st32 无感角度观测器

/******************** (C) COPYRIGHT 2007 STMicroelectronics ********************
* File Name          : MC_State_Observer.c
* Author             : IMS Systems Lab 
* Date First Issued  : 21/11/07
* Description        : This module implements the State Observer of 
*                      the PMSM B-EMF, thus identifying rotor speed and position
*
********************************************************************************
* History:
* 21/11/07 v1.0
********************************************************************************
* 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.
*******************************************************************************/

/* Includes ------------------------------------------------------------------*/

#include "stm32f10x_type.h"
#include "MC_type.h"
#include "MC_State_Observer.h"

/* Private define ------------------------------------------------------------*/
#define BUFFER_SIZE (u8)64

/* Private variables ---------------------------------------------------------*/
static s32 wIalfa_est,wIbeta_est;

static s32 wBemf_alfa_est, wBemf_beta_est;
static s32 wSpeed_PI_integral_sum;
static s16 hBemf_alfa_est,hBemf_beta_est;

static s16 hSpeed_Buffer[BUFFER_SIZE];
static s16 hRotor_El_Angle;
static s16 hRotor_Speed_dpp;


static bool Max_Speed_Out, Min_Speed_Out, Is_Speed_Reliable;
static u8 bSpeed_Buffer_Index;

extern const s16 hSin_Cos_Table[256];

static volatile s16 hC2, hC4;
static s16 hF1, hF2, hF3, hC1, hC3,hC5, hC6;

static volatile s16 hSpeed_P_Gain, hSpeed_I_Gain;
static s32 wMotorMaxSpeed_dpp;
static u16 hPercentageFactor;

/* Private function prototypes -----------------------------------------------*/
s16 Calc_Rotor_Speed(s16, s16);
s16 Speed_PI(s16, s16);
void Store_Rotor_Speed(s16);

//function of MC_Clarke_Park.c
Trig_Components Trig_Functions(s16);

/*******************************************************************************