Defines a structure for the user parameters. More...

#include <userParams.h>

Data Fields
float32_t	dcBus_nominal_V
	voltage, V More...

int_least16_t	numIsrTicksPerCtrlTick

int_least16_t	numIsrTicksPerEstTick

int_least16_t	numIsrTicksPerTrajTick

int_least16_t	numCtrlTicksPerCurrentTick

int_least16_t	numCtrlTicksPerSpeedTick

uint_least8_t	numCurrentSensors

uint_least8_t	numVoltageSensors

float32_t	systemFreq_MHz
	frequency, MHz More...

float32_t	pwmPeriod_usec
	(PWM) period, usec More...

float32_t	voltage_sf
	for the system More...

float32_t	current_sf
	for the system More...

float32_t	dcBusPole_rps
	DC bus filter, rad/sec. More...

float32_t	offsetPole_rps

float32_t	speedPole_rps
	speed control filter, rad/sec More...

float32_t	voltageFilterPole_rps
	pole location, rad/sec More...

float32_t	maxVsMag_pu

MOTOR_Type_e	motor_type
	Defines the motor type. More...

uint16_t	motor_numPolePairs

uint16_t	motor_numEncSlots

float32_t	motor_ratedFlux_Wb
	motor, Wb More...

float32_t	motor_Rr_d_Ohm
	resistance, Ohm More...

float32_t	motor_Rr_q_Ohm
	resistance, Ohm More...

float32_t	motor_Rs_a_Ohm
	resistance, Ohm More...

float32_t	motor_Rs_b_Ohm
	resistance, Ohm More...

float32_t	motor_Rs_d_Ohm
	resistance, Ohm More...

float32_t	motor_Rs_q_Ohm
	resistance, Ohm More...

float32_t	motor_Ls_d_H
	inductance, H More...

float32_t	motor_Ls_q_H
	inductance, H More...

float32_t	maxCurrent_A
	A. More...

float32_t	IdRated_A
	value, A More...

float32_t	Vd_sf

float32_t	maxVsMag_V
	magnitude, V More...

float32_t	BWc_rps
	current controllers, rad/sec More...

float32_t	BWdelta
	maximize phase margin More...

float32_t	Kctrl_Wb_p_kgm2
	constant, Wb/(kg*m^2) More...

float32_t	angleDelayed_sf_sec

float32_t	fluxExcFreq_Hz
	frequency, Hz More...

int_least32_t	calReserved [4]
	Reserved space. More...

int_least32_t	ctrlWaitTime [CTRL_NUMSTATES]

int_least32_t	estWaitTime [EST_NUMSTATES]

int_least32_t	FluxWaitTime [EST_FLUX_NUMSTATES]

int_least32_t	LsWaitTime [EST_LS_NUMSTATES]

int_least32_t	RrWaitTime [EST_RR_NUMSTATES]

int_least32_t	RsWaitTime [EST_RS_NUMSTATES]

int_least32_t	trajWaitTime [EST_TRAJ_NUMSTATES]

float32_t	ctrlFreq_Hz
	Hz. More...

float32_t	estFreq_Hz
	Hz. More...

float32_t	RoverL_excFreq_Hz
	frequency, Hz More...

float32_t	trajFreq_Hz
	Hz. More...

float32_t	ctrlPeriod_sec
	period, sec More...

float32_t	maxAccel_Hzps
	for the speed profiles, Hz/sec More...

float32_t	maxCurrent_resEst_A
	for resistance estimation, A More...

float32_t	maxCurrent_indEst_A
	for inductance estimation, A More...

float32_t	maxCurrentDelta_A
	for Id current trajectory More...

float32_t	maxCurrentDelta_pw_A

float32_t	IdRated_delta_A
	value, A More...

float32_t	forceAngleFreq_Hz
	frequency, Hz More...

float32_t	indEst_speedMaxFraction

float32_t	IdRatedFraction_indEst

float32_t	pwGain
	computing Id reference More...

float32_t	Kp_min_VpA
	the current controller, V/A More...

float32_t	Kp_max_VpA
	the current controller, V/A More...

float32_t	RoverL_Kp_sf
	during R/L, pu More...

float32_t	RoverL_min_rps
	value allowed, rad/sec More...

