MIT Motor FOC Control
structs.h
- Committer:
- benkatz
- Date:
- 2018-06-27
- Revision:
- 45:26801179208e
- Parent:
- 37:c0f352d6e8e3
- Child:
- 47:e1196a851f76
File content as of revision 45:26801179208e:
#ifndef STRUCTS_H #define STRUCTS_H //#include "CANnucleo.h" #include "mbed.h" #include "FastPWM.h" typedef struct{ DigitalOut *enable; DigitalOut *led; FastPWM *pwm_u, *pwm_v, *pwm_w; } GPIOStruct; typedef struct{ }COMStruct; typedef struct{ int adc1_raw, adc2_raw, adc3_raw; // Raw ADC Values float i_a, i_b, i_c; // Phase currents float v_bus; // DC link voltage float theta_mech, theta_elec; // Rotor mechanical and electrical angle float dtheta_mech, dtheta_elec, dtheta_elec_filt; // Rotor mechanical and electrical angular velocit float i_d, i_q, i_q_filt; // D/Q currents float v_d, v_q; // D/Q voltages float dtc_u, dtc_v, dtc_w; // Terminal duty cycles float v_u, v_v, v_w; // Terminal voltages float k_d, k_q, ki_d, ki_q, alpha; // Current loop gains, current reference filter coefficient float d_int, q_int; // Current error integrals int adc1_offset, adc2_offset; // ADC offsets float i_d_ref, i_q_ref, i_d_ref_filt, i_q_ref_filt; // Current references float did_dt, diq_dt; // Current reference derivatives int loop_count; // Degubbing counter int timeout; // Watchdog counter int mode; int ovp_flag; // Over-voltage flag float p_des, v_des, kp, kd, t_ff; // Desired position, velocity, gians, torque float cogging[128]; } ControllerStruct; typedef struct{ float theta_m, theta_est; float thetadot_m, thetadot_est; float i_d_m, i_d_est; float i_q_m, i_q_est; float i_d_dot, i_q_dot; float e_d, e_q; float e_d_int, e_q_int; } ObserverStruct; #endif