Other Parts Discussed in Thread: MOTORWARE
Tool/software:
_iq angleDelayComp(const _iq fm_pu, const _iq angleUncomp_pu)
{
_iq angleDelta_pu = _IQmpy(fm_pu,_IQ(USER_IQ_FULL_SCALE_FREQ_Hz/(USER_PWM_FREQ_kHz*1000.0)));
_iq angleCompFactor = _IQ(1.0 + (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK * 0.5);
_iq angleDeltaComp_pu = _IQmpy(angleDelta_pu, angleCompFactor);
uint32_t angleMask = ((uint32_t)0xFFFFFFFF >> (32 - GLOBAL_Q));
_iq angleComp_pu;
_iq angleTmp_pu;
// increment the angle
angleTmp_pu = angleUncomp_pu + angleDeltaComp_pu;
// mask the angle for wrap around
// note: must account for the sign of the angle
angleComp_pu = _IQabs(angleTmp_pu) & angleMask;
// account for sign
if(angleTmp_pu < _IQ(0.0))
{
angleComp_pu = -angleComp_pu;
}
return(angleComp_pu);
} // end of angleDelayComp() function
E:\ti\motorware\motorware_1_01_00_18\sw\solutions\instaspin_foc\boards\boostxldrv8305_revA\f28x\f2802xF\projects\ccs\proj_lab11a
Hello, what is the principle of this routine's angle compensation? Why is the greater the speed, the greater the compensation? Have you introduced it?