float32_t	RoverL_max_rps
	value allowed, rad/sec More...

float32_t	oneOverDcBus_min_invV
	1/dcBus value allowed, 1/V More...

float32_t	oneOverDcBus_max_invV
	1/dcBus value allowed, 1/V More...

float32_t	Ls_d_H

float32_t	Ls_q_H

float32_t	Ls_coarseDelta_H

float32_t	Ls_fineDelta_H

float32_t	Ls_min_H
	inductance value allowed, H More...

float32_t	Ls_max_H
	inductance value allowed, H More...

float32_t	Rr_Ohm
	resistance value, Ohm More...

float32_t	Rr_coarseDelta_Ohm

float32_t	Rr_fineDelta_Ohm

float32_t	Rr_min_Ohm
	resistance value allowed, Ohm More...

float32_t	Rr_max_Ohm
	resistance value allowed, Ohm More...

float32_t	Rs_Ohm
	resistance value, Ohm More...

float32_t	Rs_coarseDelta_Ohm

float32_t	Rs_fineDelta_Ohm

float32_t	Rs_min_Ohm
	resistance value allowed, Ohm More...

float32_t	Rs_max_Ohm
	resistance value allowed, Ohm More...

float32_t	RsOnLine_DeltaInc_Ohm

float32_t	RsOnLine_DeltaDec_Ohm

float32_t	RsOnLine_min_Ohm
	resistance value allowed, Ohm More...

float32_t	RsOnLine_max_Ohm
	resistance value allowed, Ohm More...

float32_t	RsOnLine_angleDelta_rad

float32_t	RsOnLine_pole_rps

bool	flag_bypassMotorId

float32_t	freqNearZeroSpeedLimit_Hz

float32_t	directionPole_rps

float32_t	directionPole_2_rps

float32_t	fluxPole_rps

float32_t	RoverLPole_rps

float32_t	estKappa

float32_t	flux_Wb

float32_t	flux_min_Wb

float32_t	flux_max_Wb

float32_t	oneOverFlux_min_sf

float32_t	oneOverFlux_max_sf

float32_t	Dir_fe_min_Hz

float32_t	Dir_fe_max_Hz

float32_t	Reserved01
	14. More...

float32_t	Reserved02
	15. More...

float32_t	maxFrequency_Hz

Detailed Description

Defines a structure for the user parameters.

Field Documentation

◆ dcBus_nominal_V

float32_t _USER_Params_::dcBus_nominal_V

voltage, V

Defines the nominal DC bus

◆ numIsrTicksPerCtrlTick

int_least16_t _USER_Params_::numIsrTicksPerCtrlTick

Defines the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick

◆ numIsrTicksPerEstTick

int_least16_t _USER_Params_::numIsrTicksPerEstTick

Defines the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick

◆ numIsrTicksPerTrajTick

int_least16_t _USER_Params_::numIsrTicksPerTrajTick

Defines the number of Interrupt Service Routine (ISR) clock ticks per controller clock tick

◆ numCtrlTicksPerCurrentTick

int_least16_t _USER_Params_::numCtrlTicksPerCurrentTick

Defines the number of controller clock ticks per current controller clock tick

◆ numCtrlTicksPerSpeedTick

int_least16_t _USER_Params_::numCtrlTicksPerSpeedTick

Defines the number of controller clock ticks per speed controller clock tick

◆ numCurrentSensors

uint_least8_t _USER_Params_::numCurrentSensors

Defines the number of current sensors

◆ numVoltageSensors

uint_least8_t _USER_Params_::numVoltageSensors

Defines the number of voltage sensors

◆ systemFreq_MHz

float32_t _USER_Params_::systemFreq_MHz

frequency, MHz

Defines the system clock

◆ pwmPeriod_usec

float32_t _USER_Params_::pwmPeriod_usec

(PWM) period, usec

Defines the Pulse Width Modulation

◆ voltage_sf

float32_t _USER_Params_::voltage_sf

for the system

Defines the voltage scale factor

◆ current_sf

float32_t _USER_Params_::current_sf

for the system

Defines the current scale factor

◆ dcBusPole_rps

float32_t _USER_Params_::dcBusPole_rps

DC bus filter, rad/sec.

