40 lines
872 B
C
40 lines
872 B
C
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#ifndef TETA_CALC
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#define TETA_CALC
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#include "IQmathLib.h"
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#include "pid_reg3.h"
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void init_tetta_pid(void);
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void reset_tetta_pid(void);
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void calc_tetta(_iq Frot, int direction, _iq Ud, int direct_zadan, _iq *tetta_out, _iq *Fsl_out, _iq *Fstator_out, int mode, int reset);
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void calc_tetta_Id(_iq Frot, _iq Id, _iq Iq, _iq *tetta_out, _iq *Fsl_out, _iq *Fstator_out, int reset);
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void init_tetta_calc_struct(void);
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// k_r = Ts / Tr_cm
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// Tr_cm = Lr / Rr
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// Lr - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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// Rr - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
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//
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// k_t = 1 / (Tr_cm * 2 * Pi * f_b)
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//
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// K = Ts * f_b
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// f_b - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (12 <20><>)
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// Ts - <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> (840 <20><>)
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typedef struct {
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_iq Imds;
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_iq tetta;
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_iq hz_to_angle;
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_iq k_r;
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_iq k_t;
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} TETTA_CALC;
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#define TETTA_CALC_DEF {0,0,0,0,0}
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extern TETTA_CALC tetta_calc;
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extern PIDREG3 pidTetta;
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#endif //TETA_CALC
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