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T-DC-FU6572
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Parameter.h

Parameter.h 9.5 KB
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  1. /**
    2. 

  2.  * @copyright (C) COPYRIGHT 2022 Fortiortech Shenzhen
    3. 

  3.  * @file      Parameter.h
    4. 

  4.  * @author    Fortiortech  Appliction Team
    5. 

  5.  * @note      Last modify author is Marcel He
    6. 

  6.  * @since     2021-04-11
    7. 

  7.  * @date      2022-07-14
    8. 

  8.  * @brief     This file contains all FOC debug  parameter used for Motor Control.
    9. 

  9.  */
    10. 

  10. 

  11. 

  12. /* Define to prevent recursive inclusion -------------------------------------*/
    13. 

  13. #ifndef __Parameter_H_
    14. 

  14. #define __Parameter_H_
    15. 

  15. #include <definition.h>
    16. 

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

  17. 

  18. 

  19. /* Private define ------------------------------------------------------------*/
    20. 

  20. #define SystemPowerUpTime               (55000)                                                       // 上电等待时间，cpu计数时钟
    21. 

  21. /*芯片参数值------------------------------------------------------------------*/
    22. 

  22. /*CPU and PWM Parameter*/
    23. 

  23. 

  24. /*CPU Parameter*/
    25. 

  25. #define MCU_CLOCK                       (24.0)                                                        ///< (MHz) 主频
    26. 

  26. 

  27. #define PWM_CYCLE                       (1000.0 / PWM_FREQUENCY)                                      ///< 周期us
    28. 

  28. #define SAMP_FREQ                       (PWM_FREQUENCY * 1000)                                        ///< 采样频率(HZ)
    29. 

  29. #define TPWM_VALUE                      (1.0 / SAMP_FREQ)                                             ///< 载波周期(S)
    30. 

  30. #define PWM_VALUE_LOAD                  (uint16)(MCU_CLOCK * 1000 *2 / PWM_FREQUENCY)                 ///< PWM 定时器重载值 20190514修改
    31. 

  31. 

  32. #define SAcc_Value(SpeedValue)          ((float)32767.0*(SpeedValue*LOOP_TIME/1000.0) / MOTOR_SPEED_BASE)
    33. 

  33. 

  34. 

  35. /*three resistor overmodule Parameter*/
    36. 

  36. #define OVERMOD_TIME                    (2.0)                                                         ///< 三电阻过调制时间(us)，建议值2.0
    37. 

  37. /*deadtime compensation*/
    38. 

  38. #define DT_TIME                         (0.0)                                                         ///< 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
    39. 

  39. /*min pulse*/
    40. 

  40. #define GLI_TIME                        (0.0)                                                         ///< 桥臂窄脉宽消除(us),建议值0.5
    41. 

  41. 

  42. /*deadtime Parameter*/
    43. 

  43. #define PWM_LOAD_DEADTIME               (PWM_DEADTIME * MCU_CLOCK)                                    ///< 死区设置值
    44. 

  44. #define PWM_OVERMODULE_TIME             (OVERMOD_TIME * MCU_CLOCK / 2)                                ///< 过调制时间
    45. 

  45. #define PWM_DLOWL_TIME                  (DLL_TIME * MCU_CLOCK / 2)                                    ///<下桥臂最小时间
    46. 

  46. /*single resistor sample Parameter*/
    47. 

  47. #define PWM_TS_LOAD                     (uint16)(_Q16 / PWM_CYCLE * MIN_WIND_TIME / 16)               ///< 单电阻采样设置值
    48. 

  48. #define PWM_DT_LOAD                     (uint16)(_Q16 / PWM_CYCLE * DT_TIME / 16)                     ///< 死区补偿值
    49. 

  49. #define PWM_TGLI_LOAD                   (uint16)(_Q16 / PWM_CYCLE * (GLI_TIME + PWM_DEADTIME) / 16)   ///< 最小脉冲
    50. 

  50. 

  51. /*硬件板子参数设置值------------------------------------------------------------------*/
    52. 

  52. /*hardware current sample Parameter*/
    53. 

  53. 

  54. 

  55. #if (HW_ADC_VREF==VREF5_0)
    56. 

  56.  #define HW_ADC_REF                     (5.0)                                    ///< (V)  ADC参考电压
    57. 

  57. #elif (HW_ADC_VREF==VREF4_5)
    58. 

  58.  #define HW_ADC_REF                     (4.5)                                    ///< (V)  ADC参考电压
    59. 

  59. #elif (HW_ADC_VREF==VREF4_0)
    60. 

  60.  #define HW_ADC_REF                     (4.0)                                    ///< (V)  ADC参考电压
    61. 

