* apps/industry/foc/fixed16/foc_feedforward.c
*
* Licensed to the Apache Software Foundation (ASF) under one or more
* contributor license agreements. See the NOTICE file distributed with
* this work for additional information regarding copyright ownership. The
* ASF licenses this file to you under the Apache License, Version 2.0 (the
* "License"); you may not use this file except in compliance with the
* License. You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
* License for the specific language governing permissions and limitations
* under the License.
*
****************************************************************************/
* Included Files
****************************************************************************/
#include <nuttx/config.h>
#include <assert.h>
#include "industry/foc/fixed16/foc_feedforward.h"
* Public Functions
****************************************************************************/
* Name: foc_feedforward_pmsm_b16
*
* Description:
* Feed forward compensation for PMSM (fixed16)
*
* Input Parameter:
* phy - motor physical parameters
* idq - iqd frame
* vel_now - electrical velocity
* vdq_comp - compensation vdq frame
*
****************************************************************************/
int foc_feedforward_pmsm_b16(FAR struct motor_phy_params_b16_s *phy,
FAR dq_frame_b16_t *idq,
b16_t vel_now,
FAR dq_frame_b16_t *vdq_comp)
{
DEBUGASSERT(phy);
DEBUGASSERT(idq);
DEBUGASSERT(vdq_comp);
* so vq compensation must be negative here.
*/
vdq_comp->q = -b16mulb16(vel_now,
(phy->flux_link + b16mulb16(phy->ind,
idq->q)));
vdq_comp->d = b16mulb16(b16mulb16(vel_now, phy->ind), idq->q);
return OK;
}