motor_ctl-2/Obs/observer.h

/************************************************************************
 Project:             Welling Motor Control Paltform
 Filename:            obs.h
 Partner Filename:    obs.c
 Description:         The header file of obs.c
 Complier:            IAR Embedded Workbench for ARM 7.80, IAR Systems.
 CPU TYPE :           GD32F3x0
*************************************************************************
 Copyright (c) 2018 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 OBSERVER_H
#define OBSERVER_H

#include "typedefine.h"
#include "crdnt.h"
#include "mathtool.h"

/************************************************************************
 Compiler Directives (N/A)
*************************************************************************/
#ifdef _OBSERVER_C_
#define _OBSERVER_EXT
#else
#define _OBSERVER_EXT extern
#endif

/************************************************************************
 Definitions & Macros
*************************************************************************/
#define OBS_COF_DEFAULT              \
    {                                \
        0, 0, 0, 0, 0, 0, 0, 0, 0, 0 \
    } // Default value of OBS_COF
#define OBS_OUT_DEFAULT                    \
    {                                      \
        0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 \
    } // Default value of OBS_OUT
#define OBS_FLUXPI_COF_DEFAULT \
    {                          \
        0, 0                   \
    } // Default value of OBS_FLUXPI_COF
#define OBS_FLUXPI_OUT_DEFAULT \
    {                          \
        0, 0, 0                \
    } // Default value of OBS_FLUXPI_OUT

    
#define V_BASE      480  // 0.1V   100mv
#define I_BASE      6000 // 0.01A
#define F_BASE      700  // Hz
/************************************************************************
             Typedefs & Structure Defines
*************************************************************************/
typedef struct
{
    UWORD uwFreqTbcHz;        // Real Value, Unit:Hz, Current loop control cycle
    UWORD uwRsOm;             // Real Value, unit: 0.01Ohm, Phase resistance
    UWORD uwLdHm;             // Real Value, unit: 0.01mH, D axis inductance
    UWORD uwLqHm;             // Real Value, unit: 0.01mH, Q axis inductance
    UWORD uwFluxWb;           // Real Value, unit: 0.01mWb, Flux linkage
    UWORD uwFluxDampingRatio; // Q12, Flux PI regulator damping ratio
    UWORD uwFluxCrossFreqHz;  // Q8,  Flux PI regulator cross frequency
    UWORD uwSpdPllMcoef;      // Q0,  PLL damping factor
    UWORD uwSpdPllWvcHz;      // Q10, PLL bandwidth
} OBSERVER_COF_IN;
typedef struct
{
    UWORD uwIbAp;             // Real Value, Unit:0.01A  frequency base
    UWORD uwVbVt;             // Real Value, Unit:0.1V  frequency base
    UWORD uwFbHz;             // Real Value, Unit:Hz  frequency base
    UWORD uwRbOm;             // Real Value, unit: 0.01Ohm, Resistance base
    UWORD uwLbHm;             // Real Value, unit: 0.01mH, Inductance base
    UWORD uwFluxbWb;          // Real Value, unit: 0.01mWb, Flux linkage base
    UWORD uwRsPu;       // Q15, Phase resistance
    UWORD uwLdPu;       // Q10, D axis inductance
    UWORD uwLqPu;       // Q10, Q axis inductance
    UWORD uwFluxPPu;    // Q12, Flux linkage
    UWORD uwCurTsPu;    // Q15, Current loop control cycle
    UWORD uwCurTs;      // Q10, TBC time
    UWORD uwSpdPllKpPu; // Q14, PLL Kp
    UWORD uwSpdPllKiPu; // Q14, PLL Kit
    UWORD uwFluxKpPu;   // Q18, Flux PI regulator Kp
    UWORD uwFluxKitPu;  // Q28, Flux PI regulator Kit
} OBSERVER_COF;
typedef struct
{
    SWORD swUalpha; // Q14, Stationary alpha-axis stator voltage
    SWORD swUbeta;  // Q14, Stationary beta-axis stator voltage
    SWORD swIalpha; // Q14, Stationary alpha-axis stator current
    SWORD swIbeta;  // Q14, Stationary beta-axis stator current
    UWORD uwVdc;    // Q14, unit:Pu,		DC bus voltage
} OBSERVER_IN;
typedef struct
{
    SLONG slFluxAlphaPu;  // Q27, Output stationary alfa-axis stator flux
    SWORD swFluxAlphaPu;  // Q10, Output stationary alfa-axis stator flux
    SLONG slFluxBetaPu;   // Q27, Output stationary beta-axis stator flux
    SWORD swFluxBetaPu;   // Q10, Output stationary beta-axis stator flux
    SLONG slElecThetaPu;  // Q29, Output motor electrical position
    UWORD uwElecThetaPu;  // Q15, Output motor electrical position
    SLONG slElecFreqPu;   // Q29, Output electrical speed reference
    SWORD swElecFreqPu;   // Q15, Output motor electrical speed reference
    SWORD swActiveFluxPu; // Q10, Output active flux
} OBSERVER_OUT;
typedef struct
{
    SWORD swRefPu;  // Q10, Flux PI regulator I reference
    SWORD swFdbPu;  // Q10, Flux PI regulator I feedback
    SWORD swUmaxPu; // Q14, Flux PI regulator voltage output maximum limit
    SWORD swUminPu; // Q14, Flux PI regulator voltage output minimum limit
} OBSERVER_FLUXPI_IN;
typedef struct
{
    UWORD uwFluxKpPu;  // Q18, Flux PI regulator Kp
    UWORD uwFluxKitPu; // Q28, Flux PI regulator Kit
} OBSERVER_FLUXPI_COF;
typedef struct
{
    SWORD swURefPu;  // Q14, Flux PI regulator output voltage
    SLONG slURefPu;  // Q28, Flux PI regulator output voltage
    SWORD swErrZ1Pu; // Q10, Flux PI regulator error recorder
} OBSERVER_FLUXPI_OUT;

