aci.h

伺服控制数学模型

/* =================================================================================
File name:       ACI.H  (IQ version)                   
                    
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 	{ _iq  Ualpha; 			// Input: alpha-axis phase voltage at k 
				  _iq  Ubeta;			// Input: beta-axis phase voltage at k 
			      _iq  LoadTorque;		// Input: load Torque 	      
				  _iq  Ialpha;			// Output: alpha-axis phase current at k  			
				  _iq  Ibeta;			// Output: beta-axis phase current at k  
				  _iq  PsiAlpha; 		// Output: alpha-axis rotor flux at k  		
				  _iq  PsiBeta;			// Output: beta-axis rotor flux at k  					  
				  _iq  Torque; 			// Output: electromagnetic Torque at k 		
				  _iq  Wr;				// Output: electrically angular velocity of motor 
				  int32  WrRpm; 		// Output: motor speed in rpm  (Q0) - independently with global Q  
			      _iq  K1;				// Parameter: constant using in rotor flux calculation  
			      _iq  K2;				// Parameter: constant using in rotor flux calculation  
			      _iq  K3;				// Parameter: constant using in rotor flux calculation  
			      _iq  K4;				// Parameter: constant using in stator current calculation 
			      _iq  K5;				// Parameter: constant using in stator current calculation 
			      _iq  K6;				// Parameter: constant using in stator current calculation 
			      _iq  K7;				// Parameter: constant using in stator current calculation 
			      _iq  K8;				// Parameter: constant using in Torque calculation 
			      _iq  K9;				// Parameter: constant using in rotor speed calculation  
			      _iq  K10;				// Parameter: constant using in rotor speed calculation  			      
			      Uint32  BaseRpm;		// Parameter: base motor speed in rpm (Q0) - independently with global Q	  			      
    		      _iq  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, \
 		          	   0,0,0,0,0, \
 		          	   0,0,0,0,0, \
 		          	   3600,_IQ(0.01), \
                       (void (*)(Uint32))aci_calc }

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