Defines a structure for the user parameters.
float32_t userParams_Handle::dcBus_nominal_V |
voltage, V
Defines the nominal DC bus
int_least16_t userParams_Handle::numIsrTicksPerCtrlTick |
Defines the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick
int_least16_t userParams_Handle::numIsrTicksPerEstTick |
Defines the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick
int_least16_t userParams_Handle::numIsrTicksPerTrajTick |
Defines the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick
int_least16_t userParams_Handle::numCtrlTicksPerCurrentTick |
Defines the number of controller clock ticks per current controller clock tick
int_least16_t userParams_Handle::numCtrlTicksPerSpeedTick |
Defines the number of controller clock ticks per speed controller clock tick
uint_least8_t userParams_Handle::numCurrentSensors |
Defines the number of current sensors
uint_least8_t userParams_Handle::numVoltageSensors |
Defines the number of voltage sensors
float32_t userParams_Handle::systemFreq_MHz |
frequency, MHz
Defines the system clock
float32_t userParams_Handle::pwmPeriod_usec |
(PWM) period, usec
Defines the Pulse Width Modulation
float32_t userParams_Handle::voltage_sf |
for the system
Defines the voltage scale factor
float32_t userParams_Handle::current_sf |
for the system
Defines the current scale factor
float32_t userParams_Handle::dcBusPole_rps |
DC bus filter, rad/sec.
Defines the pole location for the
float32_t userParams_Handle::speedPole_rps |
speed control filter, rad/sec
Defines the pole location for the
float32_t userParams_Handle::voltageFilterPole_rps |
pole location, rad/sec
Defines the analog voltage filter
float32_t userParams_Handle::maxVsMag_pu |
in per units
Defines the maximum Vs magnitude
MOTOR_Type_e userParams_Handle::motor_type |
Defines the motor type.
uint16_t userParams_Handle::motor_numPolePairs |
for the motor
Defines the number of pole pairs
uint16_t userParams_Handle::motor_numEncSlots |
Defines the number of encoder slots if quadrature encoder is connected
float32_t userParams_Handle::motor_ratedFlux_Wb |
motor, Wb
Defines the rated flux of the
float32_t userParams_Handle::motor_Rr_Ohm |
resistance, Ohm
Defines the direct rotor
float32_t userParams_Handle::motor_Rs_Ohm |
resistance, Ohm
Defines the alpha stator
float32_t userParams_Handle::motor_Ls_d_H |
inductance, H
Defines the direct stator
float32_t userParams_Handle::motor_Ls_q_H |
inductance, H
Defines the quadrature stator
float32_t userParams_Handle::maxCurrent_A |
A.
Defines the maximum current value,
float32_t userParams_Handle::IdRated_A |
value, A
Defines the Id rated current
float32_t userParams_Handle::Vd_sf |
Defines the Vd scale factor to prevent a Vd only component for the Vdq vector
float32_t userParams_Handle::maxVsMag_V |
magnitude, V
Defines the maximum stator voltage
float32_t userParams_Handle::BWc_rps |
current controllers, rad/sec
Defines the bandwidth of the
float32_t userParams_Handle::BWdelta |
maximize phase margin
Defines the bandwidth scaling to
float32_t userParams_Handle::Kctrl_Wb_p_kgm2 |
constant, Wb/(kg*m^2)
Defines the speed controller
float32_t userParams_Handle::angleDelayed_sf_sec |
Defines the scale factor for computing the angle considering system delay, sec
float32_t userParams_Handle::fluxExcFreq_Hz |
frequency, Hz
Defines the flux excitation
float32_t userParams_Handle::ctrlFreq_Hz |
Hz.
Defines the controller frequency,
float32_t userParams_Handle::estFreq_Hz |
Hz.
Defines the estimator frequency,
float32_t userParams_Handle::RoverL_excFreq_Hz |
frequency, Hz
Defines the R/L excitation
float32_t userParams_Handle::trajFreq_Hz |
Hz.
Defines the trajectory frequency,
float32_t userParams_Handle::ctrlPeriod_sec |
period, sec
Defines the controller execution
float32_t userParams_Handle::maxAccel_Hzps |
for the speed profiles, Hz/sec
Defines the maximum acceleration
float32_t userParams_Handle::maxCurrent_resEst_A |
for resistance estimation, A
Defines the maximum current value
float32_t userParams_Handle::maxCurrent_indEst_A |
for inductance estimation, A
Defines the maximum current value
float32_t userParams_Handle::maxCurrentDelta_A |
for Id current trajectory
Defines the maximum current delta
float32_t userParams_Handle::maxCurrentDelta_pw_A |
Defines the maximum current delta for Id current trajectory during power warp mode
float32_t userParams_Handle::IdRated_delta_A |
value, A
Defines the Id rated delta current
float32_t userParams_Handle::forceAngleFreq_Hz |
frequency, Hz
Defines the forced angle
float32_t userParams_Handle::forceAngleAccel_Hzps |
Defines the forced angle.