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

/************************************************************************
 Exported Variables
*************************************************************************/
#ifdef _OBSERVER_C_
_OBSERVER_EXT OBSERVER_IN observer_stObsCalcIn;
_OBSERVER_EXT OBSERVER_COF_IN observer_stObsCoefIn;       

_OBSERVER_EXT OBSERVER_COF        observer_stObsCoefPu = OBS_COF_DEFAULT;
_OBSERVER_EXT OBSERVER_OUT        observer_stObsOutPu;
_OBSERVER_EXT OBSERVER_FLUXPI_OUT observer_stFluxAlphaPIOut = OBS_FLUXPI_OUT_DEFAULT;
_OBSERVER_EXT OBSERVER_FLUXPI_OUT observer_stFluxBetaPIOut = OBS_FLUXPI_OUT_DEFAULT;
_OBSERVER_EXT OBSERVER_FLUXPI_COF observer_stFluxAlphaPICoef = OBS_FLUXPI_COF_DEFAULT;
_OBSERVER_EXT OBSERVER_FLUXPI_COF observer_stFluxBetaPICoef = OBS_FLUXPI_COF_DEFAULT;
_OBSERVER_EXT CRD_PARK_OUT   observer_stFluxParkPu = OBS_FLUXPI_COF_DEFAULT;
_OBSERVER_EXT CRD_IPARK_OUT  observer_stFluxIParkPu = OBS_FLUXPI_COF_DEFAULT;
_OBSERVER_EXT CRD_PARK_IN    observer_stParkInPu;
_OBSERVER_EXT CRD_IPARK_IN   observer_stIParkInPu;
_OBSERVER_EXT OBSERVER_FLUXPI_IN  observer_stFluxAlphaPIIn;
_OBSERVER_EXT OBSERVER_FLUXPI_IN  observer_stFluxBetaPIIn;
#else
_OBSERVER_EXT OBSERVER_IN observer_stObsCalcIn;
_OBSERVER_EXT OBSERVER_COF_IN observer_stObsCoefIn;   
_OBSERVER_EXT OBSERVER_COF        observer_stObsCoefPu;
_OBSERVER_EXT OBSERVER_OUT        observer_stObsOutPu;
_OBSERVER_EXT OBSERVER_FLUXPI_OUT observer_stFluxAlphaPIOut;
_OBSERVER_EXT OBSERVER_FLUXPI_OUT observer_stFluxBetaPIOut;
_OBSERVER_EXT OBSERVER_FLUXPI_COF observer_stFluxAlphaPICoef;
_OBSERVER_EXT OBSERVER_FLUXPI_COF observer_stFluxBetaPICoef;
_OBSERVER_EXT CRD_PARK_OUT   observer_stFluxParkPu;
_OBSERVER_EXT CRD_IPARK_OUT  observer_stFluxIParkPu;
_OBSERVER_EXT CRD_PARK_IN    observer_stParkInPu;
_OBSERVER_EXT CRD_IPARK_IN   observer_stIParkInPu;
_OBSERVER_EXT OBSERVER_FLUXPI_IN  observer_stFluxAlphaPIIn;
_OBSERVER_EXT OBSERVER_FLUXPI_IN  observer_stFluxBetaPIIn;
#endif

/************************************************************************
 RAM ALLOCATION (N/A)
*************************************************************************/

/************************************************************************
 Exported Function Call Prototypes
*************************************************************************/
#ifdef _OBSERVER_C_
_OBSERVER_EXT void observer_voObsInit(void);
_OBSERVER_EXT void observer_voObsCoef(OBSERVER_COF_IN *in, OBSERVER_COF *out);
_OBSERVER_EXT void observer_voFluxPI(OBSERVER_FLUXPI_IN *in, OBSERVER_FLUXPI_COF *coef, OBSERVER_FLUXPI_OUT *out);
_OBSERVER_EXT void observer_voObsCalc(OBSERVER_IN *IN, OBSERVER_COF *COF, OBSERVER_OUT *OUT);
#else
_OBSERVER_EXT void observer_voObsInit(void);
_OBSERVER_EXT void observer_voObsCoef(OBSERVER_COF_IN *in, OBSERVER_COF *out);
_OBSERVER_EXT void observer_voObsCalc(OBSERVER_IN *IN, OBSERVER_COF *COF, OBSERVER_OUT *OUT);
#endif

/************************************************************************
 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!
*************************************************************************/