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Parameter.h

Parameter.h 13 KB
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  1. /**************************** (C) COPYRIGHT 2018 Fortiortech shenzhen *****************************
    2. 

  2. * File Name          : Parameter.h
    3. 

  3. * Author             : Bruce,Fortiortech  RD
    4. 

  4. * Version            : V1.0
    5. 

  5. * Date               : 2017-12-20
    6. 

  6. * Description        : This file contains all FOC debug parameter.
    7. 

  7. ***************************************************************************************************
    8. 

  8. * All Rights Reserved
    9. 

  9. **************************************************************************************************/
    10. 

  10. 

  11. /* Define to prevent recursive inclusion --------------------------------------------------------*/
    12. 

  12. 

  13. #ifndef __Parameter_H_
    14. 

  14. #define __Parameter_H_
    15. 

  15. #include <Myproject.h>
    16. 

  16. /* Define to prevent recursive inclusion -------------------------------------*/
    17. 

  17. /* Q format define ---------------------------------------------------------------------------------*/
    18. 

  18. #define _Q7(A)                          (int8) ((A) * 0x7f)         ///< Q7 format   128*1  = 128
    19. 

  19. #define _Q8(A)                          (int16)((A) * 0xff)         ///< Q8 format   128*2  = 256
    20. 

  20. #define _Q9(A)                          (int16)((A) * 0x1ff)        ///< Q9 format   128*4  = 512
    21. 

  21. #define _Q10(A)                         (int16)((A) * 0x3ff)        ///< Q10 format  128*8  = 1024
    22. 

  22. #define _Q11(A)                         (int16)((A) * 0x07ff)       ///< Q11 format  128*16 = 2048
    23. 

  23. #define _Q12(A)                         (int16)((A) * 0x0fff)       ///< Q12 format  128*32 = 4096
    24. 

  24. #define _Q13(A)                         (int16)((A) * 0x1fff)       ///< Q13 format  128*64 = 8192
    25. 

  25. #define _Q14(A)                         (int16)((A) * 0x3fff)       ///< Q14 format  128*128= 18383
    26. 

  26. #define _Q15(A)                         (int16)((A) * 0x7fff)       ///< Q15 format  128*256= 32767
    27. 

  27. #define _Q16                            (65535.0)                   // Q16 format value
    28. 

  28. #define _2PI                            (3.1415926 * 2) 
    29. 

  29. /* Private define ------------------------------------------------------------*/
    30. 

  30. #define SystemPowerUpTime               (10000)                                       // 上电等待时间，cpu计数时钟
    31. 

  31. /*芯片参数值------------------------------------------------------------------*/
    32. 

  32. /*CPU and PWM Parameter*/
    33. 

  33. #define PWM_CYCLE                       (1000.0 / PWM_FREQUENCY)                      // 周期us
    34. 

  34. #define SAMP_FREQ                       (PWM_FREQUENCY * 1000)                        // 采样频率(HZ)
    35. 

  35. #define TPWM_VALUE                      (1.0 / SAMP_FREQ)                             // 载波周期(S)
    36. 

  36. #define PWM_VALUE_LOAD                  (uint16)(MCU_CLOCK * 1000 *2 / PWM_FREQUENCY) // PWM 定时器重载值 20190514修改
    37. 

  37. 

  38. 

  39. 

  40. /*double resistor sample Parameter*/
    41. 

  41. #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
    42. 

  42. /*three resistor overmodule Parameter*/
    43. 

  43. #define OVERMOD_TIME                    (2.0)            // 三电阻过调制时间(us)，建议值2.0
    44. 

  44. /*deadtime compensation*/
    45. 

  45. #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
    46. 

  46. /*min pulse*/
    47. 

  47. #define GLI_TIME                        (0.5)            // 桥臂窄脉宽消除(us),建议值0.5
    48. 

  48. 

  49. /*deadtime Parameter*/
    50. 

