/******************** (C) COPYRIGHT 2008 STMicroelectronics ********************
* File Name          : MC_PID_regulators.c
* Author             : IMS Systems Lab 
* Date First Issued  : 21/11/07
* Description        : This file contains the software implementation for the
                       PI(D) regulators.
********************************************************************************
* History:
* 21/11/07 v1.0
* 29/05/08 v2.0
********************************************************************************
* THE PRESENT SOFTWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
* CONTENT OF SUCH SOFTWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* THIS SOURCE CODE IS PROTECTED BY A LICENSE.
* FOR MORE INFORMATION PLEASE CAREFULLY READ THE LICENSE AGREEMENT FILE LOCATED
* IN THE ROOT DIRECTORY OF THIS FIRMWARE PACKAGE.
*******************************************************************************/

/* Standard include ----------------------------------------------------------*/
#include "MC_PID_regulators.h"
#include "string.h"

/*根据型号设置不同的PID参数*/
//Volans PID参数
const PID_Struct_t PID_Torque_InitStructure_Volans = 
{
	(int16_t)20000,      //hKp_Gain
  (uint16_t)1024,      //hKp_Divisor
	(int16_t)3,          //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-100,     //hLower_Limit_Output   //电流环给微弱的负值，给转子施加反向扭矩让电机可以缓慢降速
  (int32_t)32767,      //hUpper_Limit_Output
  (int32_t)(-32768 * 1024),  //wLower_Limit_Integral
  (int32_t)(32767 * 1024),   //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_Flux_InitStructure_Volans =
{
	(int16_t)20000,      //hKp_Gain
  (uint16_t)1024,      //hKp_Divisor
	(int16_t)3,          //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-32768,     //hLower_Limit_Output
  (int32_t)32767,      //hUpper_Limit_Output
  (int32_t)(-32768 * 1024),  //wLower_Limit_Integral
  (int32_t)(32767 * 1024),   //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_Weak_InitStructure_Volans =
{
	(int16_t)64,         //hKp_Gain
  (uint16_t)1024,      //hKp_Divisor
	(int16_t)3,          //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-262144,    //hLower_Limit_Output
  (int32_t)0,          //hUpper_Limit_Output
  (int32_t)-268435456, //wLower_Limit_Integral
  (int32_t)0,          //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_ConstantPower_Volans = 
{
	(int16_t)30000,      //hKp_Gain
  (uint16_t)256,       //hKp_Divisor
	(int16_t)300,        //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-2100,      //hLower_Limit_Output
  (int32_t)0,          //hUpper_Limit_Output
  (int32_t)-2150400,   //wLower_Limit_Integral
  (int32_t)0,          //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_MotorSpd_Volans =
{
	(int16_t)4096,        //hKp_Gain
  (uint16_t)1024,       //hKp_Divisor
	(int16_t)1,           //hKi_Gain
  (uint16_t)1024,       //hKi_Divisor
  (int16_t)0,           //hKd_Gain
  (uint16_t)1024,       //hKd_Divisor
  (int32_t)0,           //wPreviousError
  (int32_t)-100,       //hLower_Limit_Output
  (int32_t)1050,        //hUpper_Limit_Output
  (int32_t)-358400,     //wLower_Limit_Integral
  (int32_t)358400,      //wUpper_Limit_Integral
  (int32_t)0            //wIntegral
};

const PID_Struct_t PID_IMax_Volans = 
{
	(int16_t)30000,      //hKp_Gain
  (uint16_t)1024,       //hKp_Divisor
	(int16_t)300,        //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-1050,      //hLower_Limit_Output
  (int32_t)0,          //hUpper_Limit_Output
  (int32_t)-1075200,   //wLower_Limit_Integral
  (int32_t)0,          //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

