/** * @copyright None * @file Definition.h * @author Comment Vivre * @date 2025-11-03 * @brief None */ #ifndef __DEFINITION_H_ #define __DEFINITION_H_ // ------------------------------------------------------------------------------------------------------------------ // 1.可选配置项定义 // 转向 #define CW (0) #define CCW (1) // 基准电压 #define VREF3_0 (0xA0) #define VREF4_0 (0xB0) #define VREF4_5 (0xC0) #define VREF5_0 (0xD0) // 驱动电平 #define HIGH_LEVEL (0xA0) #define LOW_LEVEL (0xB0) #define UP_H_DOWN_L (0xC0) #define UP_L_DOWN_H (0xD0) // 电流采样模式 #define Single_Resistor (0xA0) #define Double_Resistor (0xB0) #define Three_Resistor (0xC0) // 内部PGA放大倍数选择 #define AMP2x (2) #define AMP4x (4) #define AMP8x (8) #define AMP16x (16) // 运放模式选择 #define AMP_NOMAL (0xA0) #define AMP_PGA_DUAL (0xB0) // 浮点转整数定义 #define _Q7(A) (int8) ((A) * 0x7f) // Q7 128*1 = 128 #define _Q8(A) (int16)((A) * 0xff) // Q8 128*2 = 256 #define _Q9(A) (int16)((A) * 0x1ff) // Q9 128*4 = 512 #define _Q10(A) (int16)((A) * 0x3ff) // Q10 128*8 = 1024 #define _Q11(A) (int16)((A) * 0x07ff) // Q11 128*16 = 2048 #define _Q12(A) (int16)((A) * 0x0fff) // Q12 128*32 = 4096 #define _Q13(A) (int16)((A) * 0x1fff) // Q13 128*64 = 8192 #define _Q14(A) (int16)((A) * 0x3fff) // Q14 128*128= 18383 #define _Q15(A) (int16)((A) * 0x7fff) // Q15 128*256= 32767 #define _Q16 (65535.0) // Q16 #define _2PI (3.1415926 * 2) // 双电阻采样周期配置 #define DouRes_1_Cycle (0xA0) // 周期采样完 ia, ib #define DouRes_2_Cycle (0xB0) // 交替采用ia, ib, 2周期采样完成 // SVPWM模式 #define SVPWM_5_Segment (0xA0) #define SVPWM_7_Segment (0xB0) // 估算器 #define SMO (0xA0) #define PLL (0xB0) #define AO (0xC0) // 开环启动模式选择 #define Open_Start (0xA0) #define Omega_Start (0xB0) #define Open_Omega_Start (0xC0) //调速模式 #define UARTMODE (0xA0) #define NONEMODE (0xB0) // 外环 #define POWER_CONTROL_MODE (0xA0) #define SPEED_CONTROL_MODE (0xB0) // ------------------------------------------------------------------------------------------------------------------ // 2.电机控制参数定义与配置 #define MCU_CLOCK (24.0) #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 #define OVERMOD_TIME (2.0) // 三电阻过调制时间(us)，建议值2.0 #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 #define GLI_TIME (0.5) // 桥臂窄脉宽消除(us),建议值0.5 #define PWM_LEVEL_MODE (HIGH_LEVEL) // DQ轴最大限幅值 #define DOUTMAX _Q15(0.99) #define DOUTMIN _Q15(-0.99) #define QOUTMAX _Q15(0.99) #define QOUTMIN _Q15(-0.99) #define LPF_K(K) _Q15(_2PI / 1000 * K) #define VC1 (1.0) #define RV ((RV1 + RV2 + RV3) / RV3) // 电流基准 #define HW_BOARD_CURR_MAX (HW_ADC_REF / 2 / HW_AMPGAIN / HW_RSHUNT) #define HW_BOARD_CURR_MIN (-HW_BOARD_CURR_MAX) #define HW_BOARD_CURR_BASE (HW_BOARD_CURR_MAX * 2) // 母线电压采样分压电路 #define HW_BOARD_VOLT_MAX (HW_ADC_REF * RV) #define HW_BOARD_VOLTAGE_BASE (HW_BOARD_VOLT_MAX / 1.732) #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) #define I_ValueX(Curr_Value) (Curr_Value * HW_RSHUNT * HW_AMPGAIN / (HW_ADC_REF)) #define I_Value(Curr_Value) _Q15(I_ValueX(Curr_Value)) // 速度带宽的滤波值，经典值为5.0-40.0 #define SPD_BW (25.0) #define ATT_COEF (0.95) #define OBS_KSLIDE _Q15(0.85) // SMO算法里的滑膜增益值 #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 #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 #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 BASE_FREQ ((MOTOR_SPEED_BASE / 60) * 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 OBS_FBASE _Q15(BASE_FREQ*TPWM_VALUE) #define OBS_KLPF _Q15(_2PI*BASE_FREQ*TPWM_VALUE) #define SPEED_KLPF _Q15(_2PI*SPD_BW*TPWM_VALUE) #define OBS_EA_KS _Q15((2*MOTOR_SPEED_SMOMIN_RPM*_2PI*BASE_FREQ*TPWM_VALUE)/MOTOR_SPEED_BASE) // 过调制 #define OverModulation (0) #define EstimateAlgorithm (AO) #define Open_Start_Mode (Omega_Start) #define Shunt_Resistor_Mode (Double_Resistor) #define CalibENDIS (1) #define SVPMW_Mode (SVPWM_7_Segment) #define DouRes_Sample_Mode (DouRes_1_Cycle) #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 // AO SMO 估算器增益 #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) // PLL估算器增益 #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) // ------------------------------------------------------------------------------------------------------------------ // 3.