  61. #elif (HW_ADC_VREF==VREF3_0)
    62. 

  62.  #define HW_ADC_REF                     (3.0)                                    ///< (V)  ADC参考电压
    63. 

  63. #endif
    64. 

  64. 

  65. #define RV                              ((RV1 + RV2 ) / RV2)               ///< 分压比
    66. 

  66. 

  67. 

  68. /* -----时间设置值----- */
    69. 

  69. #define Calib_Time                     (1000)  
    70. 

  70. /* -----保护参数值----- */
    71. 

  71. #define GetCurrentOffsetValueLow     (16383-GetCurrentOffsetValue)                                                      ///<  偏置电压差值低点 
    72. 

  72. #define GetCurrentOffsetValueHigh    (16383+GetCurrentOffsetValue)                                                      ///<  偏置电压差值高点 
    73. 

  73. /* -----过温保护值设置----- */
    74. 

  74. #define   Tempera_Value(NTC_Value) 		_Q15((5.0*NTC_Value/(10.0+NTC_Value))/HW_ADC_REF)									    ///< 10K上拉电阻时，NTC阻值对应Q15_AD值，单位：KΩ
    75. 

  75. /*电流基准的电路参数*/
    76. 

  76. #define HW_BOARD_CURR_MAX               (HW_ADC_REF / 2 / HW_AMPGAIN / HW_RSHUNT)                     ///< 最大采样电流
    77. 

  77. #define HW_BOARD_CURR_MIN               (-HW_BOARD_CURR_MAX)                                          ///< 最小采样电流
    78. 

  78. #define HW_BOARD_CURR_BASE              (HW_BOARD_CURR_MAX * 2)                                       ///< 电流基准
    79. 

  79. 

  80. /*hardware voltage sample Parameter*/
    81. 

  81. /*母线电压采样分压电路参数*/
    82. 

  82. #define HW_BOARD_VOLT_MAX               (HW_ADC_REF * RV)                           ///< (V)  ADC可测得的最大母线电压
    83. 

  83. #define HW_BOARD_VOLTAGE_BASE           (HW_BOARD_VOLT_MAX / 1.732)                 ///< 电压基准
    84. 

  84. 

  85. 

  86. 

  87. /*硬件过流保护DAC值*/
    88. 

  88. #define DAC_OverCurrentValue            _Q8(I_ValueX(HWOCValue)) + 0x7F             ///< 该结果是进行了右移一位的结果
    89. 

  89. 

  90. #define Align_Theta                     _Q15((float)Align_Angle / 180.0)
    91. 

  91. 

  92. #define P_Value(PowerValue)             _Q15(PowerValue*2.0/HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE/1.5)
    93. 

  93. 

  94. /* obsever parameter set value */
    95. 

  95. 

  96. #define MAX_BEMF_VOLTAGE                ((MOTOR_SPEED_BASE*Ke)/(1000.0))
    97. 

  97. #define MAX_OMEG_RAD_SEC                ((float)(_2PI*BASE_FREQ))
    98. 

  98. 

  99. #define ATT_COEF                       (0.85)                                  ///< 无需改动
    100. 

  100. 

  101. 

  102. //自适应估算器模式使能
    103. 

  103. #if (EstimateAlgorithm == AO) 
    104. 

  104.     #define OBS_K1T                     _Q11((1.0*3.0/(125.0*1.0))*(LQ/TPWM_VALUE)*(HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE))
    105. 

  105.     #define OBS_K2T                     _Q11(0.6*RS*HW_BOARD_CURR_BASE/HW_BOARD_VOLTAGE_BASE)
    106. 

  106.     #define OBS_K3T                     _Q8(2.35)
    107. 

  107.     #define OBS_K4T                     _Q15(((LD-LQ)*TPWM_VALUE*MAX_OMEG_RAD_SEC)/(LD+RS*TPWM_VALUE))
    108. 

  108. #else
    109. 

  109.     #define OBS_K1T                     _Q15(LD/(LD+RS*TPWM_VALUE))
    110. 

  110.     #define OBS_K2T                     _Q13(1.4*(TPWM_VALUE/(LD+RS*TPWM_VALUE))*(HW_BOARD_VOLTAGE_BASE/HW_BOARD_CURR_BASE))
    111. 

  111.     #define OBS_K3T                     _Q15((TPWM_VALUE/(LD+RS*TPWM_VALUE))*(MAX_BEMF_VOLTAGE/HW_BOARD_CURR_BASE))
    112. 

  112.     #define OBS_K4T                     _Q15(((LD-LQ)*TPWM_VALUE*MAX_OMEG_RAD_SEC)/(LD+RS*TPWM_VALUE))
    113. 

