#ifndef __CUSTOMER_H_ #define __CUSTOMER_H_ #define PWM_FREQUENCY (16.0) #define PWM_DEADTIME (1.0) #define MIN_WIND_TIME (PWM_DEADTIME + 0.9) #define DLL_TIME (PWM_DEADTIME + 0.3) #define PWM_LEVEL_MODE (HIGH_LEVEL) #define Pole_Pairs (4.0) #define RS (0.135) #define LD (0.00004) #define LQ (0.00008) #define MOTOR_SPEED_BASE (9000.0) #define Ke (1.8) #define IR_MODE (CW) #define HW_AMP_MODE (AMP_PGA_DUAL) #define HW_RSHUNT (0.01) #define HW_AMPGAIN (AMP4x) #define HW_ADC_VREF (VREF5_0) #define Shunt_Resistor_Mode (Single_Resistor) #define VHALF_EN (1) #define RV1 (47.0) #define RV2 (3.3) #define CHARGE_EN (0) #define CHARGE_DUTY (0.1) #define CHARGE_TIME (30) #define ALIGN_MOME (ALIGN_NOMAL) #define AlignRamp_Time (800) #define Align_Time1 (200) #define Align_Time2 (1000) #define Align_Time3 (200) #define AlignAll_Time (AlignRamp_Time+Align_Time1+Align_Time2+Align_Time3) #define Align_Angle1 _Q15(90.0/180.0) // 第一次预定位角度 #define Align_Angle2 _Q15(90.0/180.0) // 第二次预定位角度 #define Angle_ADD (int32)6*_Q15((float)-180.0/180.0) //旋转角度 #define Angle_AngleK (float)Angle_ADD/Align_Time2 //旋转系数 #define DQKP_Alignment _Q12(2.0) #define DQKI_Alignment _Q15(0.01) #define ID_Align_CURRENT I_Value(0.0) #define IQ_Align_CURRENT I_Value(2.0) #define Open_Start_Mode (Omega_Start) #define ID_Start_CURRENT I_Value(0.0) #define IQ_Start_CURRENT I_Value(5.0) #define ATO_BW_START (0.0) #define ATO_BW_RUN1 (150.0) #define ATO_BW_RUN2 (150.0) #define ATO_BW_RUN3 (150.0) #define ATO_BW_RUN4 (150.0) #define ATO_START_HOLDTIME (10) ///< (ms)观测器带宽的滤波值,启动第一拍ATO持续时间 #define ATO_RAMP_PERIOD (20) ///< (ms)观测器带宽的滤波值,ATO爬坡递增 间隔时间 #define MOTOR_OMEGA_RAMP_ACC (50) ///< omega启动的增量（每个载波递增值） #define MOTOR_OMEGA_RAMP_MIN S_Value(200.0) ///< (RPM) omega启动的最小切换转速 #define MOTOR_OMEGA_RAMP_END S_Value(300.0) ///< (RPM) omega启动的限制转速 #define MOTOR_SPEED_SMOMIN_RPM (600.0) ///< (RPM) SMO运行最小转速影响启动 #define SPD_BW (20.0) ///< 速度带宽的滤波值，经典值为5.0-40.0 #define MOTOR_LOOP_RPM S_Value(400.0) ///< (RPM) 启动后电流环切入外部环路转速阈值 #define MOTOR_SPEED_MIN_RPM S_Value(1800.0) #define MOTOR_SPEED_MAX_RPM S_Value(4500.0) #define MOTOR_SPEED_STOP_RPM S_Value(1500.0) #define DKPStart _Q12(4.5) #define DKIStart _Q15(0.03) #define QKPStart DKPStart #define QKIStart DKIStart #define DKP _Q12(3.5) #define DKI _Q15(0.005) #define QKP DKP #define QKI DKI // DQ轴输出限幅 #define DOUTMAX _Q15(0.99) #define DOUTMIN _Q15(-0.99) #define QOUTMAX _Q15(0.99) #define QOUTMIN _Q15(-0.99) #define SPEED_LOOP_TIME (1) #define SKP _Q12(2.5) #define SKI _Q15(0.01) #define SOUTMAX I_Value(30.0) #define SOUTMIN I_Value(0.01) #define MOTOR_SPEED_INC (1) // 约为274RPM每秒 #define MOTOR_SPEED_DEC (1) #define SPEED_MODE (PWMMODE) #define EstimateAlgorithm (AO) #define OverModulation (0) #define OFFPWMFreq (3500) // 关机频率下限 #define OFFPWMFreqHigh (16000) // 关机频率上限 #define ONPWMFreq (3500) // 开机频率下限 #define RETURN_OIL_SPEED _Q15(2000.0/MOTOR_SPEED_BASE) #define RETURN_OIL_TIME (20000) #define SPEED_FREQ_K (_Q15(30.0/100) / MOTOR_SPEED_BASE) // 频率转速度比例系数 #endif