//Volans_Plus PID参数
const PID_Struct_t PID_Torque_InitStructure_Volans_Plus = 
{
	(int16_t)20000,      //hKp_Gain
  (uint16_t)1024,      //hKp_Divisor
	(int16_t)3,          //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-100,     //hLower_Limit_Output   //电流环给微弱的负值，给转子施加反向扭矩让电机可以缓慢降速
  (int32_t)32767,      //hUpper_Limit_Output
  (int32_t)(-32768 * 1024),  //wLower_Limit_Integral
  (int32_t)(32767 * 1024),   //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_Flux_InitStructure_Volans_Plus =
{
	(int16_t)20000,      //hKp_Gain
  (uint16_t)1024,      //hKp_Divisor
	(int16_t)3,          //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-32768,     //hLower_Limit_Output
  (int32_t)32767,      //hUpper_Limit_Output
  (int32_t)(-32768 * 1024),  //wLower_Limit_Integral
  (int32_t)(32767 * 1024),   //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_Weak_InitStructure_Volans_Plus =
{
	(int16_t)64,         //hKp_Gain
  (uint16_t)1024,      //hKp_Divisor
	(int16_t)3,          //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-262144,    //hLower_Limit_Output
  (int32_t)0,          //hUpper_Limit_Output
  (int32_t)-268435456, //wLower_Limit_Integral
  (int32_t)0,          //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_ConstantPower_Volans_Plus = 
{
	(int16_t)30000,      //hKp_Gain
  (uint16_t)256,       //hKp_Divisor
	(int16_t)300,        //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-2100,      //hLower_Limit_Output
  (int32_t)0,          //hUpper_Limit_Output
  (int32_t)-2150400,   //wLower_Limit_Integral
  (int32_t)0,          //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_MotorSpd_Volans_Plus =
{
	(int16_t)4096,        //hKp_Gain
  (uint16_t)1024,       //hKp_Divisor
	(int16_t)1,           //hKi_Gain
  (uint16_t)1024,       //hKi_Divisor
  (int16_t)0,           //hKd_Gain
  (uint16_t)1024,       //hKd_Divisor
  (int32_t)0,           //wPreviousError
  (int32_t)-100,       //hLower_Limit_Output
  (int32_t)1050,        //hUpper_Limit_Output
  (int32_t)-358400,     //wLower_Limit_Integral
  (int32_t)358400,      //wUpper_Limit_Integral
  (int32_t)0            //wIntegral
};

const PID_Struct_t PID_IMax_Volans_Plus = 
{
	(int16_t)30000,      //hKp_Gain
  (uint16_t)1024,       //hKp_Divisor
	(int16_t)300,        //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-1050,      //hLower_Limit_Output
  (int32_t)0,          //hUpper_Limit_Output
  (int32_t)-1075200,   //wLower_Limit_Integral
  (int32_t)0,          //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

//Pegasi PID参数
const PID_Struct_t PID_Torque_InitStructure_Pegasi = 
{
	(int16_t)20000,      //hKp_Gain
  (uint16_t)1024,      //hKp_Divisor
	(int16_t)3,          //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-100,     //hLower_Limit_Output   //电流环给微弱的负值，给转子施加反向扭矩让电机可以缓慢降速
  (int32_t)32767,      //hUpper_Limit_Output
  (int32_t)(-32768 * 1024),  //wLower_Limit_Integral
  (int32_t)(32767 * 1024),   //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_Flux_InitStructure_Pegasi =
{
	(int16_t)20000,      //hKp_Gain
  (uint16_t)1024,      //hKp_Divisor
	(int16_t)3,          //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-32768,     //hLower_Limit_Output
  (int32_t)32767,      //hUpper_Limit_Output
  (int32_t)(-32768 * 1024),  //wLower_Limit_Integral
  (int32_t)(32767 * 1024),   //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_Weak_InitStructure_Pegasi =
{
	(int16_t)64,         //hKp_Gain
  (uint16_t)1024,      //hKp_Divisor
	(int16_t)3,          //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-262144,    //hLower_Limit_Output
  (int32_t)0,          //hUpper_Limit_Output
  (int32_t)-268435456, //wLower_Limit_Integral
  (int32_t)0,          //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_ConstantPower_Pegasi = 
{
	(int16_t)30000,      //hKp_Gain
  (uint16_t)256,       //hKp_Divisor
	(int16_t)300,        //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-2100,      //hLower_Limit_Output
  (int32_t)0,          //hUpper_Limit_Output
  (int32_t)-2150400,   //wLower_Limit_Integral
  (int32_t)0,          //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_MotorSpd_Pegasi =
{
	(int16_t)4096,        //hKp_Gain
  (uint16_t)1024,       //hKp_Divisor
	(int16_t)1,           //hKi_Gain
  (uint16_t)1024,       //hKi_Divisor
  (int16_t)0,           //hKd_Gain
  (uint16_t)1024,       //hKd_Divisor
  (int32_t)0,           //wPreviousError
  (int32_t)-100,       //hLower_Limit_Output
  (int32_t)1050,        //hUpper_Limit_Output
  (int32_t)-358400,     //wLower_Limit_Integral
  (int32_t)358400,      //wUpper_Limit_Integral
  (int32_t)0            //wIntegral
};

const PID_Struct_t PID_IMax_Pegasi = 
{
	(int16_t)30000,      //hKp_Gain
  (uint16_t)1024,       //hKp_Divisor
	(int16_t)300,        //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-1050,      //hLower_Limit_Output
  (int32_t)0,          //hUpper_Limit_Output
  (int32_t)-1075200,   //wLower_Limit_Integral
  (int32_t)0,          //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

