Contains the public interface to the estimator (EST) module routines. More...

#include "sw/modules/math/src/32b/math.h"
#include "sw/modules/iqmath/src/32b/IQmathLib.h"
#include "sw/modules/est/src/est_states.h"

Typedefs
typedef struct _EST_Obj_ *	EST_Handle
	Defines the estimator (EST) handle. More...

Enumerations
enum	EST_RsOnLineFilterType_e { EST_RsOnLineFilterType_Current =0, EST_RsOnLineFilterType_Voltage, EST_RsOnLineFilterType_Current =0, EST_RsOnLineFilterType_Voltage }
	Enumeration for the Rs online filter types. More...

Functions
float_t	EST_computeLr_H (EST_Handle handle, const _iq current)
	Computes the rotor inductance in Henries (H) More...

bool	EST_doCurrentCtrl (EST_Handle handle)
	Determines if current control should be performed during motor identification. More...

bool	EST_doSpeedCtrl (EST_Handle handle)
	Determines if speed control should be performed during motor identification. More...

void	EST_genOutputLimits_Pid_Id (EST_Handle handle, const _iq maxDutyCycle, _iq outMin, _iq outMax)
	Generated the PID Id controller output limits. More...

void	EST_genOutputLimits_Pid_Iq (EST_Handle handle, const _iq maxDutyCycle, const _iq out_Id, _iq outMin, _iq outMax)
	Generated the PID Id controller output limits. More...

_iq	EST_get_krpm_to_pu_sf (EST_Handle handle)
	Gets the krpm to pu scale factor in per unit (pu), IQ24. More...

_iq	EST_get_pu_to_krpm_sf (EST_Handle handle)
	Gets the pu to krpm scale factor in per unit (pu), IQ24. More...

_iq	EST_getAngle_pu (EST_Handle handle)
	Gets the angle value from the estimator in per unit (pu), IQ24. More...

_iq	EST_getDcBus_pu (EST_Handle handle)
	Gets the DC bus value from the estimator in per unit (pu), IQ24. More...

EST_ErrorCode_e	EST_getErrorCode (EST_Handle handle)
	Gets the error code from the estimator. More...

float_t	EST_getFe (EST_Handle handle)
	Gets the electrical frequency of the motor in Hertz (Hz). More...

_iq	EST_getFe_pu (EST_Handle handle)
	Gets the electrical frequency of the motor in per unit (pu), IQ24. More...

bool	EST_getFlag_enableForceAngle (EST_Handle handle)
	Gets the enable force angle flag value from the estimator. More...

bool	EST_getFlag_enableRsOnLine (EST_Handle handle)
	Gets the value of the flag which enables online stator resistance (Rs) estimation. More...

bool	EST_getFlag_enableRsRecalc (EST_Handle handle)
	Gets the enable stator resistance re-calibrate flag value from the estimator. More...

bool	EST_getFlag_estComplete (EST_Handle handle)
	Gets the value of the flag which denotes when the estimation is complete. More...

bool	EST_getFlag_updateRs (EST_Handle handle)
	Gets the value of the flag which enables the updating of the stator resistance (Rs) value. More...

float_t	EST_getFlux_VpHz (EST_Handle handle)
	Gets the flux value in Volts per Hertz (V/Hz). More...

float_t	EST_getFlux_Wb (EST_Handle handle)
	Gets the flux value in Webers (Wb). More...

_iq	EST_getFlux_pu (EST_Handle handle)
	Gets the flux value in per unit (pu), IQ24. More...

float_t	EST_getFm (EST_Handle handle)
	Gets the mechanical frequency of the motor in Hertz (Hz). More...

_iq	EST_getFm_pu (EST_Handle handle)
	Gets the mechanical frequency of the motor in per unit (pu), IQ24. More...

_iq	EST_getForceAngleDelta_pu (EST_Handle handle)
	Gets the force angle delta value from the estimator in per unit (pu), IQ24. More...

bool	EST_getForceAngleStatus (EST_Handle handle)
	Gets the status of the force angle operation in the estimator. More...

_iq	EST_getFreqB0_lp_pu (EST_Handle handle)
	Gets the low pass filter numerator value in the frequency estimator in per unit (pu), IQ30. More...

