MC100/Applications/foc/core/ladrc_observer.h

#ifndef _LADRC_OBSERVER_H__
#define _LADRC_OBSERVER_H__
#include "os/os_types.h"
typedef struct {
	float z1,z2;
}zStats;
#define ANGLE_BUF_NUM 16
typedef struct {
	//扩张状态观测器
	zStats alpha, beta;
	float B1,B2;
	float ts;
	float Wo; //初始带宽
	float vel_min; //初始带宽对应的角频率
	float ld, lq, r, poles;
	float Ealpha, Ebeta;
	float Vel_El;
	float lpf_cutoff_freq; //低通滤波器截止频率 (截止频率 x 2 x pi)
	float angle_last;
	float angle_array[ANGLE_BUF_NUM];
	int   angle_idx;
	float angle_sum;
}ladrc_observer;

void ladrc_observer_init(float Wo, float vel_min, float lpf_cut_off);
void ladrc_observer_update(float va, float vb, float ia, float ib);
float ladrc_observer_angle(void);
float ladrc_observer_vel(void);
#endif /* _LADRC_OBSERVER_H__ */