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MotorWare f2806x Module API Documentation
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Data Structures | |
| struct | _CTRL_Version_ |
| Defines the controller (CTRL) version number. More... | |
| struct | _CTRL_Obj_ |
| Defines the controller (CTRL) object. More... | |
Macros | |
| #define | CTRL_NUM_CONTROLLERS (2) |
| Defines the maximum number of controllers that are instantiated into ROM. More... | |
| #define | CTRL_MAJOR_RELEASE_NUMBER (2u) |
| Defines the major release number. More... | |
| #define | CTRL_MINOR_RELEASE_NUMBER (0u) |
| Defines the major release number. More... | |
| #define | CTRL_NUM_CONTROLLERS (2) |
| Defines the number of controllers. More... | |
Typedefs | |
| typedef struct _CTRL_Version_ | CTRL_Version |
| Defines the controller (CTRL) version number. More... | |
| typedef struct _CTRL_Obj_ | CTRL_Obj |
| Defines the controller (CTRL) object. More... | |
| typedef struct _CTRL_Obj_ * | CTRL_Handle |
| Defines the CTRL handle. More... | |
| typedef struct _CTRL_Version_ | CTRL_Version |
| Defines the controller (CTRL) version number. More... | |
| typedef struct _CTRL_Obj_ | CTRL_Obj |
| Defines the controller (CTRL) object. More... | |
| typedef struct _CTRL_Obj_ * | CTRL_Handle |
| Defines the CTRL handle. More... | |
| struct _CTRL_Version_ |
Defines the controller (CTRL) version number.
Definition at line 131 of file 32b/ctrl_obj.h.
| Data Fields | ||
|---|---|---|
| uint16_t | major | the major release number |
| uint16_t | minor | the minor release number |
| uint16_t | rsvd | reserved value |
| uint16_t | targetProc | the target processor |
| CTRL_TargetProc_e | targetProc | the target processor |
| struct _CTRL_Obj_ |
Defines the controller (CTRL) object.
The controller object implements all of the FOC algorithms and the estimator functions.
Definition at line 144 of file 32b/ctrl_obj.h.
| Data Fields | ||
|---|---|---|
| _iq | angle_pu | the angle value, pu |
| float_t | BWc_rps | the bandwidth of the current controllers, rad/sec |
| float_t | BWdelta | the bandwidth scaling to maximize phase margin |
| CLARKE_Obj | clarke_I | the current Clarke transform object |
| CLARKE_Obj | clarke_V | the voltage Clarke transform object |
| CLARKE_Handle | clarkeHandle_I | the handle for the current Clarke transform |
| CLARKE_Handle | clarkeHandle_V | the handle for the voltage Clarke transform |
| int_least16_t | counter_current | the isr counter |
| uint_least16_t | counter_current | the isr counter |
| int_least16_t | counter_isr | the isr counter |
| uint_least16_t | counter_isr | the isr counter |
| int_least16_t | counter_speed | the speed counter |
| uint_least16_t | counter_speed | the speed counter |
| int_least32_t | counter_state | the state counter |
| uint_least32_t | counter_state | the state counter |
| uint_least16_t | counter_traj | the traj counter |
| float_t | ctrlFreq_Hz | Defines the controller frequency, Hz. |
| uint_least32_t | ctrlFreq_Hz | Defines the controller frequency, Hz. |
| float_t | ctrlPeriod_sec | Defines the controller period, sec. |
| float_t | currentCtrlPeriod_sec | the period at which the current controller runs, sec |
| CTRL_ErrorCode_e | errorCode | the error code for the controller |
| EST_Handle | estHandle | the handle for the parameter estimator |
| bool | flag_enable | a flag to enable the controller |
| bool | flag_enableCtrl | a flag to enable the controller |
| bool | flag_enableCurrentCtrl | a flag to enable the current controllers |
| bool | flag_enableDcBusComp | a flag to enable the DC bus compensation in the controller |
| bool | flag_enableOffset | a flag to enable offset estimation after idle state |
| bool | flag_enablePowerWarp | a flag to enable PowerWarp |
| bool | flag_enableSpeedCtrl | a flag to enable the speed controller |
| bool | flag_enableUserMotorParams | a flag to use known motor parameters from user.h file |
| bool | flag_resetInt_Id | a flag to reset the Id integrator |