_iq	EST_getFreqBeta_lp_pu (EST_Handle handle)
	Gets the value used to set the pole location in the low-pass filter of the frequency estimator in per unit (pu), IQ30. More...

float_t	EST_getFslip (EST_Handle handle)
	Gets the slip frequency of the motor in Hertz (Hz). More...

_iq	EST_getFslip_pu (EST_Handle handle)
	Gets the slip frequency of the motor in per unit (pu), IQ24. More...

float_t	EST_getFullScaleCurrent (EST_Handle handle)
	Gets the full scale current value used in the estimator in Amperes (A). More...

float_t	EST_getFullScaleFlux (EST_Handle handle)
	Gets the full scale flux value used in the estimator in Volts per Hertz (V/Hz). More...

float_t	EST_getFullScaleFreq (EST_Handle handle)
	Gets the full scale frequency value used in the estimator in Hertz (Hz). More...

float_t	EST_getFullScaleInductance (EST_Handle handle)
	Gets the full scale inductance value used in the estimator in Henries (H). More...

float_t	EST_getFullScaleResistance (EST_Handle handle)
	Gets the full scale resistance value used in the estimator in Ohms ( $\Omega$ ). More...

float_t	EST_getFullScaleVoltage (EST_Handle handle)
	Gets the full scale voltage value used in the estimator in Volts (V). More...

void	EST_getIab_pu (EST_Handle handle, MATH_vec2 *pIab)
	Gets the Iab current vector in per unit (pu), IQ24. More...

float_t	EST_getIdRated (EST_Handle handle)
	Gets the Id rated current value from the estimator in Amperes (A). More...

_iq	EST_getIdRated_pu (EST_Handle handle)
	Gets the Id rated current value from the estimator in per unit (pu), IQ24. More...

_iq	EST_getIdRated_indEst_pu (EST_Handle handle)
	Gets the Id current value used for inductance estimation of induction motors in per unit (pu), IQ24. More...

_iq	EST_getIdRated_ratedFlux_pu (EST_Handle handle)
	Gets the Id current value used for flux estimation of induction motors in per unit (pu), IQ24. More...

float_t	EST_getLr_H (EST_Handle handle)
	Gets the rotor inductance value in Henries (H). More...

_iq	EST_getLr_pu (EST_Handle handle)
	Gets the rotor inductance value in per unit (pu), IQ30. More...

uint_least8_t	EST_getLr_qFmt (EST_Handle handle)
	Gets the rotor inductance Q format in 8 bit unsigned integer (uint_least8_t). More...

float_t	EST_getLs_d_H (EST_Handle handle)
	Gets the direct stator inductance value in Henries (H). More...

_iq	EST_getLs_d_pu (EST_Handle handle)
	Gets the direct stator inductance value in per unit (pu), IQ30. More...

void	EST_getLs_dq_pu (EST_Handle handle, MATH_vec2 *pLs_dq_pu)
	Gets the direct/quadrature stator inductance vector values from the estimator in per unit (pu), IQ30. More...

float_t	EST_getLs_q_H (EST_Handle handle)
	Gets the stator inductance value in the quadrature coordinate direction in Henries (H). More...

_iq	EST_getLs_q_pu (EST_Handle handle)
	Gets the stator inductance value in the quadrature coordinate direction in per unit (pu), IQ30. More...

uint_least8_t	EST_getLs_qFmt (EST_Handle handle)
	Gets the stator inductance Q format in 8 bit unsigned integer (uint_least8_t). More...

_iq	EST_getLs_max_pu (EST_Handle handle)
	Gets the maximum stator inductance value from the stator inductance estimator. More...

_iq	EST_getLs_min_pu (EST_Handle handle)
	Gets the minimum stator inductance value from the stator inductance estimator. More...

_iq	EST_getLs_coarse_max_pu (EST_Handle handle)
	Gets the maximum stator inductance value during coarse estimation in the stator inductance estimator. More...

_iq	EST_getMaxAccel_pu (EST_Handle handle)
	Gets the maximum acceleration value used in the estimator in per unit (pu), IQ24. More...

_iq	EST_getMaxAccel_est_pu (EST_Handle handle)
	Gets the maximum estimation acceleration value used in the estimator in per unit (pu), IQ24. More...

_iq	EST_getMaxCurrentSlope_pu (EST_Handle handle)
	Gets the maximum current slope value used in the estimator in per unit (pu), IQ24. More...

_iq	EST_getMaxCurrentSlope_epl_pu (EST_Handle handle)
	Gets the maximum EPL (Efficient Partial Load) current slope value used in the estimator in per unit (pu), IQ24. More...

