FOC 5.1库 STO_PLL_CalcAvrgMecSpeed01Hz函数理解

qiubenqi 提问时间：2019-1-25 09:16 /

问答
是否解决:

  各位大神，STO_PLL_CalcAvrgMecSpeed01Hz函数中以下代码的理论依据是什么？资料中哪儿可以找到？
/*Bemf Consistency Check algorithm*/  if ( pHandle->EnableDualCheck == true ) /*do algorithm if it's enabled*/
  {
wAux = ( wAux < 0 ? ( -wAux ) : ( wAux ) ); /* wAux abs value */
if ( wAux < ( int32_t )( pHandle->MaxAppPositiveMecSpeed01Hz ) )
{
   /*Computation of Observed back-emf*/
   wObsBemf = ( int32_t )( pHandle->hBemf_alfa_est );
   wObsBemfSq = wObsBemf * wObsBemf;
   wObsBemf = ( int32_t )( pHandle->hBemf_beta_est );
   wObsBemfSq += wObsBemf * wObsBemf;

   /*Computation of Estimated back-emf*/
   wEstBemf = ( wAux * 32767 ) / ( int16_t )( pHandle->_Super.hMaxReliableMecSpeed01Hz );
   wEstBemfSq = ( wEstBemf * ( int32_t )( pHandle->BemfConsistencyGain ) ) / 64;
   wEstBemfSq *= wEstBemf;

   /*Computation of threshold*/
   wEstBemfSqLo = wEstBemfSq -
                  ( wEstBemfSq / 64 ) * ( int32_t )( pHandle->BemfConsistencyCheck );

   /*Check*/
   if ( wObsBemfSq > wEstBemfSqLo )
   {
      bIs_Bemf_Consistent = true;
   }
}

pHandle->IsBemfConsistent = bIs_Bemf_Consistent;
pHandle->Obs_Bemf_Level = wObsBemfSq;
pHandle->Est_Bemf_Level = wEstBemfSq;
  }
  else
  {
bIs_Bemf_Consistent = true;
  }