/**************************** (C) COPYRIGHT 2018 Fortiortech shenzhen ***************************** * File Name : Parameter.h * Author : Bruce,Fortiortech RD * Version : V1.0 * Date : 2017-12-20 * Description : This file contains all FOC debug parameter. *************************************************************************************************** * All Rights Reserved **************************************************************************************************/ /* Define to prevent recursive inclusion --------------------------------------------------------*/ #ifndef __Parameter_H_ #define __Parameter_H_ #include /* Define to prevent recursive inclusion -------------------------------------*/ /* Q format define ---------------------------------------------------------------------------------*/ #define _Q7(A) (int8) ((A) * 0x7f) ///< Q7 format 128*1 = 128 #define _Q8(A) (int16)((A) * 0xff) ///< Q8 format 128*2 = 256 #define _Q9(A) (int16)((A) * 0x1ff) ///< Q9 format 128*4 = 512 #define _Q10(A) (int16)((A) * 0x3ff) ///< Q10 format 128*8 = 1024 #define _Q11(A) (int16)((A) * 0x07ff) ///< Q11 format 128*16 = 2048 #define _Q12(A) (int16)((A) * 0x0fff) ///< Q12 format 128*32 = 4096 #define _Q13(A) (int16)((A) * 0x1fff) ///< Q13 format 128*64 = 8192 #define _Q14(A) (int16)((A) * 0x3fff) ///< Q14 format 128*128= 18383 #define _Q15(A) (int16)((A) * 0x7fff) ///< Q15 format 128*256= 32767 #define _Q16 (65535.0) // Q16 format value #define _2PI (3.1415926 * 2) /* Private define ------------------------------------------------------------*/ #define SystemPowerUpTime (10000) // 上电等待时间，cpu计数时钟 /*芯片参数值------------------------------------------------------------------*/ /*CPU and PWM Parameter*/ #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 /*double resistor sample Parameter*/ #define DLL_TIME (1.3) // 双电阻最小脉宽设置(us),建议值为死区时间值+0.2us以上 /*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 (1.0) // 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 (0.5) // 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 #define LPF_K(K) _Q15(_2PI / 1000 * K) /*硬件板子参数设置值------------------------------------------------------------------*/ /*hardware current sample Parameter*/ /*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,2.702A #define HW_BOARD_CURR_MIN (-HW_BOARD_CURR_MAX) // 最小采样电流,-2.702A #define HW_BOARD_CURR_BASE (HW_BOARD_CURR_MAX * 2) // 电流基准//5.4A /*hardware voltage sample Parameter*/ /*母线电压采样分压电路参数*/ #define HW_BOARD_VOLTAGE_BASE (HW_BOARD_VOLT_MAX / 1.732) // 电压基准 #define HW_BOARD_VOLTAGE_VC ((RV1 + RV2 + RV3 * VC1) / (RV3 * VC1)) #define HW_BOARD_VOLTAGE_BASE_Start (HW_ADC_REF * HW_BOARD_VOLTAGE_VC / 1.732)// 电压基准 /*功率参数*/ #define P_Power(POWER) _Q15(POWER*2/HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE/1.5) #define P_PowerReal (3*((uint32)mcFocCtrl.Powerlpf*HW_BOARD_CURR_BASE*HW_BOARD_VOLTAGE_BASE))/4/32767 #define I_IReal_10 (uint32)(10*HW_BOARD_CURR_BASE*mcFocCtrl.IDQFlt/1.414/1.35)/32767 /*硬件过流保护DAC值*/ #define DAC_OvercurrentValue (_Q8(I_ValueX(OverHardcurrentValue ))+0x7F) /*转矩补偿时硬件过流保护DAC值*/ #define TorDAC_OvercurrentValue (_Q8(I_ValueX(TorOverHardcurrentValue ))+0x7F) #define BASE_FREQ ((MOTOR_SPEED_BASE / 60) * Pole_Pairs) // 基准频率 #define I_ValuePFCIAC(Curr_Value) _Q15(Curr_Value * PFC_RSHUNT * PFC_AMPGAIN / HW_ADC_REF) #define DAC_PFCOvercurrentValue _Q8(PFCOverCurrentValue * PFC_RSHUNT * PFC_AMPGAIN / HW_ADC_REF)+0x3F /*保护参数值------------------------------------------------------------------*/ /* protect value */ #define OVER_PROTECT_VALUE _Q15(Over_Protect_Voltage / HW_BOARD_VOLT_MAX) #define UNDER_PROTECT_VALUE _Q15(Under_Protect_Voltage / HW_BOARD_VOLT_MAX) #define OVER_RECOVER_VALUE _Q15(Over_Recover_Vlotage / HW_BOARD_VOLT_MAX) #define UNDER_RECOVER_VALUE _Q15(Under_Recover_Vlotage / HW_BOARD_VOLT_MAX) /* motor speed