_iq	EST_getOneOverDcBus_pu (EST_Handle handle)
	Gets the inverse of the DC bus voltage in per unit (pu), IQ24. More...

float_t	EST_getRr_Ohm (EST_Handle handle)
	Gets the rotor resistance value in Ohms ( $\Omega$ ). More...

_iq	EST_getRr_pu (EST_Handle handle)
	Gets the rotor resistance value in per unit (pu), IQ30. More...

uint_least8_t	EST_getRr_qFmt (EST_Handle handle)
	Gets the rotor resistance Q format in 8 bit unsigned integer (uint_least8_t). More...

float_t	EST_getRs_Ohm (EST_Handle handle)
	Gets the stator resistance value in Ohms ( $\Omega$ ). More...

_iq	EST_getRs_pu (EST_Handle handle)
	Gets the stator resistance value in per unit (pu), IQ30. More...

uint_least8_t	EST_getRs_qFmt (EST_Handle handle)
	Gets the stator resistance Q format in 8 bit unsigned integer (uint_least8_t). More...

void	EST_getRsOnLineFilterParams (EST_Handle handle, const EST_RsOnLineFilterType_e filterType, _iq pFilter_0_b0, _iq pFilter_0_a1, _iq pFilter_0_y1, _iq pFilter_1_b0, _iq pFilter_1_a1, _iq pFilter_1_y1)
	Gets the online stator resistance filter parameters in per unit (pu), IQ24. More...

float_t	EST_getRsOnLine_Ohm (EST_Handle handle)
	Gets the online stator resistance value in Ohms ( $\Omega$ ). More...

_iq	EST_getRsOnLine_pu (EST_Handle handle)
	Gets the online stator resistance value in per unit (pu), IQ30. More...

uint_least8_t	EST_getRsOnLine_qFmt (EST_Handle handle)
	Gets the online stator resistance Q format in 8 bit unsigned integer (uint_least8_t). More...

_iq	EST_getRsOnLineId_mag_pu (EST_Handle handle)
	Gets the Id magnitude value used for online stator resistance estimation in per unit (pu), IQ24. More...

_iq	EST_getRsOnLineId_pu (EST_Handle handle)
	Gets the Id value used for online stator resistance estimation in per unit (pu), IQ24. More...

void	EST_setRsOnLineId_pu (EST_Handle handle, const _iq Id_pu)
	Sets the Id value in the online stator resistance estimator in per unit (pu), IQ24. More...

int_least8_t	EST_getSignOfDirection (EST_Handle handle)
	Gets the sign of the direction value in 8 bit signed integer (int_least8_t). More...

_iq	EST_getSpeed_krpm (EST_Handle handle)
	Gets the speed value in per unit (pu), IQ24. More...

EST_State_e	EST_getState (EST_Handle handle)
	Gets the state of the estimator. More...

_iq	EST_getTorque_lbin (EST_Handle handle)
	Gets the torque value in per unit (pu), IQ24. More...

_iq	EST_getTorque_Nm (EST_Handle handle)
	Gets the torque value in per unit (pu), IQ24. More...

bool	EST_isError (EST_Handle handle)
	Determines if there is an estimator error. More...

bool	EST_isIdle (EST_Handle handle)
	Determines if the estimator is idle. More...

bool	EST_isLockRotor (EST_Handle handle)
	Determines if the estimator is waiting for the rotor to be locked. More...

bool	EST_isMotorIdentified (EST_Handle handle)
	Determines if the motor has been identified. More...

bool	EST_isOnLine (EST_Handle handle)
	Determines if the estimator is ready for online control. More...

void	EST_resetCounter_ctrl (EST_Handle handle)
	Resets the control counter. More...

void	EST_resetCounter_state (EST_Handle handle)
	Resets the state counter. More...

void	EST_run (EST_Handle handle, const MATH_vec2 pIab_pu, const MATH_vec2 pVab_pu, const _iq dcBus_pu, const _iq speed_ref_pu)
	Runs the estimator. More...

void	EST_setAngle_pu (EST_Handle handle, const _iq angle_pu)
	Sets the angle value in the estimator in per unit (pu), IQ24. More...

void	EST_setDcBus_pu (EST_Handle handle, const _iq dcBus_pu)
	Sets the DC bus voltage in the estimator in per unit (pu), IQ24. More...

