structs.h

00001 #ifndef STRUCTS_H
00002 #define STRUCTS_H
00003 
00004 #include "mbed.h"
00005 #include "FastPWM.h"
00006 
00007 /* -----
00008 移除速度控制，把位置控制改成PID
00009 
00010 log file:
00011 11/05: 在ControllerStruct新增ki(desired KI)，保留v_des(desired velocity)
00012 ----- */
00013 
00014 typedef struct{
00015     DigitalOut *enable;
00016     DigitalOut *led;
00017     FastPWM *pwm_u, *pwm_v, *pwm_w;
00018     } GPIOStruct;
00019     
00020 typedef struct{
00021     
00022     }COMStruct;
00023     
00024 typedef struct{
00025     int adc1_raw, adc2_raw, adc3_raw;                       // Raw ADC Values
00026     float i_a, i_b, i_c;                                    // Phase currents
00027     float v_bus;                                            // DC link voltage
00028     float theta_mech, theta_elec;                           // Rotor mechanical and electrical angle
00029     float dtheta_mech, dtheta_elec, dtheta_elec_filt;       // Rotor mechanical and electrical angular velocit
00030     float i_d, i_q, i_q_filt, i_d_filt;                               // D/Q currents
00031     float v_d, v_q;                                         // D/Q voltages
00032     float dtc_u, dtc_v, dtc_w;                              // Terminal duty cycles
00033     float v_u, v_v, v_w;                                    // Terminal voltages
00034     float k_d, k_q, ki_d, ki_q, alpha;                      // Current loop gains, current reference filter coefficient
00035     float d_int, q_int;                                     // Current error integrals
00036     int adc1_offset, adc2_offset;                           // ADC offsets
00037     float i_d_ref, i_q_ref, i_d_ref_filt, i_q_ref_filt;     // Current references
00038     int loop_count;                                         // Degubbing counter
00039     int timeout;                                            // Watchdog counter
00040     int mode;
00041     int ovp_flag;                                           // Over-voltage flag
00042     float p_des, v_des, kp, ki, kd, t_ff;                       // Desired position, velocity, gians, torque
00043     float v_ref, fw_int;                                     // output voltage magnitude, field-weakening integral
00044     float cogging[128];
00045     } ControllerStruct;
00046 
00047 typedef struct{
00048     double temperature;                                              // Estimated temperature
00049     double temperature2;
00050     float resistance;
00051     }   ObserverStruct;
00052 #endif