| bool | flag_resetInt_Iq | a flag to reset the Iq integrator |
| bool | flag_resetInt_spd | a flag to reset the speed integrator |
| bool | flag_useZeroIq_ref | a flag to force a Iq = 0 reference value |
| MATH_vec2 | Iab_filt | the Iab filtered values |
| MATH_vec2 | Iab_in | the Iab input values |
| MATH_vec2 | Idq_A | the Idq values, A |
| MATH_vec2 | Idq_in | the Idq input values |
| MATH_vec2 | Idq_offset_A | the Idq offset values, A |
| MATH_vec2 | Idq_offset_pu | the Idq offset values, pu |
| MATH_vec2 | Idq_ref | the Idq reference values, pu |
| MATH_vec2 | Idq_ref_A | the Idq reference values, A |
| _iq | IdRated | the Id rated current, pu |
| IPARK_Obj | ipark | the inverse Park transform object |
| IPARK_Handle | iparkHandle | the handle for the inverse Park transform |
| float_t | Kctrl_Wb_p_kgm2 | the controller constant, Wb/(kg*m^2) |
| _iq | Kd_Id | the desired Kd_Id value |
| _iq | Kd_Iq | the desired Kd_Iq value |
| _iq | Kd_spd | the desired Kd_spd value |
| float_t | Ki_Id | the desired Ki_Id value, unitless |
| _iq | Ki_Id | the desired Ki_Id value |
| float_t | Ki_Iq | the desired Ki_Iq value, unitless |
| _iq | Ki_Iq | the desired Ki_Iq value |
| _iq | Ki_spd | the desired Ki_spd value |
| float_t | Ki_spd_ApHz | the desired Ki_spd value, A/Hz |
| _iq | Kp_Id | the desired Kp_Id value |
| float_t | Kp_Id_VpA | the desired Kp_Id value, V/A |
| _iq | Kp_Iq | the desired Kp_Iq value |
| float_t | Kp_Iq_VpA | the desired Kp_Iq value, V/A |
| _iq | Kp_spd | the desired Kp_spd value |
| float_t | Kp_spd_ApHz | the desired Kp_spd value, A/Hz |
| float_t | Lhf | the Lhf value |
| _iq | maxVsMag_pu | the maximum voltage vector that is allowed, pu |
| float_t | maxVsMag_V | the maximum stator voltage magnitude value, V |
| MOTOR_Params | motorParams | the motor parameters |
| int_least16_t | numCtrlTicksPerCurrentTick | Defines the number of controller clock ticks per current controller clock tick. |
| uint_least16_t | numCtrlTicksPerCurrentTick | Defines the number of controller clock ticks per current controller clock tick. |
| int_least16_t | numCtrlTicksPerSpeedTick | Defines the number of controller clock ticks per speed controller clock tick. |
| uint_least16_t | numCtrlTicksPerSpeedTick | Defines the number of controller clock ticks per speed controller clock tick. |
| uint_least16_t | numCtrlTicksPerTrajTick | Defines the number of controller clock ticks per trajectory clock tick. |
| int_least16_t | numIsrTicksPerCtrlTick | Defines the number of isr clock ticks per controller clock tick. |
| uint_least16_t | numIsrTicksPerCtrlTick | Defines the number of isr clock ticks per controller clock tick. |
| PARK_Obj | park | the Park transform object |
| PARK_Handle | parkHandle | the handle for the Park object |
| PI_Obj | pi_Id | the Id PI controller object |
| PI_Obj | pi_Iq | the Iq PI controller object |
| PI_Obj | pi_spd | the speed PI controller object |
| PID_Obj | pid_Id | the Id PID controller object |
| PID_Obj | pid_Iq | the Iq PID controller object |
| PID_Obj | pid_spd | the speed PID controller object |
| PID_Handle | pidHandle_Id | the handle for the Id PID controller |
| PID_Handle | pidHandle_Iq | the handle for the Iq PID controller |
| PID_Handle | pidHandle_spd | the handle for the speed PID controller |
| PI_Handle | piHandle_Id | the handle for the Id PI controller |
| PI_Handle | piHandle_Iq | the handle for the Iq PI controller |
| PI_Handle | piHandle_spd | the handle for the speed PI controller |
| CTRL_State_e | prevState | the previous state of the controller |
| float_t | Rhf | the Rhf value |
| float_t | RoverL | the R/L value |
| _iq | spd_max | the maximum speed, pu |
| _iq | spd_out | the speed output value |
| _iq | spd_ref | the speed reference, pu |
| float_t | speed_fb_Hz | the feedback speed value, Hz |
| _iq | speed_fb_pu | the feedback speed value, pu |
| float_t | speed_out_A | the output value from the speed controller, A |
| float_t | speed_outMax_A | the maximum output value for the speed controller, A |