void	EST_setFlag_enableFluxControl (EST_Handle handle, const bool state)
	Sets the enable flux control flag in the estimator. More...

void	EST_setFlag_enableForceAngle (EST_Handle handle, const bool state)
	Sets the enable force angle flag in the estimator. More...

void	EST_setFlag_enableRsOnLine (EST_Handle handle, const bool state)
	Sets the enable Rs online flag in the estimator. More...

void	EST_setFlag_enableRsRecalc (EST_Handle handle, const bool state)
	Sets the enable stator resistance (Rs) re-calculation flag in the estimator. More...

void	EST_setFlag_estComplete (EST_Handle handle, const bool state)
	Sets the estimation complete flag in the estimator. More...

void	EST_setFlag_updateRs (EST_Handle handle, const bool state)
	Sets the update stator resistance (Rs) flag in the estimator. More...

void	EST_setForceAngleDelta_pu (EST_Handle handle, const _iq angleDelta_pu)
	Sets the force angle delta value in the estimator in per unit (pu), IQ24. More...

void	EST_setFreqB0_lp_pu (EST_Handle handle, const _iq b0_lp_pu)
	Sets the low pass filter numerator value in the frequency estimator in per unit (pu), IQ30. More...

void	EST_setFreqBeta_lp_pu (EST_Handle handle, const _iq beta_lp_pu)
	Sets the value used to set the low pass pole location in the frequency estimator in per unit (pu), IQ30. More...

void	EST_setFullScaleCurrent (EST_Handle handle, const float_t fullScaleCurrent)
	Sets the full scale current in the estimator in Amperes (A). More...

void	EST_setFullScaleFlux (EST_Handle handle, const float_t fullScaleFlux)
	Gets the full scale flux value used in the estimator in Volts*seconds (V.s). More...

void	EST_setFullScaleFreq (EST_Handle handle, const float_t fullScaleFreq)
	Sets the full scale frequency in the estimator in Hertz (Hz). More...

void	EST_setFullScaleInductance (EST_Handle handle, const float_t fullScaleInductance)
	Sets the full scale inductance in the estimator in Henries (H). More...

void	EST_setFullScaleResistance (EST_Handle handle, const float_t fullScaleResistance)
	Sets the full scale resistance in the estimator in Ohms ( $\Omega$ ). More...

void	EST_setFullScaleVoltage (EST_Handle handle, const float_t fullScaleVoltage)
	Sets the full scale resistance in the estimator in Volts (V). More...

void	EST_setIdle (EST_Handle handle)
	Sets the estimator to idle. More...

void	EST_setIdle_all (EST_Handle handle)
	Sets the estimator and all of the subordinate estimators to idle. More...

void	EST_setId_ref_pu (EST_Handle handle, const _iq Id_ref_pu)
	Sets the direct current (Id) reference value in the estimator in per unit (pu), IQ24. More...

void	EST_setIdRated_pu (EST_Handle handle, const _iq IdRated_pu)
	Sets the Id rated current value in the estimator in per unit (pu), IQ24. More...

void	EST_setIq_ref_pu (EST_Handle handle, const _iq Iq_ref_pu)
	Sets the quadrature current (Iq) reference value in the estimator in per unit (pu), IQ24. More...

void	EST_setLs_d_pu (EST_Handle handle, const _iq Ls_d_pu)
	Sets the direct stator inductance value in the estimator in per unit (pu), IQ30. More...

_iq	EST_getLs_delta_pu (EST_Handle handle)
	Gets the delta stator inductance value in the stator inductance estimator. More...

void	EST_setLs_delta_pu (EST_Handle handle, const _iq Ls_delta_pu)
	Sets the delta stator inductance value during fine estimation. More...