  113. #endif
    114. 

  114. 

  115. 

  116. #define OBSW_KP_GAIN_START              _Q12(2*_2PI*ATT_COEF*ATO_BW_START/BASE_FREQ)
    117. 

  117. #define OBSW_KI_GAIN_START              _Q15(_2PI*ATO_BW_START*ATO_BW_START*TPWM_VALUE/BASE_FREQ)
    118. 

  118. 

  119. #define OBSW_KP_GAIN_RUN1               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN1/BASE_FREQ)
    120. 

  120. #define OBSW_KI_GAIN_RUN1               _Q15(_2PI*ATO_BW_RUN1*ATO_BW_RUN1*TPWM_VALUE/BASE_FREQ)
    121. 

  121. 

  122. #define OBSW_KP_GAIN_RUN2               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN2/BASE_FREQ)
    123. 

  123. #define OBSW_KI_GAIN_RUN2               _Q15(_2PI*ATO_BW_RUN2*ATO_BW_RUN2*TPWM_VALUE/BASE_FREQ)
    124. 

  124. 

  125. #define OBSW_KP_GAIN_RUN3               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN3/BASE_FREQ)
    126. 

  126. #define OBSW_KI_GAIN_RUN3               _Q15(_2PI*ATO_BW_RUN3*ATO_BW_RUN3*TPWM_VALUE/BASE_FREQ)
    127. 

  127. 

  128. #define OBSW_KP_GAIN_RUN4               _Q12(2*_2PI*ATT_COEF*ATO_BW_RUN4/BASE_FREQ)
    129. 

  129. #define OBSW_KI_GAIN_RUN4               _Q15(_2PI*ATO_BW_RUN3*ATO_BW_RUN4*TPWM_VALUE/BASE_FREQ)
    130. 

  130. 

  131. 

  132. 

  133. #define OBS_FBASE                       _Q15(BASE_FREQ*TPWM_VALUE)                                    ///< Fbase*Tpwm*32768
    134. 

  134. #define OBS_KLPF                        _Q15(_2PI*BASE_FREQ*TPWM_VALUE)                               ///< 2PI*Fbase*Tpwm
    135. 

  135. #define SPEED_KLPF                      _Q15(_2PI*SPD_BW*TPWM_VALUE)                                  ///< 2PI*SPD_BW*Tpwm
    136. 

  136. #define OBS_EA_KS                       _Q15((2*MOTOR_SPEED_SMOMIN_RPM*_2PI*BASE_FREQ*TPWM_VALUE)/MOTOR_SPEED_BASE)     // SMO的最小速度
    137. 

  137. 

  138. 

  139. #define OBSE_PLLKP_GAIN                 _Q11(((2*ATT_COEF*_2PI*E_BW*LD - RS)*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    140. 

  140. #define OBSE_PLLKI_GAIN                 _Q11((_2PI*E_BW*_2PI*E_BW*LD*TPWM_VALUE*HW_BOARD_CURR_BASE)/HW_BOARD_VOLTAGE_BASE)
    141. 

  141. 

  142. 

  143. 

  144. #define CalibENDIS                      (Enable)
    145. 

  145. #define SVPMW_Mode                      (SVPWM_7_Segment)
    146. 

  146. #define DouRes_Sample_Mode              (DouRes_1_Cycle)
    147. 

  147. 

  148. 

  149. /* 电机启动参数值 */
    150. 

  150. //open 算法启动参数
    151. 

  151. #define MOTOR_OPEN_RAMP_ACC             (30.0)                                  ///< 强拖启动的增量(每载波周期加一次)
    152. 

  152. #define MOTOR_OPEN_RAMP_MIN             S_Value(0.0)                            ///< 强拖启动的初始速度
    153. 

  153. #define MOTOR_OPEN_RAMP_CNT             (100.0)                                 ///< 强拖启动的执行次数(MOTOR_OPEN_ACC_CNT*256)
    154. 

  154. 

  155. /* 正常运行时估算算法的参数设置值  */
    156. 

  156. #define OBS_KSLIDE                     _Q15(0.85)       ///< SMO算法里的滑膜增益值
    157. 

  157. #define E_BW                           (450.0)          ///< PLL算法里的反电动势滤波值
    158. 

  158. 

  159. /* 功率保护 */
    160. 

  160. #define PowerProtectValue                P_Value(105)               // 功率上限值 6500:300W
    161. 

  161. #define PowerProtectValue1               P_Value(120)               // 功率上限值 6500:300W
    162. 

  162. #define PowerLimit                       (100.0)                                      // 功率上限值 6500:300W
    163. 

  163. #define PowerLimitK                      (18.0)
    164. 

  164. 

  165. #endif
    166.