Defines the pole location for the

◆ offsetPole_rps

float32_t _USER_Params_::offsetPole_rps

Defines the pole location for the voltage and current offset estimation, rad/sec

◆ speedPole_rps

float32_t _USER_Params_::speedPole_rps

speed control filter, rad/sec

Defines the pole location for the

◆ voltageFilterPole_rps

float32_t _USER_Params_::voltageFilterPole_rps

pole location, rad/sec

Defines the analog voltage filter

◆ maxVsMag_pu

float32_t _USER_Params_::maxVsMag_pu

Defines the maximum Vs magnitude in per units

◆ motor_type

MOTOR_Type_e _USER_Params_::motor_type

Defines the motor type.

◆ motor_numPolePairs

uint16_t _USER_Params_::motor_numPolePairs

Defines the number of pole pairs for the motor

◆ motor_numEncSlots

uint16_t _USER_Params_::motor_numEncSlots

Defines the number of encoder slots if quadrature encoder is connected

◆ motor_ratedFlux_Wb

float32_t _USER_Params_::motor_ratedFlux_Wb

motor, Wb

Defines the rated flux of the

◆ motor_Rr_d_Ohm

float32_t _USER_Params_::motor_Rr_d_Ohm

resistance, Ohm

Defines the direct rotor

◆ motor_Rr_q_Ohm

float32_t _USER_Params_::motor_Rr_q_Ohm

resistance, Ohm

Defines the quadrature rotor

◆ motor_Rs_a_Ohm

float32_t _USER_Params_::motor_Rs_a_Ohm

resistance, Ohm

Defines the alpha stator

◆ motor_Rs_b_Ohm

float32_t _USER_Params_::motor_Rs_b_Ohm

resistance, Ohm

Defines the beta stator

◆ motor_Rs_d_Ohm

float32_t _USER_Params_::motor_Rs_d_Ohm

resistance, Ohm

Defines the direct stator

◆ motor_Rs_q_Ohm

float32_t _USER_Params_::motor_Rs_q_Ohm

resistance, Ohm

Defines the quadrature stator

◆ motor_Ls_d_H

float32_t _USER_Params_::motor_Ls_d_H

inductance, H

Defines the direct stator

◆ motor_Ls_q_H

float32_t _USER_Params_::motor_Ls_q_H

inductance, H

Defines the quadrature stator

◆ maxCurrent_A

float32_t _USER_Params_::maxCurrent_A

A.

Defines the maximum current value,

◆ IdRated_A

float32_t _USER_Params_::IdRated_A

value, A

Defines the Id rated current

◆ Vd_sf

float32_t _USER_Params_::Vd_sf

Defines the Vd scale factor to prevent a Vd only component for the Vdq vector

◆ maxVsMag_V

float32_t _USER_Params_::maxVsMag_V

magnitude, V

Defines the maximum stator voltage

◆ BWc_rps

float32_t _USER_Params_::BWc_rps

current controllers, rad/sec

Defines the bandwidth of the

◆ BWdelta

float32_t _USER_Params_::BWdelta

maximize phase margin

Defines the bandwidth scaling to

◆ Kctrl_Wb_p_kgm2

float32_t _USER_Params_::Kctrl_Wb_p_kgm2

constant, Wb/(kg*m^2)

Defines the speed controller

◆ angleDelayed_sf_sec

float32_t _USER_Params_::angleDelayed_sf_sec

Defines the scale factor for computing the angle considering system delay, sec

◆ fluxExcFreq_Hz

float32_t _USER_Params_::fluxExcFreq_Hz

frequency, Hz

Defines the flux excitation

◆ calReserved

int_least32_t _USER_Params_::calReserved[4]

Reserved space.