其他宏定义 #define LED_PIN (GP03) #define LED_ON (LED_PIN = 0) // LED 点亮 #define LED_OFF (LED_PIN = 1) // LED 熄灭 #define LED_OFF_STATE (LED_PIN == 1) // LED 熄灭状态 #define LED_TOGGLE (LED_PIN = ~LED_PIN) // LED 翻转 #define VDCBUS_ADC ADC2_DR // 高压直流 #define VACBUS_ADC ADC3_DR // 高压交流 #define NTC1_ADC ADC6_DR // NTC1 #define NTC2_ADC ADC7_DR // NTC2 #define IGBT_NTC_ADC ADC11_DR // IGBT #define PRE_DRIVER_RST GP04 // 驱动复位 #define MAIN_RELAY GP51 // 母线主继电器 // ------------------------------------------------------------------------------------------------------------------ // 4.结构体定义与声明 函数声明 // LED控制 typedef struct { enum { LED_STATE_OFF, // 熄灭 LED_STATE_ON, // 常亮 LED_STATE_BLINK_FAULT, // 故障闪烁 LED_STATE_POST_FAULT_DELAY // 延时等待 } LedState ; uint16_t PauseDelayCnt; uint8_t BlinkCnt; } LED_Control_t; extern volatile LED_Control_t ledControl; void LED_State_Display(uint8_t Xn0); // 上电控制 typedef struct { enum { DELAY_POWER_ON, // 等待上电 DELAY_FREE_RST, // 等待释放复位 POWER_RUN // 上电完成 } PowerSate; uint16_t PowerInCnt; // 上电时间计数 } Power_Control_t; extern volatile Power_Control_t powerControl; void Power_In_Control(void); // 电机控制 typedef struct { // 模拟数据 uint16_t DCBus; uint16_t ACBus; uint16_t IGBTTemp; // 数据处理 uint16_t ACBusMax; uint16_t ACBusMin; // 速度相关 enum { OPEN_MODE, CLOSE_MODE }LoopState; uint8_t LoopTime; float RampInc; float RampDec; int16_t TargetRef; float ActualRef; int16_t ActualSpeed; int16_t ActualQOutValue; int16_t QOutRef; int16_t IQRef; int16_t IDRef; int16_t ISRef; // 保护相关 uint16_t BackEMF; // 测试 int16_t uPhaseCurr; int16_t vPhaseCurr; } Motor_Control_t; extern Motor_Control_t motorControl; typedef struct { enum { CALIB_INIT, GET_OFFSET, OFFSET_READY } OffsetCalib; // U相 int16_t IuOffset; int32_t IuOffsetSum; // V相 int16_t IvOffset; int32_t IvOffsetSum; // W相 int16_t IwBusOffset; int32_t IwBusOffsetSum; int16_t OffsetCount; } Curr_Offset_t; extern Curr_Offset_t xdata currOffset; // ------------------------------------------------------------------------------------------------------------------ // 5.硬件初始化与调用声明 void Driver_Init(void); void VREF_Config_Init(void); void ADC_Init(void); void Get_ADC_Value(void); void AMP_Init(void); void GPIO_Init(void); void PreDriver_Falut_Init(void); void Sys_Tick(void); // 串口初始化 void UART1_Init(void); void UART2_Init(void); extern uint8_t xdata DebugDat[64]; void Dabug_Data_Update(void); // 增量式硬件PI控制器初始化 void HW_Zero_PI_Init(void); void HW_One_PI_Init(void); void HW_Two_PI_Init(void); void HW_Three_PI_Init(void); // 增量式硬件PI计算 int16_t HW_Zero_Calc(int16_t Xn0); int16_t HW_One_Calc(int16_t Xn0); int16_t HW_Two_Calc(int16_t Xn0); int16_t HW_Three_Calc(int16_t Xn0); // 低通滤波计算 int16_t LPF_Zero_Update(int16_t Xn1, int16_t Xn0, int16_t K); int16_t LPF_One_Update(int16_t Xn1, int16_t Xn0, int16_t K); int16_t LPF_Two_Update(int16_t Xn1, int16_t Xn0, int16_t K); // ------------------------------------------------------------------------------------------------------------------ // 6.函数声明 变量声明 extern bool data IsTick; extern bool data isCtrlPowOn; void Tick_Task(void); void Motor_Control_State(void); void Loop_Control(void); void Ref_Ramp(void); void Get_Target_Ref(void); #endif