motor_ctl-1/2.MotorDrive/Include/torqobs.h

/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            torqobs.h
 Partner Filename:    torqobs.c
 Description:         The header file of asr.c
 Complier:            IAR Embedded Workbench for ARM 8.40, IAR Systems.
 CPU TYPE :           STM32F30x
*************************************************************************
 Copyright (c) 2022 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
*************************************************************************
Revising History (ECL of this file):

************************************************************************/

/************************************************************************
 Beginning of File, do not put anything above here except notes
 Compiler Directives:
*************************************************************************/
#ifndef TORQOBS_H
#define TORQOBS_H

#include "typedefine.h"
/************************************************************************
 Definitions & Macros (#define ...)
*************************************************************************/

/************************************************************************
 global varibles Macros (#define ...)
*************************************************************************/

/************************************************************************
 TypeDefs & Structure defines
*************************************************************************/
typedef struct
{
    UWORD uwRatioJm; // Q0,  Ratio of load inertia and motor inertia
    UWORD uwMtJm;    // Motor rotational inertia
    UWORD uwMtFlxWb; // unit: 0.01mWb, Flux linkage
    UWORD uwUbVt;    // unit: 0.1V, Voltage base
    UWORD uwIbAp;    // unit: 0.01A, Current base
    UWORD uwFbHz;    // unit: Hz, Frequency base
    UWORD uwFTbsHz;  // TBS frequency
    UWORD uwPairs;   // Pole pairs base
    UWORD uwWtcHz;   // unit:Hz,Load torque observer bandwidth
} TORQOBS_COEFIN;

typedef struct
{
    UWORD uwKpPu;
    UWORD uwKitPu;
    ULONG uwCur2TorqKPu;
    ULONG ulJmPu_Inv;
    UWORD uwTCtrPu;
} TORQOBS_COEFOUT;

typedef struct
{
    SWORD swIqfbkPu;
    SWORD swSpdPu; 
    SWORD swIqMaxPu;  
    SWORD swIqMinPu;  
}TORQOBS_IN;

typedef struct
{
    SWORD swSpdObsPu; 
    SLONG slSpdObsPu;
    SWORD swTorqObsPu;
    SWORD swErrZ1Pu;
    SLONG slIqLoadPu;
    SWORD swIqLoadPu;

    
    SLONG slDeltaTorqPu;
} TORQOBS_OUT;


/************************************************************************
 TypeDefs & Structure defines
*************************************************************************/

/************************************************************************
Constant Table
*************************************************************************/

/************************************************************************
 Exported Variables:
*************************************************************************/
extern TORQOBS_COEFIN  torqobs_stCoefIn;
extern TORQOBS_COEFOUT torqobs_stCoef;
extern TORQOBS_IN      torqobs_stCalIn;
extern TORQOBS_OUT     torqobs_stCalOut;
/************************************************************************
 RAM ALLOCATION:
*************************************************************************/

/************************************************************************
 Exported Function Call Prototypes (N/A)
*************************************************************************/
void torqobs_voInit(void);
void torqobs_voCoef(TORQOBS_COEFIN *in, TORQOBS_COEFOUT *out);
void torqobs_voCal(TORQOBS_IN *in, TORQOBS_COEFOUT *cof, TORQOBS_OUT *out);

/************************************************************************
 Flag Define (N/A)
*************************************************************************/
#endif

/************************************************************************
 Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
 All rights reserved.
*************************************************************************
 End of this File (EOF)!
 Do not put anything after this part!
*************************************************************************/