AN1078知识点整理
a. 速度计算
inline void SMC_Position_Estimation_Inline (SMC *s)
{
。。。
AccumThetaCnt++;
if (AccumThetaCnt == IRP_PERCALC)
{
s->Omega = AccumTheta;
AccumThetaCnt = 0;
AccumTheta = 0;
皇太极
}
。。。
执政地位
CalcOmegaFltred();
。。。
}
为 确 保 在 速 度 计 算 时 获 得 较 为 平 滑 的 信 号，可 在Omega （ ω*）上 施 加 ⼀ 个 ⼀ 阶 滤 波 器，以 获 得FilteredOmega（
ω*filtered）值。 ⼀阶滤波器的拓扑与⽤于反电动势滤波的滤波器相同。
滤波公式：
y( n) = y (n – 1) + T2πfc · (x(n)-y(n) ) =y (n – 1) + 2πfc/fpwm · (x(n)-y(n) )
fpwm = 计算数字滤波器时的 PWM 频率
fc = 滤波器的截⽌频率
s->OmegaFltred = s->OmegaFltred + s->FiltOmCoef * s->Omega - s->FiltOmCoef * s->OmegaFltred
= s->OmegaFltred + s->FiltOmCoef *( s->Omega -s->OmegaFltred)
smcpos.c
void SMCInit(SMC *s)
{
s->Kslide = Q15(SMCGAIN);
s->MaxSMCError = Q15(MAXLINEARSMC);
s->FiltOmCoef = Q15(OMEGA0 * _PI / IRP_PERCALC); // / Cutoff frequency for omega filter is minimum omega, or OMEGA0
}
2πfc/fpwm = Q15(OMEGA0 * _PI / IRP_PERCALC)
fc = fpwm * Q15(OMEGA0 * _PI / IRP_PERCALC) /2π
= Q15(OMEGA0 ） * _PI * Fspeedloop / 2π
= Q15(OMEGA0 ） * Fspeedloop / 2
= SPEED0 * LOOPTIMEINSEC * IRP_PERCALC * POLEPAIRS * 2.0 / 60.0 * Fspeedloop / 2
= SPEED0 (Define this in RPMs) * POLEPAIRS / 60.0
= 60 f * POLEPAIRS / 60.0 = f （机械⾓频率）* POLEPAIRS = f(电⾓频率）
即 fc 对应 MINSPEEDINRPM 对应的电⾓频率
⾄于低通滤波器的的截⽌频率为什么⽤SPEED0对应的电⾓频率，还需要研究
b.
#define LOOPTIMEINSEC (1.0/PWMFREQUENCY) // PWM Period = 1.0 / PWMFREQUENCY PWM周期即电流环周期
#define IRP_PERCALC (unsigned int)(SPEEDLOOPTIME/LOOPTIMEINSEC) // PWM loops per velocity calculation 速度环时间⽐电流环
MINSPEEDINRPM–>SPEED0–>OMEGA0
#define MINSPEEDINRPM 2000 // Minimum speed in RPM. Clod loop will operate at this speed. Open loop will transition to
// clod loop at this minimum speed.
#define SPEED0 MINSPEEDINRPM // Define this in RPMs0
#define OMEGA0 (float)(SPEED0 * LOOPTIMEINSEC * IRP_PERCALC * POLEPAIRS * 2.0 / 60.0)// Define this in Degrees, from 0 to 360
OMEGA0的实际意义是⼀个速度环周期时间⾛过的标⼳化的电⾓度。
前⾯的推导先求机械⾓速度再求电⾓速度，太烦了。 ⽤n=60f/p 直接从转速切换到电⾓速度。
以单位时间内⾛过的路程来表征速度是⼀个重要思想。
// Q15(Omega) * 60
// Speed RPMs = -----------------------------
// SpeedLoopTime * Motor Poles
// For example:
// Omega = 0.5 Omega=⼀个速度环⾛过的电⾓度（弧度）的标⼳值。
// SpeedLoopTime = 0.001
// Motor Poles (pole pairs * 2) = 10
// Then:
// Speed in RPMs is 3,000 RPMs
c.
θ = 2 π ft
每⼀个速度环周期内的
delta_θ = 2 π f Tspeedloop
delta_θ_pu_Q15 = 2 π f Tspeedloop /π * Q15 = f * Tspeedloop * Q16 =f/ Fspeedloop * Q16 =(f/100Hz *Q12 )/( Fspeedloop/100Hz *Q12) *Q16
(f/100Hz Q12 )=delta_θ_pu_Q15 ( Fspeedloop/100Hz Q12) /Q16 = smc1.Omega ( 1600/100/16) = smc1.Omega = Fdpp *10(Hall中的Fdpp）
即：⼀个速度环周期时间⾛过的标⼳化Q值化的电⾓度 就是我们需要标⼳化Q值化的反馈电⾓速度
d.
RPS是转速单位的缩写，意思是“xx转每秒”。 eRPS = 电机的电⽓转速（电⾓转速），单位为 RPS
eRPS = (RPM * Pole_Pair)/60
推导RPS和f（机械⾓频率)之间的关系
w = 2πf = 2 π n/60 —> f=n/60=RPM/60=eRPS/Pole_Pair
看的近义词
推导RPS和f（电⾓频率)之间的关系
w电= 2πf电 =Pole_Pair * w机械 = Pole_Pair * 2 π n/60 —>f电=Pole_Pair n/60 = Pole_Pair RPM/60=
eRPS (电机的电⽓转速)
Hz —每秒的周期次数(周期/秒) 每秒的电转速 the electrical revolutions per conds
FUCK 原来eRPS就是f电（HZ）
根本⽤不着推导： n = 60f/p —> f=np/60= eRPS
e.
