MC100/Applications/foc/core/smo_observer.h

#ifndef _SMO_OBSERVER_H__
#define _SMO_OBSERVER_H__
#include "foc/core/PI_Controller.h"

typedef struct {
	float ts;
	float bandwith; //PLL带宽
	float lpf_wc;   //低通滤波截止频率
	float lpf_ceof; //通过截止频率和采样率计算出的一阶低通滤波器系数
	float Ksmo;      //滑膜增益
	float Ksta;      //sigmoid 函数最大饱和

	PLL_t pll;

	float pll_kp;
	float pll_ki;
	float pll_integrator;
	float pll_max_rad_pers;
	float Ialpha_hat; //估计alpha电流
	float IBeta_hat;  //估计beta电流
	float est_eAlpha; //估计反电动势alpha
	float est_eBeta;  //估计反电动势beta
	float est_eAlpha_Filted;
	float est_eBeta_Filted;

	bool  dir_ccw;

	float est_angle; //degree
	float est_angle_out;
	float est_rad_pers; //每秒度数
	float est_rad_pers_filted;
	float est_rpm;
	float motor_r;
	float motor_ld;
	float motor_lq;
	float motor_poles;
}smo_observer_t;

void smo_observer_init(float pll_bandwith, float lpf_wc, float Ksmo, float Ksta);
float smo_observer_update(float uAlpha, float uBeta, float iAlpha, float iBeta);
float smo_observer_est_angle(void);
float smo_observer_est_rpm(void);
smo_observer_t *get_smo(void);


#endif /* _SMO_OBSERVER_H__ */