| _iq | speed_outMax_pu | the maximum output of the speed PI control, pu |
| float_t | speed_outMin_A | the minimum output value for the speed controller, A |
| float_t | speed_ref_Hz | the reference speed value, Hz |
| _iq | speed_ref_pu | the speed reference, pu |
| float_t | speedCtrlPeriod_sec | the period at which the speed controller runs, sec |
| CTRL_State_e | state | the current state of the controller |
| SVGEN_Obj | svgen | the space vector generator object |
| SVGEN_Handle | svgenHandle | the handle for the space vector generator |
| TRAJ_Obj | traj_Id | the Id trajectory generator object |
| TRAJ_Obj | traj_spd | the speed trajectory generator object |
| TRAJ_Obj | traj_spdMax | the maximum speed trajectory generator object |
| uint_least32_t | trajFreq_Hz | Defines the trajectory frequency, Hz. |
| TRAJ_Handle | trajHandle_Id | the handle for the Id trajectory generator |
| TRAJ_Handle | trajHandle_spd | the handle for the speed trajectory generator |
| TRAJ_Handle | trajHandle_spdMax | the handle for the maximum speed trajectory generator |
| _iq | trajPeriod_sec | Defines the trajectory period, sec. |
| _iq | Ui_Id | the desired Ui_Id value |
| float_t | Ui_Id_V | the start integrator value for the Id controller, V |
| _iq | Ui_Iq | the desired Ui_Iq value |
| float_t | Ui_Iq_V | the start integrator value for the Iq controller, V |
| _iq | Ui_spd | the desired Ui_spd value |
| float_t | Ui_spd_A | the start integrator value for the speed controller, A |
| MATH_vec2 | Vab_in | the Vab input values |
| MATH_vec2 | Vab_out | the Vab output values |
| float_t | Vd_sf | the Vd scale factor |
| MATH_vec2 | Vdq_offset_pu | the Vdq offset values, pu |
| MATH_vec2 | Vdq_offset_V | the Vdq offset values, V |
| MATH_vec2 | Vdq_out | the Vdq output values |
| MATH_vec2 | Vdq_V | the Vdq values, V |
| CTRL_Version | version | the controller version |
| int_least32_t | waitTimes[CTRL_numStates] | an array of wait times for each state, isr clock counts |
| uint_least32_t | waitTimes[CTRL_numStates] | an array of wait times for each state, estimator clock counts |
| #define CTRL_MAJOR_RELEASE_NUMBER (2u) |
Defines the major release number.
Definition at line 44 of file float/ctrl_obj.h.
Referenced by CTRL_init().
| #define CTRL_MINOR_RELEASE_NUMBER (0u) |
Defines the major release number.
Definition at line 49 of file float/ctrl_obj.h.
Referenced by CTRL_init().
| #define CTRL_NUM_CONTROLLERS (2) |
Defines the number of controllers.
Definition at line 54 of file float/ctrl_obj.h.
| #define CTRL_NUM_CONTROLLERS (2) |
Defines the maximum number of controllers that are instantiated into ROM.
Definition at line 79 of file 32b/ctrl_obj.h.
| typedef struct _CTRL_Obj_* CTRL_Handle |
Defines the CTRL handle.
Definition at line 198 of file float/ctrl_obj.h.
| typedef struct _CTRL_Obj_* CTRL_Handle |
Defines the CTRL handle.
Definition at line 283 of file 32b/ctrl_obj.h.
| typedef struct _CTRL_Obj_ CTRL_Obj |
Defines the controller (CTRL) object.
| typedef struct _CTRL_Obj_ CTRL_Obj |
Defines the controller (CTRL) object.
The controller object implements all of the FOC algorithms and the estimator functions.
| typedef struct _CTRL_Version_ CTRL_Version |
Defines the controller (CTRL) version number.
| typedef struct _CTRL_Version_ CTRL_Version |
Defines the controller (CTRL) version number.
| enum CTRL_ErrorCode_e |
Enumeration for the error codes.
Definition at line 62 of file float/ctrl_obj.h.
| enum CTRL_ErrorCode_e |
Enumeration for the error codes.
Definition at line 98 of file 32b/ctrl_obj.h.
| enum CTRL_TargetProc_e |
Enumeration for the target processors.
Definition at line 73 of file float/ctrl_obj.h.
| enum CTRL_TargetProc_e |
Enumeration for the target processors.
Definition at line 109 of file 32b/ctrl_obj.h.
| enum CTRL_Type_e |
Enumeration for the controller (CTRL) types.
Definition at line 84 of file float/ctrl_obj.h.
| enum CTRL_Type_e |
Enumeration for the controller (CTRL) types.
Definition at line 121 of file 32b/ctrl_obj.h.
1.8.9.1