//Pegasi_Plus PID参数
const PID_Struct_t PID_Torque_InitStructure_Pegasi_Plus = 
{
	(int16_t)20000,      //hKp_Gain
  (uint16_t)1024,      //hKp_Divisor
	(int16_t)3,          //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-100,     //hLower_Limit_Output   //电流环给微弱的负值，给转子施加反向扭矩让电机可以缓慢降速
  (int32_t)32767,      //hUpper_Limit_Output
  (int32_t)(-32768 * 1024),  //wLower_Limit_Integral
  (int32_t)(32767 * 1024),   //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_Flux_InitStructure_Pegasi_Plus =
{
	(int16_t)20000,      //hKp_Gain
  (uint16_t)1024,      //hKp_Divisor
	(int16_t)3,          //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-32768,     //hLower_Limit_Output
  (int32_t)32767,      //hUpper_Limit_Output
  (int32_t)(-32768 * 1024),  //wLower_Limit_Integral
  (int32_t)(32767 * 1024),   //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_Weak_InitStructure_Pegasi_Plus =
{
	(int16_t)64,         //hKp_Gain
  (uint16_t)1024,      //hKp_Divisor
	(int16_t)3,          //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-262144,    //hLower_Limit_Output
  (int32_t)0,          //hUpper_Limit_Output
  (int32_t)-268435456, //wLower_Limit_Integral
  (int32_t)0,          //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_ConstantPower_Pegasi_Plus = 
{
	(int16_t)30000,      //hKp_Gain
  (uint16_t)256,       //hKp_Divisor
	(int16_t)300,        //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-2100,      //hLower_Limit_Output
  (int32_t)0,          //hUpper_Limit_Output
  (int32_t)-2150400,   //wLower_Limit_Integral
  (int32_t)0,          //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

const PID_Struct_t PID_MotorSpd_Pegasi_Plus =
{
	(int16_t)4096,        //hKp_Gain
  (uint16_t)1024,       //hKp_Divisor
	(int16_t)1,           //hKi_Gain
  (uint16_t)1024,       //hKi_Divisor
  (int16_t)0,           //hKd_Gain
  (uint16_t)1024,       //hKd_Divisor
  (int32_t)0,           //wPreviousError
  (int32_t)-100,       //hLower_Limit_Output
  (int32_t)1050,        //hUpper_Limit_Output
  (int32_t)-358400,     //wLower_Limit_Integral
  (int32_t)358400,      //wUpper_Limit_Integral
  (int32_t)0            //wIntegral
};

const PID_Struct_t PID_IMax_Pegasi_Plus = 
{
	(int16_t)30000,      //hKp_Gain
  (uint16_t)1024,       //hKp_Divisor
	(int16_t)300,        //hKi_Gain
  (uint16_t)1024,      //hKi_Divisor
  (int16_t)0,          //hKd_Gain
  (uint16_t)1024,      //hKd_Divisor
  (int32_t)0,          //wPreviousError
  (int32_t)-1050,      //hLower_Limit_Output
  (int32_t)0,          //hUpper_Limit_Output
  (int32_t)-1075200,   //wLower_Limit_Integral
  (int32_t)0,          //wUpper_Limit_Integral
  (int32_t)0           //wIntegral
};

