyQ15;
    int16    QDutyQ15;
    int16    DCurrentDecoupledControlK;
    int16    QCurrentDecoupledControlK1;
    int16    QCurrentDecoupledControlK2;
	  int16    QCurrentDecoupledControlK3;
    int16    DVoltageComponent;
    int16    DVoltageComponentAbs;
    int16    QVoltageComponent; 
    int16    QVoltageComponentAbs; 
    
    int16    QVoltageComponent1;
    int16    QVoltageComponent2;    
}CurrentDecoupledControlTypeDef;

typedef struct
{    
    int16    DCurrentKpk;
    int16    QCurrentKpk;
    int16    DCurrentKik;
    int16    QCurrentKik;
    int16    KpwmkValue;
    
    int16    DCurrentKp;
    int16    QCurrentKp;
    int16    DCurrentKi;
    int16    QCurrentKi;
    int16    KpwmValue;
}DQCurrentPITypeDef;

//#define D_CURRENT_DECOUPLED_CONTROL_K  _Q11(MAX_OMEG_RAD_SEC * CURRENT_DECOUPLED_CONTROL_LQ * HW_BOARD_CURR_BASE / HW_BOARD_VOLTAGE_BASE)//D轴解耦系数
//#define Q_CURRENT_DECOUPLED_CONTROL_K1 _Q13(MAX_OMEG_RAD_SEC * CURRENT_DECOUPLED_CONTROL_PSI / HW_BOARD_VOLTAGE_BASE)//Q轴解耦系数1
//#define Q_CURRENT_DECOUPLED_CONTROL_K2 _Q11(MAX_OMEG_RAD_SEC * CURRENT_DECOUPLED_CONTROL_LD * HW_BOARD_CURR_BASE / HW_BOARD_VOLTAGE_BASE)//Q轴解耦系数2

#define h (20.0)//中频带宽

//#define DCurrentKi_K (uint16)(CURRENT_DECOUPLED_CONTROL_LD * (h + 1.0) / 4.5 / h / h / TPWM_VALUE)
//#define DCurrentKp_K (uint16)(CURRENT_DECOUPLED_CONTROL_LD * (h + 1.0) / 3.0 / h / TPWM_VALUE)

//#define QCurrentKi_K (uint16)(CURRENT_DECOUPLED_CONTROL_LQ * (h + 1.0) / 4.5 / h / h / TPWM_VALUE)
//#define QCurrentKp_K (uint16)(CURRENT_DECOUPLED_CONTROL_LQ * (h + 1.0) / 3.0 / h / TPWM_VALUE)

//#define Kpwmk (uint16)(HW_BOARD_VOLTAGE_BASE / HW_BOARD_CURR_BASE)//逆变器增益系数



extern CurrentDecoupledControlTypeDef xdata mcCurrentDecoupledControl;
extern DQCurrentPITypeDef  xdata DQCurrentPI;
extern void CurrentDecoupledControlFunction(void);
//extern void CurrentDecoupledControlFunctionInit(void);
extern void DQCurrentKpKiCal(void);
extern void CurrentDecoupledControlFunctionInit(float MotorLd , float MotorLq , float MotorPsi , float VoltageBase , float CurrentBase , float OmegaRadSec);
extern void DQCurrentKpKiCalInit(float MotorLd , float MotorLq , float Ts , float VoltageBase , float CurrentBase , float hValue);

#endif