  50. #define PWM_LOAD_DEADTIME               (PWM_DEADTIME * MCU_CLOCK)             // 死区设置值
    51. 

  51. #define PWM_OVERMODULE_TIME             (OVERMOD_TIME * MCU_CLOCK / 2)         // 过调制时间
    52. 

  52. #define PWM_DLOWL_TIME                  (DLL_TIME * MCU_CLOCK / 2)             //下桥臂最小时间
    53. 

  53. /*single resistor sample Parameter*/
    54. 

  54. #define PWM_TS_LOAD                     (uint16)(_Q16 / PWM_CYCLE * MIN_WIND_TIME / 16)            // 单电阻采样设置值
    55. 

  55. #define PWM_DT_LOAD                     (uint16)(_Q16 / PWM_CYCLE * DT_TIME / 16)                  // 死区补偿值
    56. 

  56. #define PWM_TGLI_LOAD                   (uint16)(_Q16 / PWM_CYCLE * (GLI_TIME + PWM_DEADTIME) / 16)  // 最小脉冲
    57. 

  57. 

  58. #define LPF_K(K)                        _Q15(_2PI / 1000 * K)
    59. 

  59. /*硬件板子参数设置值------------------------------------------------------------------*/
    60. 

  60. /*hardware current sample Parameter*/
    61. 

  61. /*电流基准的电路参数*/
    62. 

  62. #define HW_BOARD_CURR_MAX               (HW_ADC_REF / 2 / HW_AMPGAIN / HW_RSHUNT) // 最大采样电流,2.702A
    63. 

  63. #define HW_BOARD_CURR_MIN               (-HW_BOARD_CURR_MAX)                      // 最小采样电流,-2.702A
    64. 

  64. #define HW_BOARD_CURR_BASE              (HW_BOARD_CURR_MAX * 2)                   // 电流基准//5.4A
    65. 

  65. 

  66. /*hardware voltage sample Parameter*/
    67. 

  67. /*母线电压采样分压电路参数*/
    68. 

  68. #define HW_BOARD_VOLTAGE_BASE           (HW_BOARD_VOLT_MAX / 1.732)               // 电压基准
    69. 

  69. #define HW_BOARD_VOLTAGE_VC             ((RV1 + RV2 + RV3 * VC1) / (RV3 * VC1))
    70. 

  70. #define HW_BOARD_VOLTAGE_BASE_Start     (HW_ADC_REF * HW_BOARD_VOLTAGE_VC / 1.732)// 电压基准
    71. 

  71. /*功率参数*/
    72. 

  72.  #define P_Power(POWER)                  _Q15(POWER*2/HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE/1.5)
    73. 

  73.  #define P_PowerReal          	         (3*((uint32)mcFocCtrl.Powerlpf*HW_BOARD_CURR_BASE*HW_BOARD_VOLTAGE_BASE))/4/32767
    74. 

  74.  #define I_IReal_10          	           (uint32)(10*HW_BOARD_CURR_BASE*mcFocCtrl.IDQFlt/1.414/1.35)/32767
    75. 

  75.   
    76. 

  76. /*硬件过流保护DAC值*/
    77. 

  77. #define DAC_OvercurrentValue            (_Q8(I_ValueX(OverHardcurrentValue ))+0x7F)
    78. 

  78. /*转矩补偿时硬件过流保护DAC值*/
    79. 

  79. #define TorDAC_OvercurrentValue         (_Q8(I_ValueX(TorOverHardcurrentValue ))+0x7F) 
    80. 

  80. 

  81. 

  82. #define BASE_FREQ                       ((MOTOR_SPEED_BASE / 60) * Pole_Pairs)  // 基准频率
    83. 

  83. 

  84. 

  85. #define I_ValuePFCIAC(Curr_Value)       _Q15(Curr_Value * PFC_RSHUNT * PFC_AMPGAIN / HW_ADC_REF)
    86. 