_iq	EST_getRs_delta_pu (EST_Handle handle)
	Gets the delta stator resistance value from the stator resistance estimator. More...

void	EST_setRs_delta_pu (EST_Handle handle, const _iq Rs_delta_pu)
	Sets the delta stator resistance value. More...

void	EST_setLs_dq_pu (EST_Handle handle, const MATH_vec2 *pLs_dq_pu)
	Sets the direct/quadrature stator inductance vector values in the estimator in per unit (pu), IQ30. More...

void	EST_setLs_q_pu (EST_Handle handle, const _iq Ls_q_pu)
	Sets the quadrature stator inductance value in the estimator in per unit (pu), IQ30. More...

void	EST_setLs_qFmt (EST_Handle handle, const uint_least8_t Ls_qFmt)
	Sets the stator inductance Q format in the estimator in 8 bit unsigned integer (uint_least8_t). More...

void	EST_setMaxAccel_pu (EST_Handle handle, const _iq maxAccel_pu)
	Sets the maximum acceleration value in the estimator in per unit (pu), IQ24. More...

void	EST_setMaxAccel_est_pu (EST_Handle handle, const _iq maxAccel_pu)
	Sets the maximum estimation acceleration value in the estimator in per unit (pu), IQ24. More...

void	EST_setMaxCurrentSlope_pu (EST_Handle handle, const _iq maxCurrentSlope_pu)
	Sets the maximum current slope value in the estimator in per unit (pu), IQ24. More...

void	EST_setMaxCurrentSlope_epl_pu (EST_Handle handle, const _iq maxCurrentSlope_pu)
	Sets the maximum EPL (Efficient Partial Load) current slope value used in the estimator in per unit (pu), IQ24. More...

void	EST_setRr_pu (EST_Handle handle, const _iq Rr_pu)
	Sets the rotor resistance value in the estimator in per unit (pu), IQ30. More...

void	EST_setRr_qFmt (EST_Handle handle, uint_least8_t Rr_qFmt)
	Sets the rotor resistance Q format in the estimator in 8 bit unsigned integer (uint_least8_t). More...

void	EST_setRsOnLineAngleDelta_pu (EST_Handle handle, const _iq angleDelta_pu)
	Sets the delta angle value in the online stator resistance estimator. More...

void	EST_setRsOnLine_pu (EST_Handle handle, const _iq Rs_pu)
	Sets the stator resistance value in the online stator resistance estimator in per unit (pu), IQ30. More...

void	EST_setRsOnLine_qFmt (EST_Handle handle, const uint_least8_t Rs_qFmt)
	Sets the stator resistance Q format in the online stator resistance estimator in 8 bit unsigned integer (uint_least8_t). More...

void	EST_setRsOnLineFilterParams (EST_Handle handle, const EST_RsOnLineFilterType_e filterType, const _iq filter_0_b0, const _iq filter_0_a1, const _iq filter_0_y1, const _iq filter_1_b0, const _iq filter_1_a1, const _iq filter_1_y1)
	Sets the online stator resistance filter parameters in per unit (pu), IQ24. More...

void	EST_setRsOnLineId_mag_pu (EST_Handle handle, const _iq Id_mag_pu)
	Sets the Id magnitude value used for online stator resistance estimation in per unit (pu), IQ24. More...

void	EST_setRs_pu (EST_Handle handle, const _iq Rs_pu)
	Sets the stator resistance value used in the estimator in per unit (pu), IQ30. More...

void	EST_setRs_qFmt (EST_Handle handle, uint_least8_t Rs_qFmt)
	Sets the stator resistance Q format in the estimator in 8 bit unsigned integer (uint_least8_t). More...

void	EST_updateId_ref_pu (EST_Handle handle, _iq *pId_ref_pu)
	Updates the Id reference value used for online stator resistance estimation in per unit (pu), IQ24. More...

bool	EST_updateState (EST_Handle handle, const _iq Id_target_pu)
	Updates the estimator state. More...

bool	EST_useZeroIq_ref (EST_Handle handle)
	Determines if a zero Iq current reference should be used in the controller. More...

uint_least8_t	EST_computeDirection_qFmt (EST_Handle handle, const float_t flux_max)
	Computes the direction Q format for the estimator. More...

uint_least8_t	EST_getDir_qFmt (EST_Handle handle)
	Gets the direction Q format from the estimator. More...

void	EST_setDir_qFmt (EST_Handle handle, const uint_least8_t dir_qFmt)
	Sets the direction Q format in the estimator. More...

void	EST_setFe_neg_max_pu (EST_Handle handle, const _iq fe_neg_max_pu)
	Sets maximum negative electrical frequency from the estimator. More...

void	EST_setFe_pos_min_pu (EST_Handle handle, const _iq fe_pos_min_pu)
	Sets minimum positive electrical frequency from the estimator. More...

Detailed Description

Contains the public interface to the estimator (EST) module routines.

Definition in file 32b/est.h.

Typedefs

Enumerations

Functions

Detailed Description