set value */ #define Motor_Open_Ramp_ACC _Q15(MOTOR_OPEN_ACC / MOTOR_SPEED_BASE) #define Motor_Open_Ramp_Min _Q15(MOTOR_OPEN_ACC_MIN / MOTOR_SPEED_BASE) #define Motor_Omega_Ramp_Min _Q15(MOTOR_OMEGA_ACC_MIN / MOTOR_SPEED_BASE) #define Motor_Omega_Ramp_End _Q15(MOTOR_OMEGA_ACC_END / MOTOR_SPEED_BASE) #define Motor_Loop_Speed _Q15(MOTOR_LOOP_RPM / MOTOR_SPEED_BASE) #define Motor_Max_Speed _Q15(MOTOR_SPEED_MAX_RPM / MOTOR_SPEED_BASE) #define Motor_Min_Speed _Q15(MOTOR_SPEED_MIN_RPM / MOTOR_SPEED_BASE) #define Motor_Stop_Speed _Q15(MOTOR_SPEED_STOP_RPM / MOTOR_SPEED_BASE) #define Motor_Stall_Min_Speed _Q15(MOTOR_SPEED_STAL_MIN_RPM / MOTOR_SPEED_BASE) #define Motor_Stall_Max_Speed _Q15(MOTOR_SPEED_STAL_MAX_RPM / MOTOR_SPEED_BASE) #define S_Value(SpeedValue) _Q15(SpeedValue/MOTOR_SPEED_BASE) #define S_Value2 ((((uint32)(mcFocCtrl.SpeedFlt*MOTOR_SPEED_BASE)/32767)+30)/60) //RPS Hz /* obsever parameter set value */ #define MAX_BEMF_VOLTAGE ((MOTOR_SPEED_BASE*Ke)/(1000.0)) #define MAX_OMEG_RAD_SEC ((float)(_2PI*BASE_FREQ)) #if (EstimateAlgorithm==AO) #define OBS_K1T _Q11((3.0/(125.0*1.0))*(LQ/TPWM_VALUE)*(HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE)) #define OBS_K2T _Q11(RS*HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE) #define OBS_K2T_Actual _Q11(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((TPWM_VALUE/(LD+RS*TPWM_VALUE))*(HW_BOARD_VOLTAGE_BASE_Start/HW_BOARD_CURR_BASE)) #define OBS_K2T_Actual _Q13((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 _Q12(2*_2PI*ATT_COEF*ATO_BW/BASE_FREQ) #define OBSW_KI_GAIN _Q15(_2PI*ATO_BW*ATO_BW*TPWM_VALUE/BASE_FREQ) #define OBSW_KP_GAIN_RUN _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN/BASE_FREQ) #define OBSW_KI_GAIN_RUN _Q15(_2PI*ATO_BW_RUN*ATO_BW_RUN*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_RUN4*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_GAIN1 _Q11(((2*ATT_COEF*_2PI*E_BW1*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE) #define OBSE_PLLKI_GAIN1 _Q11((_2PI*E_BW1*_2PI*E_BW1*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE) #define OBSE_PLLKP_GAIN2 _Q11(((2*ATT_COEF*_2PI*E_BW2*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE) #define OBSE_PLLKI_GAIN2 _Q11((_2PI*E_BW2*_2PI*E_BW2*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE) #define OBSE_PLLKP_GAIN3 _Q11(((2*ATT_COEF*_2PI*E_BW3*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE) #define OBSE_PLLKI_GAIN3 _Q11((_2PI*E_BW3*_2PI*E_BW3*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE) #define OBSE_PLLKP_GAIN4 _Q11(((2*ATT_COEF*_2PI*E_BW4*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE) #define OBSE_PLLKI_GAIN4 _Q11((_2PI*E_BW4*_2PI*E_BW4*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE) #define OBSE_PLLKP_GAIN5 _Q11(((2*ATT_COEF*_2PI*E_BW5*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE) #define OBSE_PLLKI_GAIN5 _Q11((_2PI*E_BW5*_2PI*E_BW5*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE) /* 运放模式选择 */ #define AMP_NOMAL (0) ///< 外部放大 #define AMP_PGA_DUAL (1) ///< 内部PGA 双端差分输入 /* 内部PGA放大倍数选择 */ #define AMP2x (2) #define AMP4x (4) #define AMP8x (8) #define AMP16x (16) /*Current Calib:enable or disable*/ #define Disable (0) // #define Enable (1) // #define CalibENDIS (Enable) #define CW (0) #define CCW (1) /*SVPWM mode*/ #define SVPWM_5_Segment (0) // 五段式SVPWM #define SVPWM_7_Segment (1) // 七段式SVPWM #define SVPMW_Mode (SVPWM_7_Segment) /*double resistor sample mode*/ #define DouRes_1_Cycle (0) // 1 周期采样完 ia, ib #define DouRes_2_Cycle (1) // 交替采用ia, ib, 2周期采样完成 #define DouRes_Sample_Mode (DouRes_1_Cycle) #define VREF3_0 (0xA0) #define VREF4_0 (0xB0) #define VREF4_5 (0xC0) #define VREF5_0 (0xD0) #define High_Level (0) // 驱动高电平有效 #define Low_Level (1) // 驱动低电平有效 #define UP_H_DOWN_L (2) // 上桥臂高电平有效，下桥臂低电平有效 #define UP_L_DOWN_H (3) // 上桥臂低电平有效，下桥臂高电平有效 #endif