FOC 5.2观测器系数C5问题

小杜提问时间：2021-12-20 10:12 / 未解决

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在看FOC5.2库中，对电机电压方程来说，标幺化操作那边没看懂，为啥参数C5=F1 max measurable voltage / (2 Ls [Hz] max measurable current State observer execution rate [Hz])，不是SVPWM输出的最大电压为Vdc/根号3吗？为啥要除以2

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弗兰克回答时间：2021-12-20 12:59:36

用5.4或更高的版本

/max phase voltage, 0-peak Volts/

define MAX_VOLTAGE (int16_t)((ADC_REFERENCE_VOLTAGE/SQRT_3)/VBUS_PARTITIONING_FACTOR)

define MAX_CURRENT (ADC_REFERENCE_VOLTAGE/(2RSHUNTAMPLIFICATION_GAIN))

define OBS_MINIMUM_SPEED_UNIT (uint16_t) ((OBS_MINIMUM_SPEED_RPM*SPEED_UNIT)/_RPM)

define MAX_APPLICATION_SPEED_UNIT ((MAX_APPLICATION_SPEED_RPM*SPEED_UNIT)/_RPM)

define MIN_APPLICATION_SPEED_UNIT ((MIN_APPLICATION_SPEED_RPM*SPEED_UNIT)/_RPM)

/***** PLL PARAMETERS **/

define C1 (int32_t)((((int16_t)F1)RS)/(LSTF_REGULATION_RATE))

define C2 (int32_t) GAIN1

define C3 (int32_t)((((int16_t)F1)MAX_BEMF_VOLTAGE)/(LSMAX_CURRENT*TF_REGULATION_RATE))

define C4 (int32_t) GAIN2

define C5 (int32_t)((((int16_t)F1)MAX_VOLTAGE)/(LSMAX_CURRENT*TF_REGULATION_RATE))

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