推导Kslf
(es (n +1) -es (n ) )/Tpwm = w0 *(zs (n ) - es (n ))
es (n +1 ) =es (n ) + Tpwm w0 (zs (n ) - es (n ))
—> Kslf = Tpwm*2πfc
Fc is the cutoff frequency of our filter. We want the cutoff frequency be the frequency of the drive currents and voltages of the motor,
which is the electrical revolutions per cond, or eRPS.
我们取电机的电⽓转速f电（每秒的电⾓度变化）来作为我们滤波器的截⽌频率
则 Kslf = Tpwm. 2. PI. eRPS
以下推导过程描述了低通滤波器增益的计算，其中：
Kslf = Tpwm. 2. PI. eRPS — ( 3 )
eRPS = (RPM. Pole_Pair)/60 — ( 4)
且，
RPM = (Q15(Omega). 60)/(SpeedLoopTime. Motor Poles) — ( 5 )
将 (5) 代⼊到 (4) 中，
eRPS = (Q15(Omega). 60. Pole Pairs)/(SpeedLoopTime. Pole Pairs. 2. 60)
eRPS = Q15(Omega)/(SpeedLoopTime. 2) — (6)
将 (6) 代⼊到 (3) 中，
Kslf = Tpwm. 2. PI. Q15(Omega)/(SpeedLoopTime. 2) — ( 7 )
现在，
IRP_PERCALC = SpeedLoopTime/Tpwm — ( 8 )
将 (8) 代⼊到 (7) 中，
Kslf = Tpwm. 2. Q15(Omega). PI/(IRP_PERCALC. Tpwm. 2)
简化得到：
Kslf = Q15(Omega). PI/IRP_PERCALC
我们使⽤具有同样系数的第⼆个滤波器来获取更加⼲净的信号：
Kslf = KslfFinal = Q15(Omega). PI/IRP_PERCALC
// What this allows us at the end is a fixed pha delay for theta compensation
// in all speed range, since cutoff frequency is changing as the motor speeds up.
/
/
// Pha delay: Since cutoff frequency is the same as the input frequency, we can
// define pha delay as being constant of -45 DEG per filter. This is becau
// the equation to calculate pha shift of this low pass filter is
// arctan(Fin/Fc), and Fin/Fc = 1 since they are equal, hence arctan(1) = 45 DEG.
// A total of -90 DEG after the two filters implemented (Kslf and KslfFinal).
f.
菠菜英语开环状态下：
// Enter initial torque demand in Amps using REFINAMPS() macro.
// Maximum Value for reference is defined by shunt resistor value and
// differential amplifier gain. U this equation to calculate
/
/ maximum torque in Amperes:
//
// Max REFINAMPS = (VDD/2)/(RSHUNT*DIFFAMPGAIN)
//
// For example:
//
// RSHUNT = 0.005
// VDD = 3.3
// DIFFAMPGAIN = 75
//
// Maximum torque reference in Amps is:
/
/
// (3.3/2)/(.005*75) = 4.4 Amperes, or REFINAMPS(4.4)
//
// If motor requires more torque than Maximum torque to startup, ur
// needs to change either shunt resistors installed on the board,
// or differential amplifier gain.
CtrlParm.qVqRef = REFINAMPS(INITIALTORQUE);
为什么PI是电流进⼊电压输出？ answer: pi 就是⼀个调节
// Vector limitation
// Vd is not limited
// Vq is limited so the vector Vs is less than a maximum of 95%.
/
/ The 5% left is needed to be able to measure current through
// shunt resistors.
道德经第五章// Vs = SQRT(Vd^2 + Vq^2) < 0.95强肾健身操
夜半小月曲// Vq = SQRT(0.95^2 - Vd^2)
qVdSquared = FracMpy(PIParmD.qOut, PIParmD.qOut);
PIParmQ.qOutMax = Q15SQRT(Q15(0.95*0.95) - qVdSquared);
PIParmQ.qOutMin = -PIParmQ.qOutMax;
12.
由于截⽌频率在电机速度不断上升的过程中始终在变化，设计⾃适应滤波器时，保留了⼀个固定的相位延时，以补偿所有速度范围内的theta。由于实现了两个⾃适应滤波器，因⽽存在 90° 的固定延时，该延时作为惟⼀的常数偏移量被加⼊到计算所得的 theta 中。
Pha delay: Since cutoff frequency is the same as the input frequency, we can define pha delay
as being constant of -45 DEG per filter. This is becau the equation to calculate pha shift of this low pass filter is arctan(Fin/Fc), and Fin/Fc = 1 since they are equal, hence arctan(1) = 45 DEG. A total of -90 DEG after the two filters implemented (Kslf and KslfFinal).
逆时针为正，顺时针为负。
逆时针加16384，顺时针减16384.
v->EalphaFinal前⾯全为负。
推算预产期的方法
v->Theta = _IQatan2PU(v->EalphaFinal,v->EbetaFinal)+16384;
14.
截⽌频率的值被设置为等于驱动电流和电机电压的频率，该频率等于每秒的电⽓旋转圈数。由于⾃适应滤波器的实现⽅式，会有⼀个固定的相位延时（每个滤波器-45°）， ⽤于所有速度范围内的 θ补偿 ，因为截⽌频率会随着电机提速⽽改变。
