aci_se.c

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/*=====================================================================================
 File name:        ACI_SE.C  (IQ version)                  
                    
 Originator:	Digital Control Systems Group
			Texas Instruments

 Description:  Open-loop Speed Estimator of Induction Motor                   

=====================================================================================
 History:
-------------------------------------------------------------------------------------
 05-15-2002	Release	Rev 1.0
-------------------------------------------------------------------------------------*/

#include "IQmathLib.h"         /* Include header for IQmath library */
/* Don't forget to set a proper GLOBAL_Q in "IQmathLib.h" file */
#include "aci_se.h"

void aci_se_calc(ACISE *v)
{	

	_iq w_slip, w_syn;
					
/* Slip computation */
   v->psi_r_2 = _IQmpy(v->psi_dr_se,v->psi_dr_se)+_IQmpy(v->psi_qr_se,v->psi_qr_se);

   w_slip = _IQmpy(v->K1_se,(_IQmpy(v->psi_dr_se,v->i_qs_se) - _IQmpy(v->psi_qr_se,v->i_ds_se)));
   w_slip = _IQdiv(w_slip,v->psi_r_2);

/* Synchronous speed computation */   
   if ((v->theta_r_se < DIFF_MAX_LIMIT)&(v->theta_r_se > DIFF_MIN_LIMIT))
		/* Q21 = Q21*(GLOBAL_Q-GLOBAL_Q) */
   		w_syn = _IQmpy(v->K2_se,(v->theta_r_se - v->theta_r_old));
   else  w_syn = v->wr_psi_r;

/* low-pass filter */
   /* Q21 = GLOBAL_Q*Q21 + GLOBAL_Q*Q21 */
   v->wr_psi_r = _IQmpy(v->K3_se,v->wr_psi_r) + _IQmpy(v->K4_se,w_syn);
    
   v->theta_r_old = v->theta_r_se;

   /* Q21 = Q21 - GLOBAL_Q */
   v->wr_hat_se = v->wr_psi_r - _IQtoIQ21(w_slip);

   if (v->wr_hat_se>_IQ21(1))
     v->wr_hat_se = _IQ(1);
   else if (v->wr_hat_se<_IQ21(-1))
     v->wr_hat_se = _IQ(-1);      
   else
     v->wr_hat_se = _IQ21toIQ(v->wr_hat_se);

/* Q0 = Q0*GLOBAL_Q => _IQXmpy(), X = GLOBAL_Q */
   v->wr_hat_rpm_se = _IQmpy(v->base_rpm_se,v->wr_hat_se);
   
}