www.pudn.com > PmSensored.rar > smopos.h, change:2013-08-15,size:4110b


/* ================================================================================= 
File name:       SMOPOS.H   
==================================================================================*/ 
#ifndef __SMOPOS_H__ 
#define __SMOPOS_H__ 
 
 
typedef struct {  _iq  Valpha;   	// Input: Stationary alfa-axis stator voltage  
                  _iq  Ealpha;   	// Variable: Stationary alfa-axis back EMF  
                  _iq  Zalpha;      // Output: Stationary alfa-axis sliding control  
                  _iq  Gsmopos;    	// Parameter: Motor dependent control gain  
                  _iq  EstIalpha;   // Variable: Estimated stationary alfa-axis stator current  
                  _iq  Fsmopos;    	// Parameter: Motor dependent plant matrix  
                  _iq  Vbeta;   	// Input: Stationary beta-axis stator voltage  
                  _iq  Ebeta;  		// Variable: Stationary beta-axis back EMF  
                  _iq  Zbeta;      	// Output: Stationary beta-axis sliding control  
                  _iq  EstIbeta;    // Variable: Estimated stationary beta-axis stator current  
                  _iq  Ialpha;  	// Input: Stationary alfa-axis stator current  
                  _iq  IalphaError; // Variable: Stationary alfa-axis current error                  
                  _iq  Kslide;     	// Parameter: Sliding control gain  
                  _iq  Ibeta;  		// Input: Stationary beta-axis stator current  
                  _iq  IbetaError;  // Variable: Stationary beta-axis current error                  
                  _iq  Kslf;       	// Parameter: Sliding control filter gain  
                  _iq  Theta;     	// Output: Compensated rotor angle 
                  _iq  E0;			// Parameter: 0.5 	  
				 } SMOPOS;	             
 
/*----------------------------------------------------------------------------- 
Default initalizer for the SMOPOS object. 
-----------------------------------------------------------------------------*/                      
#define SMOPOS_DEFAULTS {  0,0,0,0,0,0,0,0,0,0,0, \ 
	                       0,0,0,0,0,0,_IQ(0.5)   \ 
              			} 
 
/*------------------------------------------------------------------------------ 
Prototypes for the functions in SMOPOS.C 
------------------------------------------------------------------------------*/ 
 
#define SMO_MACRO(v)																					\ 
																										\ 
    /*	Sliding mode current observer	*/																\ 
    v.EstIalpha = _IQmpy(v.Fsmopos,v.EstIalpha) + _IQmpy(v.Gsmopos,(v.Valpha-v.Ealpha-v.Zalpha));		\ 
    v.EstIbeta  = _IQmpy(v.Fsmopos,v.EstIbeta)  + _IQmpy(v.Gsmopos,(v.Vbeta -v.Ebeta -v.Zbeta ));		\ 
																										\ 
	/*	Current errors	*/																				\ 
    v.IalphaError = v.EstIalpha - v.Ialpha;																\ 
    v.IbetaError  = v.EstIbeta  - v.Ibeta;																\ 
    																									\ 
	/*  Sliding control calculator	*/																	\ 
	/* v.Zalpha=v.IalphaError*v.Kslide/v.E0) where E0=0.5 here*/										\ 
	v.Zalpha = _IQmpy(_IQsat(v.IalphaError,v.E0,-v.E0),_IQmpy2(v.Kslide));								\ 
	v.Zbeta  = _IQmpy(_IQsat(v.IbetaError ,v.E0,-v.E0),_IQmpy2(v.Kslide));								\ 
																										\ 
	/*	Sliding control filter -> back EMF calculator	*/												\ 
    v.Ealpha = v.Ealpha + _IQmpy(v.Kslf,(v.Zalpha-v.Ealpha));											\ 
    v.Ebeta  = v.Ebeta  + _IQmpy(v.Kslf,(v.Zbeta -v.Ebeta));											\ 
																										\ 
	/*	Rotor angle calculator -> Theta = atan(-Ealpha,Ebeta)	*/										\ 
	v.Theta = _IQatan2PU(-v.Ealpha,v.Ebeta);  
 
#endif 
 
 
 
	/* Extended version of sliding control calculator  
    if (_IQabs(v.IalphaError) < E0) 
       v.Zalpha = _IQmpy(v.Kslide,_IQdiv(v.IalphaError,E0));   
    else if (v.IalphaError >= E0)  
       v.Zalpha = v.Kslide; 
    else if (v.IalphaError <= -E0)  
       v.Zalpha = -v.Kslide; 
 
    if (_IQabs(v.IbetaError) < E0) 
       v.Zbeta = _IQmpy(v.Kslide,_IQdiv(v.IbetaError,E0));   
    else if (v.IbetaError >= E0)  
       v.Zbeta = v.Kslide; 
    else if (v.IbetaError <= -E0)  
       v.Zbeta = -v.Kslide; 
*/