aci.h

伺服控制数学模型

/* =================================================================================
File name:       ACI.H                     
                    
Originator:	Digital Control Systems Group
			Texas Instruments

Description: 
Header file containing constants, data type definitions, and 
function prototypes for the ACI.
=====================================================================================
 History:
-------------------------------------------------------------------------------------
 04-15-2005	Version 3.20                                                  
------------------------------------------------------------------------------*/

typedef struct 	{ float32  Ualpha; 			// Input: alpha-axis phase voltage at k 
				  float32  Ubeta;			// Input: beta-axis phase voltage at k 
			      float32  LoadTorque;		// Input: load Torque 	      
				  float32  Ialpha;			// Output: alpha-axis phase current at k  			
				  float32  Ibeta;			// Output: beta-axis phase current at k  
				  float32  PsiAlpha; 		// Output: alpha-axis rotor flux at k  		
				  float32  PsiBeta;			// Output: beta-axis rotor flux at k  					  
				  float32  Torque; 			// Output: electromagnetic Torque at k  		
				  float32  Wr;				// Output: electrically angular velocity of motor 
				  float32  WrRpm; 			// Output: motor speed in rpm 
			      float32  K1;				// Parameter: constant using in rotor flux calculation 
			      float32  K2;				// Parameter: constant using in rotor flux calculation 
			      float32  K3;				// Parameter: constant using in rotor flux calculation 
			      float32  K4;				// Parameter: constant using in stator current calculation 
			      float32  K5;				// Parameter: constant using in stator current calculation 
			      float32  K6;				// Parameter: constant using in stator current calculation 
			      float32  K7;				// Parameter: constant using in stator current calculation 
			      float32  K8;				// Parameter: constant using in Torque calculation 
			      float32  K9;				// Parameter: constant using in rotor speed calculation 
			      float32  K10;				// Parameter: constant using in rotor speed calculation 			      
			      float32  BaseRpm;			// Parameter: base motor speed in rpm      
    		      float32  Alpha;			// Parameter: trapezoidal integration parameter 
				  void   (*calc)();	    	// Pointer to calculation function  
				} ACI;
																																																																																																																																																																																																																																																																																																																																																																																																																																																																																																																				
typedef ACI *ACI_handle;

/*-----------------------------------------------------------------------------
Default initalizer for the ACI object.
-----------------------------------------------------------------------------*/                     
#define ACI_DEFAULTS { 0,0,0, \
                       0,0,0,0,0,0,0, \
 		          	   0.000595097,0.037699112,0.000994357,0.003227603,0.204467, \
 		          	   0.010596,0.093444628,1.094054741,0.005,0.00816532, \
 		          	   3600, 0.01, \
                       (void (*)(Uint32))aci_calc }

/*------------------------------------------------------------------------------
Prototypes for the functions in ACI.C
------------------------------------------------------------------------------*/
void aci_calc(ACI_handle);