◆ ctrlWaitTime

int_least32_t _USER_Params_::ctrlWaitTime[CTRL_NUMSTATES]

Defines the wait times for each controller state, isr ticks

◆ estWaitTime

int_least32_t _USER_Params_::estWaitTime[EST_NUMSTATES]

Defines the wait times for each estimator state, isr ticks

◆ FluxWaitTime

int_least32_t _USER_Params_::FluxWaitTime[EST_FLUX_NUMSTATES]

Defines the wait times for each Ls estimator state, estimator ticks

◆ LsWaitTime

int_least32_t _USER_Params_::LsWaitTime[EST_LS_NUMSTATES]

Defines the wait times for each Ls estimator state, estimator ticks

◆ RrWaitTime

int_least32_t _USER_Params_::RrWaitTime[EST_RR_NUMSTATES]

Defines the wait times for each Rr estimator state, estimator ticks

◆ RsWaitTime

int_least32_t _USER_Params_::RsWaitTime[EST_RS_NUMSTATES]

Defines the wait times for each Rs estimator state, estimator ticks

◆ trajWaitTime

int_least32_t _USER_Params_::trajWaitTime[EST_TRAJ_NUMSTATES]

Defines the wait times for each trajectory state, isr ticks

◆ ctrlFreq_Hz

float32_t _USER_Params_::ctrlFreq_Hz

Hz.

Defines the controller frequency,

◆ estFreq_Hz

float32_t _USER_Params_::estFreq_Hz

Hz.

Defines the estimator frequency,

◆ RoverL_excFreq_Hz

float32_t _USER_Params_::RoverL_excFreq_Hz

frequency, Hz

Defines the R/L excitation

◆ trajFreq_Hz

float32_t _USER_Params_::trajFreq_Hz

Hz.

Defines the trajectory frequency,

◆ ctrlPeriod_sec

float32_t _USER_Params_::ctrlPeriod_sec

period, sec

Defines the controller execution

◆ maxAccel_Hzps

float32_t _USER_Params_::maxAccel_Hzps

for the speed profiles, Hz/sec

Defines the maximum acceleration

◆ maxCurrent_resEst_A

float32_t _USER_Params_::maxCurrent_resEst_A

for resistance estimation, A

Defines the maximum current value

◆ maxCurrent_indEst_A

float32_t _USER_Params_::maxCurrent_indEst_A

for inductance estimation, A

Defines the maximum current value

◆ maxCurrentDelta_A

float32_t _USER_Params_::maxCurrentDelta_A

for Id current trajectory

Defines the maximum current delta

◆ maxCurrentDelta_pw_A

float32_t _USER_Params_::maxCurrentDelta_pw_A

Defines the maximum current delta for Id current trajectory during power warp mode

◆ IdRated_delta_A

float32_t _USER_Params_::IdRated_delta_A

value, A

Defines the Id rated delta current

◆ forceAngleFreq_Hz

float32_t _USER_Params_::forceAngleFreq_Hz

frequency, Hz

Defines the forced angle

◆ indEst_speedMaxFraction

float32_t _USER_Params_::indEst_speedMaxFraction

Defines the fraction of SpeedMax to use during inductance estimation

◆ IdRatedFraction_indEst

float32_t _USER_Params_::IdRatedFraction_indEst

Defines the fraction of Id rated current to use during inductance estimation

◆ pwGain

float32_t _USER_Params_::pwGain

computing Id reference

Defines the power warp gain for

◆ Kp_min_VpA

float32_t _USER_Params_::Kp_min_VpA

the current controller, V/A

Defines the minimum Kp value for

◆ Kp_max_VpA

float32_t _USER_Params_::Kp_max_VpA

the current controller, V/A

Defines the maximum Kp value for

◆ RoverL_Kp_sf

float32_t _USER_Params_::RoverL_Kp_sf

during R/L, pu

Defines the Kp scale factor used

◆ RoverL_min_rps

float32_t _USER_Params_::RoverL_min_rps

value allowed, rad/sec

Defines the minimum estimated R/L

◆ RoverL_max_rps

float32_t _USER_Params_::RoverL_max_rps

value allowed, rad/sec

Defines the maximum estimated R/L

◆ oneOverDcBus_min_invV

float32_t _USER_Params_::oneOverDcBus_min_invV

1/dcBus value allowed, 1/V

Defines the minimum estimated

◆ oneOverDcBus_max_invV

float32_t _USER_Params_::oneOverDcBus_max_invV

1/dcBus value allowed, 1/V

Defines the maximum estimated

◆ Ls_d_H

float32_t _USER_Params_::Ls_d_H

Defines the default stator inductance in the direct direction, H

◆ Ls_q_H

float32_t _USER_Params_::Ls_q_H

Defines the default stator inductance in the quadrature direction, H

◆ Ls_coarseDelta_H

float32_t _USER_Params_::Ls_coarseDelta_H

Defines the delta inductance value during the coarse stator inductance estimation, H

