Motor Struct Reference

Motor parameter structure. More...

#include <control.h>

Data Fields
ADC_HandleTypeDef	hMotorADC
TIM_HandleTypeDef	hTimDriver
TIM_HandleTypeDef	hTimEncoder
I2C_HandleTypeDef	hI2CEncoder
ControlMode	Mode
UserAPP	APP
Coordinates	Voltage
Coordinates	Current
PID_para	idPID
PID_para	iqPID
PID_para	speedPID
PID_para	anglePID
uint8_t	nCalibrationFlag
uint8_t	Vdc
uint8_t	nPhase
uint8_t	nPolePairs
int16_t	SpeedCNT
uint16_t	M_angle
uint16_t	M_angle_pre
int16_t	E_angle
int16_t	E_angle_pre
uint16_t	Angle_offset
float	speed
float	speed_pre
float	CurrentLimit
float	VoltageLimit
float	SpeedLimit
int32_t	lapCNT
int32_t	lapCNT_pre
uint8_t	sector
float	Uref1
float	Uref2
float	Uref3
float	X
float	Y
float	Z
float	T1
float	T2
float	Tx
float	Ty
float	Tz
float	Ta
float	Tb
float	Tc
uint16_t	ADC_DMA_RAW [3]
uint16_t	DC_offset [2]
int16_t	ADC_Filtered [3]
int16_t	Current_lastValue [5]

Detailed Description

Motor parameter structure.

pid parameters and target, error, previous error, and sum of error

Definition at line 79 of file control.h.

Field Documentation

ADC_DMA_RAW

uint16_t ADC_DMA_RAW[3]

raw data of phase current sample

Definition at line 118 of file control.h.

ADC_Filtered

int16_t ADC_Filtered[3]

filtered data of phase current sample

Definition at line 120 of file control.h.

Angle_offset

uint16_t Angle_offset

Difference between encoder 0 deg and motor electrical 0 deg(phase a 100%)

Definition at line 107 of file control.h.

anglePID

PID_para anglePID

angle PID parameters for motor instance

Definition at line 95 of file control.h.

APP

UserAPP APP

current user application for motor instance

Definition at line 87 of file control.h.

Current

Coordinates Current

current components for motor instance

Definition at line 90 of file control.h.

Current_lastValue

int16_t Current_lastValue[5]

[0,1,2] previous current sample of phase a,b,c [3,4] previous id,iq sample

Definition at line 122 of file control.h.

CurrentLimit

float CurrentLimit

Definition at line 110 of file control.h.

DC_offset

uint16_t DC_offset[2]

DC offset of the current shunt amplifiler, used for DC calibration

Definition at line 119 of file control.h.

E_angle

int16_t E_angle

Current electrical angle

Definition at line 105 of file control.h.

E_angle_pre

int16_t E_angle_pre

Previous electrical angle

Definition at line 106 of file control.h.

hI2CEncoder

I2C_HandleTypeDef hI2CEncoder

I2C encoder handler for motor instance

Definition at line 84 of file control.h.

hMotorADC

ADC_HandleTypeDef hMotorADC

ADC handler for motor instance

Definition at line 81 of file control.h.

hTimDriver

TIM_HandleTypeDef hTimDriver

Driver timer handler for motor instance

Definition at line 82 of file control.h.

hTimEncoder

TIM_HandleTypeDef hTimEncoder

PWM Encoder timer handler for motor instance

Definition at line 83 of file control.h.

idPID

PID_para idPID

Id PID parameters for motor instance

Definition at line 92 of file control.h.

iqPID

PID_para iqPID

Iq PID parameters for motor instance

Definition at line 93 of file control.h.

lapCNT

int32_t lapCNT

Definition at line 111 of file control.h.

lapCNT_pre

int32_t lapCNT_pre

Current and previous lap counter (count the lap of the motor)

Definition at line 111 of file control.h.

M_angle

uint16_t M_angle

Current mechanical angle

Definition at line 103 of file control.h.

M_angle_pre

uint16_t M_angle_pre

Previous mechanical angle

Definition at line 104 of file control.h.

Mode

ControlMode Mode

current control mode for motor instance

Definition at line 86 of file control.h.

nCalibrationFlag

uint8_t nCalibrationFlag

flag to record motor calibration status

Definition at line 97 of file control.h.

nPhase

uint8_t nPhase

number of phase of the motor

Definition at line 99 of file control.h.

nPolePairs

uint8_t nPolePairs

number of pole pairs of the motor

Definition at line 100 of file control.h.

sector

uint8_t sector

sector of space voltage vector

Definition at line 112 of file control.h.

speed

float speed

Definition at line 109 of file control.h.

speed_pre

float speed_pre

Current and previous motor speed

Definition at line 109 of file control.h.

SpeedCNT

int16_t SpeedCNT

Counter to record mechanical angle difference to calculate speed

Definition at line 102 of file control.h.

SpeedLimit

float SpeedLimit

Current, Volatge, Speed limit of the motor

Definition at line 110 of file control.h.

speedPID

PID_para speedPID

speed PID parameters for motor instance

Definition at line 94 of file control.h.

T1

float T1

Definition at line 115 of file control.h.

T2

float T2

Definition at line 115 of file control.h.

Ta

float Ta

Definition at line 116 of file control.h.

Tb

float Tb

Definition at line 116 of file control.h.

Tc

float Tc

intermediate variables of dwelling time calculation

Definition at line 116 of file control.h.

Tx

float Tx

Definition at line 115 of file control.h.

Ty

float Ty

Definition at line 115 of file control.h.

Tz

float Tz

intermediate variables of dwelling time calculation

Definition at line 115 of file control.h.

Uref1

float Uref1

Definition at line 113 of file control.h.

Uref2

float Uref2

Definition at line 113 of file control.h.

Uref3

float Uref3

sector of space voltage vector

Definition at line 113 of file control.h.

Vdc

uint8_t Vdc

DC power supply for motor instance

Definition at line 98 of file control.h.

Voltage

Coordinates Voltage

voltage components for motor instance

Definition at line 89 of file control.h.

VoltageLimit

float VoltageLimit

Definition at line 110 of file control.h.

X

float X

Definition at line 114 of file control.h.

Y

float Y

Definition at line 114 of file control.h.

Z

float Z

intermediate variables of dwelling time calculation

Definition at line 114 of file control.h.

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

• control.h