float32_t userParams_Handle::indEst_speedMaxFraction |
Defines the fraction of SpeedMax to use during inductance estimation
float32_t userParams_Handle::IdRatedFraction_indEst |
Defines the fraction of Id rated current to use during inductance estimation
float32_t userParams_Handle::pwGain |
computing Id reference
Defines the power warp gain for
float32_t userParams_Handle::Kp_min_VpA |
the current controller, V/A
Defines the minimum Kp value for
float32_t userParams_Handle::Kp_max_VpA |
the current controller, V/A
Defines the maximum Kp value for
float32_t userParams_Handle::RoverL_Kp_sf |
during R/L, pu
Defines the Kp scale factor used
float32_t userParams_Handle::RoverL_min_rps |
value allowed, rad/sec
Defines the minimum estimated R/L
float32_t userParams_Handle::RoverL_max_rps |
value allowed, rad/sec
Defines the maximum estimated R/L
float32_t userParams_Handle::oneOverDcBus_min_invV |
1/dcBus value allowed, 1/V
Defines the minimum estimated
float32_t userParams_Handle::oneOverDcBus_max_invV |
1/dcBus value allowed, 1/V
Defines the maximum estimated
float32_t userParams_Handle::Ls_d_H |
Defines the default stator inductance in the direct direction, H
float32_t userParams_Handle::Ls_q_H |
Defines the default stator inductance in the quadrature direction, H
float32_t userParams_Handle::Ls_coarseDelta_H |
Defines the delta inductance value during the coarse stator inductance estimation, H
float32_t userParams_Handle::Ls_fineDelta_H |
Defines the delta inductance value during the fine stator inductance estimation, H
float32_t userParams_Handle::Ls_min_H |
inductance value allowed, H
Defines the minimum stator
float32_t userParams_Handle::Ls_max_H |
inductance value allowed, H
Defines the maximum stator
float32_t userParams_Handle::Rr_Ohm |
resistance value, Ohm
Defines the default rotor
float32_t userParams_Handle::Rr_coarseDelta_Ohm |
Defines the delta resistance value during coarse rotor resistance estimation, Ohm
float32_t userParams_Handle::Rr_fineDelta_Ohm |
Defines the delta resistance value during fine rotor resistance estimation, Ohm
float32_t userParams_Handle::Rr_min_Ohm |
resistance value allowed, Ohm
Defines the minimum rotor
float32_t userParams_Handle::Rr_max_Ohm |
resistance value allowed, Ohm
Defines the maximum rotor
float32_t userParams_Handle::Rs_Ohm |
resistance value, Ohm
Defines the default stator
float32_t userParams_Handle::Rs_coarseDelta_Ohm |
Defines the delta resistance value during coarse stator resistance estimation, Ohm
float32_t userParams_Handle::Rs_fineDelta_Ohm |
Defines the delta resistance value during fine stator resistance estimation, Ohm
float32_t userParams_Handle::Rs_min_Ohm |
resistance value allowed, Ohm
Defines the minimum stator
float32_t userParams_Handle::Rs_max_Ohm |
resistance value allowed, Ohm
Defines the maximum stator
float32_t userParams_Handle::RsOnLine_DeltaInc_Ohm |
Defines the delta resistance increment value during online stator resistance estimation, Ohm
float32_t userParams_Handle::RsOnLine_DeltaDec_Ohm |
Defines the delta resistance decrement value during online stator resistance estimation, Ohm
float32_t userParams_Handle::RsOnLine_min_Ohm |
resistance value allowed, Ohm
Defines the minimum online stator
float32_t userParams_Handle::RsOnLine_max_Ohm |
resistance value allowed, Ohm
Defines the maximum online stator
float32_t userParams_Handle::RsOnLine_angleDelta_rad |
Defines the delta angle value during online stator resistance estimation, rad
float32_t userParams_Handle::RsOnLine_pole_rps |
Defines the filter pole for online stator resistance estimation, rad/sec
bool userParams_Handle::flag_bypassMotorId |
A flag to bypass motor identification and use the motor parameters
float32_t userParams_Handle::freqNearZeroSpeedLimit_Hz |
float32_t userParams_Handle::directionPole_rps |
float32_t userParams_Handle::directionPole_2_rps |
float32_t userParams_Handle::fluxPole_rps |
float32_t userParams_Handle::RoverLPole_rps |
float32_t userParams_Handle::estKappa |
float32_t userParams_Handle::flux_Wb |
float32_t userParams_Handle::flux_min_Wb |
float32_t userParams_Handle::flux_max_Wb |
float32_t userParams_Handle::oneOverFlux_min_sf |
float32_t userParams_Handle::oneOverFlux_max_sf |
float32_t userParams_Handle::Dir_fe_min_Hz |
float32_t userParams_Handle::Dir_fe_max_Hz |
float32_t userParams_Handle::maxFrequency_Hz |
Defines the maximum frequency value, Hz