◆ Ls_fineDelta_H

float32_t _USER_Params_::Ls_fineDelta_H

Defines the delta inductance value during the fine stator inductance estimation, H

◆ Ls_min_H

float32_t _USER_Params_::Ls_min_H

inductance value allowed, H

Defines the minimum stator

◆ Ls_max_H

float32_t _USER_Params_::Ls_max_H

inductance value allowed, H

Defines the maximum stator

◆ Rr_Ohm

float32_t _USER_Params_::Rr_Ohm

resistance value, Ohm

Defines the default rotor

◆ Rr_coarseDelta_Ohm

float32_t _USER_Params_::Rr_coarseDelta_Ohm

Defines the delta resistance value during coarse rotor resistance estimation, Ohm

◆ Rr_fineDelta_Ohm

float32_t _USER_Params_::Rr_fineDelta_Ohm

Defines the delta resistance value during fine rotor resistance estimation, Ohm

◆ Rr_min_Ohm

float32_t _USER_Params_::Rr_min_Ohm

resistance value allowed, Ohm

Defines the minimum rotor

◆ Rr_max_Ohm

float32_t _USER_Params_::Rr_max_Ohm

resistance value allowed, Ohm

Defines the maximum rotor

◆ Rs_Ohm

float32_t _USER_Params_::Rs_Ohm

resistance value, Ohm

Defines the default stator

◆ Rs_coarseDelta_Ohm

float32_t _USER_Params_::Rs_coarseDelta_Ohm

Defines the delta resistance value during coarse stator resistance estimation, Ohm

◆ Rs_fineDelta_Ohm

float32_t _USER_Params_::Rs_fineDelta_Ohm

Defines the delta resistance value during fine stator resistance estimation, Ohm

◆ Rs_min_Ohm

float32_t _USER_Params_::Rs_min_Ohm

resistance value allowed, Ohm

Defines the minimum stator

◆ Rs_max_Ohm

float32_t _USER_Params_::Rs_max_Ohm

resistance value allowed, Ohm

Defines the maximum stator

◆ RsOnLine_DeltaInc_Ohm

float32_t _USER_Params_::RsOnLine_DeltaInc_Ohm

Defines the delta resistance increment value during online stator resistance estimation, Ohm

◆ RsOnLine_DeltaDec_Ohm

float32_t _USER_Params_::RsOnLine_DeltaDec_Ohm

Defines the delta resistance decrement value during online stator resistance estimation, Ohm