/* 根据型号设置不同的PID参数 END */

//PID控制变量定义
PID_Struct_t 	PID_Torque_InitStructure; // q轴电流环闭环

PID_Struct_t 	PID_Flux_InitStructure; // d轴电流环闭环

PID_Struct_t 	PID_Weak_InitStructure; // 输出电压弱磁闭环

PID_Struct_t 	PID_ConstantPower; // 恒定功率

PID_Struct_t  PID_MotorSpd; // 电机速度闭环

PID_Struct_t 	PID_IMax;	// 母线电流闭环

/*******************************************************************************
* Function Name  : PID_Init
* Description    : Initialize PID coefficients for torque, flux and speed loop: 
                   Kp_Gain: proportional coeffcient 
                   Ki_Gain: integral coeffcient 
                   Kd_Gain: differential coeffcient 
* Input          : Pointer 1 to Torque PI structure,  
                   Pointer 2 to Flux PI structure,  
                   Pointer 3 to Speed PI structure  
* Output         : None
* Return         : None
*******************************************************************************/
void PID_Init (uint8_t SerialNum)
{
	switch(SerialNum)
	{
	  case 1://Volans
		{
		  memcpy(&PID_Torque_InitStructure.hKp_Gain, &PID_Torque_InitStructure_Volans.hKp_Gain, sizeof(PID_Torque_InitStructure_Volans));
			memcpy(&PID_Flux_InitStructure.hKp_Gain, &PID_Flux_InitStructure_Volans.hKp_Gain, sizeof(PID_Flux_InitStructure_Volans));
			memcpy(&PID_Weak_InitStructure.hKp_Gain, &PID_Weak_InitStructure_Volans.hKp_Gain, sizeof(PID_Weak_InitStructure_Volans));
			memcpy(&PID_ConstantPower.hKp_Gain, &PID_ConstantPower_Volans.hKp_Gain, sizeof(PID_ConstantPower_Volans));
			memcpy(&PID_MotorSpd.hKp_Gain, &PID_MotorSpd_Volans.hKp_Gain, sizeof(PID_MotorSpd_Volans));
			memcpy(&PID_IMax.hKp_Gain, &PID_IMax_Volans.hKp_Gain, sizeof(PID_IMax_Volans));
			break;
		}
		case 2://Volans Plus
		{
	  	memcpy(&PID_Torque_InitStructure.hKp_Gain, &PID_Torque_InitStructure_Volans_Plus.hKp_Gain, sizeof(PID_Torque_InitStructure_Volans_Plus));
			memcpy(&PID_Flux_InitStructure.hKp_Gain, &PID_Flux_InitStructure_Volans_Plus.hKp_Gain, sizeof(PID_Flux_InitStructure_Volans_Plus));
			memcpy(&PID_Weak_InitStructure.hKp_Gain, &PID_Weak_InitStructure_Volans_Plus.hKp_Gain, sizeof(PID_Weak_InitStructure_Volans_Plus));
			memcpy(&PID_ConstantPower.hKp_Gain, &PID_ConstantPower_Volans_Plus.hKp_Gain, sizeof(PID_ConstantPower_Volans_Plus));
			memcpy(&PID_MotorSpd.hKp_Gain, &PID_MotorSpd_Volans_Plus.hKp_Gain, sizeof(PID_MotorSpd_Volans_Plus));
			memcpy(&PID_IMax.hKp_Gain, &PID_IMax_Volans_Plus.hKp_Gain, sizeof(PID_IMax_Volans_Plus));
			break;
		}
		case 3://Pegasi
		{
		  memcpy(&PID_Torque_InitStructure.hKp_Gain, &PID_Torque_InitStructure_Pegasi.hKp_Gain, sizeof(PID_Torque_InitStructure_Pegasi));
			memcpy(&PID_Flux_InitStructure.hKp_Gain, &PID_Flux_InitStructure_Pegasi.hKp_Gain, sizeof(PID_Flux_InitStructure_Pegasi));
			memcpy(&PID_Weak_InitStructure.hKp_Gain, &PID_Weak_InitStructure_Pegasi.hKp_Gain, sizeof(PID_Weak_InitStructure_Pegasi));
			memcpy(&PID_ConstantPower.hKp_Gain, &PID_ConstantPower_Pegasi.hKp_Gain, sizeof(PID_ConstantPower_Pegasi));
			memcpy(&PID_MotorSpd.hKp_Gain, &PID_MotorSpd_Pegasi.hKp_Gain, sizeof(PID_MotorSpd_Pegasi));
			memcpy(&PID_IMax.hKp_Gain, &PID_IMax_Pegasi.hKp_Gain, sizeof(PID_IMax_Pegasi));
			break;
		}
		case 4://Pegasi Plus
		{
		  memcpy(&PID_Torque_InitStructure.hKp_Gain, &PID_Torque_InitStructure_Pegasi_Plus.hKp_Gain, sizeof(PID_Torque_InitStructure_Pegasi_Plus));
			memcpy(&PID_Flux_InitStructure.hKp_Gain, &PID_Flux_InitStructure_Pegasi_Plus.hKp_Gain, sizeof(PID_Flux_InitStructure_Pegasi_Plus));
			memcpy(&PID_Weak_InitStructure.hKp_Gain, &PID_Weak_InitStructure_Pegasi_Plus.hKp_Gain, sizeof(PID_Weak_InitStructure_Pegasi_Plus));
			memcpy(&PID_ConstantPower.hKp_Gain, &PID_ConstantPower_Pegasi_Plus.hKp_Gain, sizeof(PID_ConstantPower_Pegasi_Plus));
			memcpy(&PID_MotorSpd.hKp_Gain, &PID_MotorSpd_Pegasi_Plus.hKp_Gain, sizeof(PID_MotorSpd_Pegasi_Plus));
			memcpy(&PID_IMax.hKp_Gain, &PID_IMax_Pegasi_Plus.hKp_Gain, sizeof(PID_IMax_Pegasi_Plus));
			break;
		}
		default://默认处理
		{
			memcpy(&PID_Torque_InitStructure.hKp_Gain, &PID_Torque_InitStructure_Volans.hKp_Gain, sizeof(PID_Torque_InitStructure_Volans));
			memcpy(&PID_Flux_InitStructure.hKp_Gain, &PID_Flux_InitStructure_Volans.hKp_Gain, sizeof(PID_Flux_InitStructure_Volans));
			memcpy(&PID_Weak_InitStructure.hKp_Gain, &PID_Weak_InitStructure_Volans.hKp_Gain, sizeof(PID_Weak_InitStructure_Volans));
			memcpy(&PID_ConstantPower.hKp_Gain, &PID_ConstantPower_Volans.hKp_Gain, sizeof(PID_ConstantPower_Volans));
			memcpy(&PID_MotorSpd.hKp_Gain, &PID_MotorSpd_Volans.hKp_Gain, sizeof(PID_MotorSpd_Volans));
			memcpy(&PID_IMax.hKp_Gain, &PID_IMax_Volans.hKp_Gain, sizeof(PID_IMax_Volans));
			break;
		}
	}
}