  86. #define DAC_PFCOvercurrentValue         _Q8(PFCOverCurrentValue * PFC_RSHUNT * PFC_AMPGAIN / HW_ADC_REF)+0x3F
    87. 

  87. 

  88. 

  89. /*保护参数值------------------------------------------------------------------*/
    90. 

  90. /* protect value */
    91. 

  91. #define OVER_PROTECT_VALUE              _Q15(Over_Protect_Voltage  / HW_BOARD_VOLT_MAX)
    92. 

  92. #define UNDER_PROTECT_VALUE             _Q15(Under_Protect_Voltage / HW_BOARD_VOLT_MAX)
    93. 

  93. #define OVER_RECOVER_VALUE              _Q15(Over_Recover_Vlotage  / HW_BOARD_VOLT_MAX)
    94. 

  94. #define UNDER_RECOVER_VALUE             _Q15(Under_Recover_Vlotage / HW_BOARD_VOLT_MAX)
    95. 

  95. 

  96. /* motor speed set value */
    97. 

  97. #define Motor_Open_Ramp_ACC             _Q15(MOTOR_OPEN_ACC     / MOTOR_SPEED_BASE)
    98. 

  98. #define Motor_Open_Ramp_Min             _Q15(MOTOR_OPEN_ACC_MIN / MOTOR_SPEED_BASE)
    99. 

  99. 

  100. #define Motor_Omega_Ramp_Min            _Q15(MOTOR_OMEGA_ACC_MIN / MOTOR_SPEED_BASE)
    101. 

  101. #define Motor_Omega_Ramp_End            _Q15(MOTOR_OMEGA_ACC_END / MOTOR_SPEED_BASE)
    102. 

  102. 

  103. #define Motor_Loop_Speed                _Q15(MOTOR_LOOP_RPM / MOTOR_SPEED_BASE)
    104. 

  104. 

  105. #define Motor_Max_Speed                 _Q15(MOTOR_SPEED_MAX_RPM   / MOTOR_SPEED_BASE)
    106. 

  106. #define Motor_Min_Speed                 _Q15(MOTOR_SPEED_MIN_RPM   / MOTOR_SPEED_BASE)
    107. 

  107. #define Motor_Stop_Speed                _Q15(MOTOR_SPEED_STOP_RPM  / MOTOR_SPEED_BASE)
    108. 

  108. 

  109. #define Motor_Stall_Min_Speed           _Q15(MOTOR_SPEED_STAL_MIN_RPM / MOTOR_SPEED_BASE)
    110. 

  110. #define Motor_Stall_Max_Speed           _Q15(MOTOR_SPEED_STAL_MAX_RPM / MOTOR_SPEED_BASE)
    111. 

  111. 

  112.  #define S_Value(SpeedValue)          	_Q15(SpeedValue/MOTOR_SPEED_BASE)
    113. 

  113.  #define S_Value2          	           ((((uint32)(mcFocCtrl.SpeedFlt*MOTOR_SPEED_BASE)/32767)+30)/60)  //RPS  Hz
    114. 

  114. 

  115. 

  116. /* obsever parameter set value */
    117. 

  117. #define MAX_BEMF_VOLTAGE                ((MOTOR_SPEED_BASE*Ke)/(1000.0))
    118. 

  118. #define MAX_OMEG_RAD_SEC                ((float)(_2PI*BASE_FREQ))
    119. 

  119. 

  120. 

  121. 

  122. #if (EstimateAlgorithm==AO)
    123. 

  123.     #define OBS_K1T                         _Q11((3.0/(125.0*1.0))*(LQ/TPWM_VALUE)*(HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE))
    124. 

  124.     #define OBS_K2T                         _Q11(RS*HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE)
    125. 

  125.     #define OBS_K2T_Actual                  _Q11(RS*HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE)
    126. 

  126.     #define OBS_K3T                         _Q8(2.5)
    127. 