◆ RsOnLine_min_Ohm

float32_t _USER_Params_::RsOnLine_min_Ohm

resistance value allowed, Ohm

Defines the minimum online stator

◆ RsOnLine_max_Ohm

float32_t _USER_Params_::RsOnLine_max_Ohm

resistance value allowed, Ohm

Defines the maximum online stator

◆ RsOnLine_angleDelta_rad

float32_t _USER_Params_::RsOnLine_angleDelta_rad

Defines the delta angle value during online stator resistance estimation, rad

◆ RsOnLine_pole_rps

float32_t _USER_Params_::RsOnLine_pole_rps

Defines the filter pole for online stator resistance estimation, rad/sec

◆ flag_bypassMotorId

bool _USER_Params_::flag_bypassMotorId

A flag to bypass motor identification and use the motor parameters

◆ freqNearZeroSpeedLimit_Hz

float32_t _USER_Params_::freqNearZeroSpeedLimit_Hz

Defines the low speed limit for frequency estimation, Hz

◆ directionPole_rps

float32_t _USER_Params_::directionPole_rps

Defines the pole location for the direction filter, rad/sec

◆ directionPole_2_rps

float32_t _USER_Params_::directionPole_2_rps

Defines the second pole for the direction filter, rad/sec

◆ fluxPole_rps

float32_t _USER_Params_::fluxPole_rps

Defines the pole location for the flux estimation, rad/sec

◆ RoverLPole_rps

float32_t _USER_Params_::RoverLPole_rps

Defines the pole location for the R/L estimation, rad/sec

◆ estKappa

float32_t _USER_Params_::estKappa

Defines the convergence factor for the estimator

◆ flux_Wb

float32_t _USER_Params_::flux_Wb

Defines the default flux value, Wb

◆ flux_min_Wb

float32_t _USER_Params_::flux_min_Wb

Defines the minimum flux value allowed, Wb

◆ flux_max_Wb

float32_t _USER_Params_::flux_max_Wb

Defines the maximum flux value allowed, Wb

◆ oneOverFlux_min_sf

float32_t _USER_Params_::oneOverFlux_min_sf

Defines the scale factor for the minimum 1/flux value allowed

◆ oneOverFlux_max_sf

float32_t _USER_Params_::oneOverFlux_max_sf

Defines the scale factor for the maximum 1/flux value allowed

◆ Dir_fe_min_Hz

float32_t _USER_Params_::Dir_fe_min_Hz

Defines the minimum electrical frequency to still use direction estimation, V/Hz

◆ Dir_fe_max_Hz

float32_t _USER_Params_::Dir_fe_max_Hz

Defines the maximum electrical frequency to still use direction estimation, V/Hz

◆ Reserved01

float32_t _USER_Params_::Reserved01

14.

◆ Reserved02

float32_t _USER_Params_::Reserved02

15.

◆ maxFrequency_Hz

float32_t _USER_Params_::maxFrequency_Hz

Defines the maximum frequency value, Hz

The documentation for this struct was generated from the following file:

include/userParams.h

Data Fields

Detailed Description

Field Documentation

◆ dcBus_nominal_V

◆ numIsrTicksPerCtrlTick

◆ numIsrTicksPerEstTick

◆ numIsrTicksPerTrajTick

◆ numCtrlTicksPerCurrentTick

◆ numCtrlTicksPerSpeedTick

◆ numCurrentSensors

◆ numVoltageSensors

◆ systemFreq_MHz

◆ pwmPeriod_usec

◆ voltage_sf

◆ current_sf

◆ dcBusPole_rps

◆ offsetPole_rps

◆ speedPole_rps

◆ voltageFilterPole_rps

◆ maxVsMag_pu

◆ motor_type

◆ motor_numPolePairs

◆ motor_numEncSlots

◆ motor_ratedFlux_Wb

◆ motor_Rr_d_Ohm

◆ motor_Rr_q_Ohm

◆ motor_Rs_a_Ohm

◆ motor_Rs_b_Ohm

◆ motor_Rs_d_Ohm

◆ motor_Rs_q_Ohm

◆ motor_Ls_d_H

◆ motor_Ls_q_H

◆ maxCurrent_A

◆ IdRated_A

◆ Vd_sf

◆ maxVsMag_V

◆ BWc_rps

◆ BWdelta

◆ Kctrl_Wb_p_kgm2

◆ angleDelayed_sf_sec

◆ fluxExcFreq_Hz

◆ calReserved

◆ ctrlWaitTime

◆ estWaitTime

◆ FluxWaitTime

◆ LsWaitTime

◆ RrWaitTime

◆ RsWaitTime

◆ trajWaitTime

◆ ctrlFreq_Hz

◆ estFreq_Hz

◆ RoverL_excFreq_Hz

◆ trajFreq_Hz

◆ ctrlPeriod_sec

◆ maxAccel_Hzps

◆ maxCurrent_resEst_A

◆ maxCurrent_indEst_A

◆ maxCurrentDelta_A

◆ maxCurrentDelta_pw_A

◆ IdRated_delta_A

◆ forceAngleFreq_Hz

◆ indEst_speedMaxFraction

◆ IdRatedFraction_indEst

◆ pwGain

◆ Kp_min_VpA

◆ Kp_max_VpA

◆ RoverL_Kp_sf

◆ RoverL_min_rps

◆ RoverL_max_rps

◆ oneOverDcBus_min_invV

◆ oneOverDcBus_max_invV

◆ Ls_d_H

◆ Ls_q_H

◆ Ls_coarseDelta_H

◆ Ls_fineDelta_H

◆ Ls_min_H

◆ Ls_max_H

◆ Rr_Ohm

◆ Rr_coarseDelta_Ohm

◆ Rr_fineDelta_Ohm