/*******************************************************************************
* Function Name  : PID_Regulator
* Description    : Compute the PI(D) output for a PI(D) regulation.
* Input          : Pointer to the PID settings (*PID_Flux)
                   Speed in int16_t format
* Output         : int16_t
* Return         : None
*******************************************************************************/

/******************************PID 调节函数的说明******************************/
int16_t PID_Regulator(int16_t hReference, int16_t hPresentFeedback,PID_Struct_t *PID_Struct)
{
  int16_t wError;
	int32_t	wProportional_Term,wIntegral_Term, houtput_32;
  int32_t dwAux; 
 
  // error computation
	wError= hReference - hPresentFeedback;		  //取得需要误差量	delta_e  <Q16

  // Proportional term computation
  wProportional_Term = PID_Struct->hKp_Gain * wError;	 // wP = Kp * delta_e  <Q32
														 // wP 为比例总调节量
  // Integral term computation
	if(PID_Struct->hKi_Gain == 0)
	{
		PID_Struct->wIntegral = 0;
	}
	else
	{ 
		wIntegral_Term = PID_Struct->hKi_Gain * wError;		   // wI = Ki * delta_e	，本次积分项
		dwAux = PID_Struct->wIntegral + wIntegral_Term;	// 积分累积的调节量 = 以前的积分累积量 + 本次的积分项

		if(dwAux > PID_Struct->wUpper_Limit_Integral)		   //dwAux为当前积分累积项，下面测试积分饱和度
		{
			PID_Struct->wIntegral = PID_Struct->wUpper_Limit_Integral;	// 超上限
		}
		else if(dwAux < PID_Struct->wLower_Limit_Integral)				//超下限
		{ 
			PID_Struct->wIntegral = PID_Struct->wLower_Limit_Integral;
		}
		else
		{
			PID_Struct->wIntegral = dwAux;		  //不超限, 更新积分累积项为dwAux  <Q32
		}
		
	}
  // Differential term computation
	houtput_32 = (wProportional_Term/PID_Struct->hKp_Divisor) + 	//不含微分环节的总调节量  <Q16
								(PID_Struct->wIntegral/PID_Struct->hKi_Divisor);  

	if((houtput_32<0)&&(houtput_32<PID_Struct->hLower_Limit_Output)) //超下限
	{
		return(PID_Struct->hLower_Limit_Output);
	}
	if((houtput_32>0)&&(houtput_32>=PID_Struct->hUpper_Limit_Output))	   //测试输出是否饱和，超上限
	{
		return(PID_Struct->hUpper_Limit_Output);		  			 	
	}
	else 
	{
		return houtput_32;  //不超限。输出结果 houtput_32  <Q16
	}
}

/******************** (C) COPYRIGHT 2008 STMicroelectronics *******************/