  127.     #define OBS_K4T                         _Q15(((LD-LQ)*TPWM_VALUE*MAX_OMEG_RAD_SEC)/(LD+RS*TPWM_VALUE))	
    128. 

  128. #else
    129. 

  129.     #define OBS_K1T                         _Q15(LD/(LD+RS*TPWM_VALUE))
    130. 

  130.     #define OBS_K2T                         _Q13((TPWM_VALUE/(LD+RS*TPWM_VALUE))*(HW_BOARD_VOLTAGE_BASE_Start/HW_BOARD_CURR_BASE))
    131. 

  131.     #define OBS_K2T_Actual                  _Q13((TPWM_VALUE/(LD+RS*TPWM_VALUE))*(HW_BOARD_VOLTAGE_BASE/HW_BOARD_CURR_BASE))
    132. 

  132.     #define OBS_K3T                         _Q15((TPWM_VALUE/(LD+RS*TPWM_VALUE))*(MAX_BEMF_VOLTAGE/HW_BOARD_CURR_BASE))
    133. 

  133.     #define OBS_K4T                         _Q15(((LD-LQ)*TPWM_VALUE*MAX_OMEG_RAD_SEC)/(LD+RS*TPWM_VALUE))
    134. 

  134. #endif
    135. 

  135. 

  136. 

  137. #define OBSW_KP_GAIN                    _Q12(2*_2PI*ATT_COEF*ATO_BW/BASE_FREQ)
    138. 

  138. #define OBSW_KI_GAIN                    _Q15(_2PI*ATO_BW*ATO_BW*TPWM_VALUE/BASE_FREQ)
    139. 

  139. 

  140. #define OBSW_KP_GAIN_RUN                _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN/BASE_FREQ)
    141. 

  141. #define OBSW_KI_GAIN_RUN                _Q15(_2PI*ATO_BW_RUN*ATO_BW_RUN*TPWM_VALUE/BASE_FREQ)
    142. 

  142. 

  143. #define OBSW_KP_GAIN_RUN1               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN1/BASE_FREQ)
    144. 

  144. #define OBSW_KI_GAIN_RUN1               _Q15(_2PI*ATO_BW_RUN1*ATO_BW_RUN1*TPWM_VALUE/BASE_FREQ)
    145. 

  145. 

  146. #define OBSW_KP_GAIN_RUN2               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN2/BASE_FREQ)
    147. 

  147. #define OBSW_KI_GAIN_RUN2               _Q15(_2PI*ATO_BW_RUN2*ATO_BW_RUN2*TPWM_VALUE/BASE_FREQ)
    148. 

  148. 

  149. #define OBSW_KP_GAIN_RUN3               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN3/BASE_FREQ)
    150. 

  150. #define OBSW_KI_GAIN_RUN3               _Q15(_2PI*ATO_BW_RUN3*ATO_BW_RUN3*TPWM_VALUE/BASE_FREQ)
    151. 

  151. 

  152. #define OBSW_KP_GAIN_RUN4               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN4/BASE_FREQ)
    153. 

  153. #define OBSW_KI_GAIN_RUN4               _Q15(_2PI*ATO_BW_RUN4*ATO_BW_RUN4*TPWM_VALUE/BASE_FREQ)
    154. 

  154. 

  155. #define OBS_FBASE                       _Q15(BASE_FREQ*TPWM_VALUE)         // Fbase*Tpwm*32768
    156. 

  156. #define OBS_KLPF                        _Q15(_2PI*BASE_FREQ*TPWM_VALUE)    // 2PI*Fbase*Tpwm
    157. 

  157. #define SPEED_KLPF                      _Q15(_2PI*SPD_BW*TPWM_VALUE)       // 2PI*SPD_BW*Tpwm
    158. 

  158. #define OBS_EA_KS                       _Q15((2*MOTOR_SPEED_SMOMIN_RPM*_2PI*BASE_FREQ*TPWM_VALUE)/MOTOR_SPEED_BASE)     // SMO的最小速度
    159. 

