parms.h

基于DsPic30F4011的高精度位置伺服控制系统

#ifndef Parms_H
#define Parms_H

EXTERN float fWork;
EXTERN short iWork;

EXTERN float fWork;
EXTERN short iWork;

EXTERN	struct{

	// Required physical quantities:
	
	int		iPoles;			//Number of pole pairs
	int 	iMechRPM;		// nominal mechanical speed of motor (in RPM)		
	int		iCntsPerRev;	//

	float	fRotorTmConst;	

	float	fLoopPeriod;	// Basic loop period (in sec).
	
	float 	fVelIrpPeriod;  // Encoder velocity interrupt period (in sec). 

	int 	iIrpPerCalc;	// Number of vel interrupts per velocity calculation.
	
	float 	fMechRPS;	// Scale mechanical speed of motor (in rev/sec)

	float 	fScaleFluxRPS;    // Scale flux speed of motor (in rev/sec)

	float 	fScaleFluxSpeed;  // Scale flux speed of motor (in radians/sec)
                            // Used for all speed scaling

	float 	fScaleFluxPeriod; // Period of one revolution of flux vector (in sec) 
                            //   at Scaled speed

	float 	fScaleFracRevPerLoop;
	
	long  	lScaleCntRate;    // Encoder count rate at iScaleMechRPM
	

	
}MotorParm;

#endif