resolver.h

有关TI公司用于交流电机控制程序（包含文档以及源码）

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

Description: 
    Header file containing the data types, constants for the position and speed
    based on resolver sensor. Also contains the prototypes for the 
    functions implemented in Speed.C
=====================================================================================
 History:
-------------------------------------------------------------------------------------
 04-15-2005	Version 3.20                                                   
------------------------------------------------------------------------------*/
typedef struct {
       _iq SinIn;      		// Input: Measured sine signal (pu)
       _iq CosIn;    		// Input: Measured cos signal (pu) 
       _iq FilteredSin;     // Variable: Filtered sine signal (pu) 
       _iq FilteredCos;     // Variable: Filtered cos signal (pu)
       _iq DemodSin;        // Variable: Demodulated sine signal (pu) 
       _iq DemodCos;        // Variable: Demodulated cos signal (pu) 
       _iq PreviousSin[18]; // History: Past sine signals (pu) 
       _iq PreviousCos[18]; // History: Past cos signals (pu) 
       _iq FilterGain[18]; 	// Parameter: Low-pass filter gains (FIR 17-order, Hamming Windows)
       _iq OutputTheta;     // Output: Motor electrical position angle (pu) 
       _iq FilterTheta;    	// Variable: FilterTheta = FilterTheta1 - FilterTheta2 (pu)
       _iq FilterTheta1;   	// Variable: Motor mechanical angle computed by filtered sin/cos signal (pu)
       _iq FilterTheta2;   	// Variable: Motor mechanical angle computed by filtered cos/sin signal (pu)
       Uint32 DemodConst;   // Variable: Downsampling by factor K 
       _iq SignalGain;     	// Parameter: Sin and cos gain (pu) 
       _iq SpeedGain;      	// Parameter: Speed calculation gain (pu)    
       Uint32 CounterMax;   // Parameter: Maximum count for finding zero crossing (Q0)
       _iq AmplifiedSin;    // Variable: Amplified sine signal (pu)
       _iq AmplifiedCos;    // Variable: Amplified cos signal (pu) 
       _iq PreviousDemodSin[4]; // History: Past demodulated sine signals (pu) 
       _iq PreviousDemodCos[4]; // History: Past demodulated cos signals (pu) 
       Uint32 ThetaCounter;     // Variable: Counter for finding zero crossing (Q0)
       Uint32 ThetaCounterMax;  // Variable: Maximum counter for finding zero crossing (Q0)
       _iq ElecTheta;      	// Variable: Motor electrical angle before angle compensation (pu)        
       _iq MechTheta;      	// Variable: Motor mechanical angle before angle compensation (pu)
       _iq Speed;       	// Output: Speed in per-unit  (pu)
       _iq OldTheta;   		// History: Mechanical angle at previous step (pu)
       Uint32 PolePairs;   	// Parameter: Number of pole pairs (Q0)
       Uint32 BaseRpm;      // Parameter: Base speed in rpm (Q0)  
       _iq21 K1;         	// Parameter: Constant for differentiator (Q21) 
       int32 SpeedRpm;     	// Output : Motor speed in rpm  (Q0)
       Uint32 SignalCounter;// Variable: Sign change counter 0-3 (Q0) 
       _iq RefTheta;       	// Variable: Filtered motor mechanical angle before angle compensation (pu) 
       Uint32 SignFlag;     // Variable: Sign change of FilterTheta (pu) 
       Uint32 OldSignFlag; 	// History: Sign change of FilterTheta at previous step (pu)
       _iq CalibratedAngle; // Parameter: Mechanical angular offset between resolver's signal and phase a winding (pu)
       void (*calc)();  	// Pointer to the calulation function 
       } RESOLVER;   		// Data type created  

typedef RESOLVER *RESOLVER_handle;
/*-----------------------------------------------------------------------------
Default initalizer for the RESOLVER object.
-----------------------------------------------------------------------------*/                     
#define RESOLVER_DEFAULTS   { 0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
         {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}, \
         {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}, \
         {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                       {0,0,0,0}, \
                       {0,0,0,0}, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                               0, \
                         (void (*)(Uint32))resolver_calc }

#define DIFF_MAX_LIMIT  	_IQ(0.20)
#define DIFF_MIN_LIMIT  	_IQ(0.05)
/*------------------------------------------------------------------------------
Prototypes for the functions in RESOLVER.C
------------------------------------------------------------------------------*/
void resolver_calc(RESOLVER_handle); 
void filter_calc(RESOLVER_handle);
void demodulator_calc(RESOLVER_handle);
void position_speed_calc(RESOLVER_handle);
void angle_comp_calc(RESOLVER_handle);