  159. 

  160. #define OBSE_PLLKP_GAIN1                _Q11(((2*ATT_COEF*_2PI*E_BW1*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    161. 

  161. #define OBSE_PLLKI_GAIN1                _Q11((_2PI*E_BW1*_2PI*E_BW1*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    162. 

  162. 

  163. #define OBSE_PLLKP_GAIN2                _Q11(((2*ATT_COEF*_2PI*E_BW2*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    164. 

  164. #define OBSE_PLLKI_GAIN2                _Q11((_2PI*E_BW2*_2PI*E_BW2*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    165. 

  165. 

  166. #define OBSE_PLLKP_GAIN3                _Q11(((2*ATT_COEF*_2PI*E_BW3*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    167. 

  167. #define OBSE_PLLKI_GAIN3                _Q11((_2PI*E_BW3*_2PI*E_BW3*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    168. 

  168. 

  169. #define OBSE_PLLKP_GAIN4                _Q11(((2*ATT_COEF*_2PI*E_BW4*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    170. 

  170. #define OBSE_PLLKI_GAIN4                _Q11((_2PI*E_BW4*_2PI*E_BW4*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    171. 

  171. 

  172. #define OBSE_PLLKP_GAIN5                _Q11(((2*ATT_COEF*_2PI*E_BW5*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    173. 

  173. #define OBSE_PLLKI_GAIN5                _Q11((_2PI*E_BW5*_2PI*E_BW5*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    174. 

  174. 

  175. /* 运放模式选择 */
    176. 

  176. #define AMP_NOMAL                       (0)          ///< 外部放大
    177. 

  177. #define AMP_PGA_DUAL                    (1)          ///< 内部PGA 双端差分输入
    178. 

  178. 

  179. /* 内部PGA放大倍数选择 */
    180. 

  180. #define AMP2x                           (2)
    181. 

  181. #define AMP4x                           (4)
    182. 

  182. #define AMP8x                           (8)
    183. 

  183. #define AMP16x                          (16)
    184. 

  184. 

  185. /*Current Calib:enable or disable*/
    186. 

  186. #define Disable                         (0)                              //
    187. 

  187. #define Enable                          (1)                              //
    188. 

  188. #define CalibENDIS                      (Enable)
    189. 

  189. 

  190. #define CW                              (0)
    191. 

  191. #define CCW                             (1)
    192. 

  192. 

  193. /*SVPWM mode*/
    194. 

  194. #define SVPWM_5_Segment                 (0)                              // 五段式SVPWM
    195. 

  195. #define SVPWM_7_Segment                 (1)                              // 七段式SVPWM
    196. 

  196. #define SVPMW_Mode                      (SVPWM_7_Segment)
    197. 

  197. 

  198. /*double resistor sample mode*/
    199. 

  199. #define DouRes_1_Cycle                  (0)                              // 1 周期采样完 ia, ib
    200. 

  200. #define DouRes_2_Cycle                  (1)                              // 交替采用ia, ib, 2周期采样完成
    201. 

  201. #define DouRes_Sample_Mode              (DouRes_1_Cycle)
    202. 

  202. 

  203. #define VREF3_0                         (0xA0)          
    204. 

  204. #define VREF4_0                         (0xB0)
    205. 

  205. #define VREF4_5                         (0xC0)
    206. 

  206. #define VREF5_0                         (0xD0)
    207. 

  207. 

  208.  #define High_Level                     (0)                                     // 驱动高电平有效
    209. 

  209.  #define Low_Level                      (1)                                     // 驱动低电平有效
    210. 

  210.  #define UP_H_DOWN_L                    (2)                                     // 上桥臂高电平有效，下桥臂低电平有效
    211. 

  211.  #define UP_L_DOWN_H                    (3)                                     // 上桥臂低电平有效，下桥臂高电平有效
    212. 

  212.  
    213. 

  213. 

  214. 

  215. #endif
    216.