定义控制器 (CTRL) 对象。控制器对象实现所有 FOC 算法和估算器功能。

typedef struct _CTRL_Obj_
{
  CTRL_Version       version;             //!< the controller version
  CTRL_State_e       state;               //!< the current state of the controller
  CTRL_State_e       prevState;           //!< the previous state of the controller
  CTRL_ErrorCode_e   errorCode;           //!< the error code for the controller
  CLARKE_Handle      clarkeHandle_I; //!< the handle for the current Clarke transform
  CLARKE_Obj         clarke_I;            //!< the current Clarke transform object
  CLARKE_Handle      clarkeHandle_V; //!< the handle for the voltage Clarke transform
  CLARKE_Obj         clarke_V;            //!< the voltage Clarke transform object
  EST_Handle         estHandle;           //!< the handle for the parameter estimator
  PARK_Handle        parkHandle;          //!< the handle for the Park object
  PARK_Obj           park;                //!< the Park transform object
  PID_Handle         pidHandle_Id;        //!< the handle for the Id PID controller
  PID_Obj            pid_Id;              //!< the Id PID controller object
  PID_Handle         pidHandle_Iq;        //!< the handle for the Iq PID controller
  PID_Obj            pid_Iq;              //!< the Iq PID controller object
  PID_Handle         pidHandle_spd;   //!< the handle for the speed PID controller
  PID_Obj            pid_spd;             //!< the speed PID controller object
  IPARK_Handle       iparkHandle;     //!< the handle for the inverse Park transform
  IPARK_Obj          ipark;               //!< the inverse Park transform object
  SVGEN_Handle       svgenHandle;     //!< the handle for the space vector generator 
  SVGEN_Obj          svgen;               //!< the space vector generator object
  TRAJ_Handle        trajHandle_Id;   //!< the handle for the Id trajectory generator
  TRAJ_Obj           traj_Id;             //!< the Id trajectory generator object
  TRAJ_Handle        trajHandle_spd;  //!< handle for the speed trajectory generator
  TRAJ_Obj           traj_spd;            //!< the speed trajectory generator object
  TRAJ_Handle        trajHandle_spdMax;  //!< handle for max speed traj generator
  TRAJ_Obj           traj_spdMax;     //!< the max speed trajectory generator object
  MOTOR_Params       motorParams;         //!< the motor parameters
  uint_least32_t     waitTimes[CTRL_numStates];    
//!< an array of wait times for each state, estimator clock counts
  uint_least32_t     counter_state;           //!< the state counter
  uint_least16_t     numIsrTicksPerCtrlTick;  //!< # of isr ticks per controller tick
  uint_least16_t     numCtrlTicksPerCurrentTick; 
//!< # of controller ticks per current controller tick
  uint_least16_t     numCtrlTicksPerSpeedTick;     
//!< # of controller ticks per speed controller tick
  uint_least16_t     numCtrlTicksPerTrajTick;  
//!< # of controller ticks per trajectory tick
  uint_least32_t     ctrlFreq_Hz;         //!< Defines the controller frequency, Hz
  uint_least32_t     trajFreq_Hz;         //!< Defines the trajectory frequency, Hz
  _iq                trajPeriod_sec;      //!< Defines the trajectory period, sec
  float_t            ctrlPeriod_sec;      //!< Defines the controller period, sec
  _iq                maxVsMag_pu; //!< the maximum voltage vector that is allowed, pu
  MATH_vec2          Iab_in;              //!< the Iab input values
  MATH_vec2          Iab_filt;            //!< the Iab filtered values
  MATH_vec2          Idq_in;              //!< the Idq input values
  MATH_vec2          Vab_in;              //!< the Vab input values
  _iq                spd_out;             //!< the speed output value
  MATH_vec2          Vab_out;             //!< the Vab output values
  MATH_vec2          Vdq_out;             //!< the Vdq output values
  float_t            Rhf;                 //!< the Rhf value
  float_t            Lhf;                 //!< the Lhf value
  float_t            RoverL;              //!< the R/L value
  _iq                Kp_Id;               //!< the desired Kp_Id value
  _iq                Kp_Iq;               //!< the desired Kp_Iq value
  _iq                Kp_spd;              //!< the desired Kp_spd value
  _iq                Ki_Id;               //!< the desired Ki_Id value
  _iq                Ki_Iq;               //!< the desired Ki_Iq value
  _iq                Ki_spd;              //!< the desired Ki_spd value
  _iq                Kd_Id;               //!< the desired Kd_Id value
  _iq                Kd_Iq;               //!< the desired Kd_Iq value
  _iq                Kd_spd;              //!< the desired Kd_spd value
  _iq                Ui_Id;               //!< the desired Ui_Id value
  _iq                Ui_Iq;               //!< the desired Ui_Iq value
  _iq                Ui_spd;              //!< the desired Ui_spd value
  MATH_vec2          Idq_ref;             //!< the Idq reference values, pu
  _iq                IdRated;             //!< the Id rated current, pu
  _iq                spd_ref;             //!< the speed reference, pu
  _iq                spd_max;             //!< the maximum speed, pu
  uint_least16_t     counter_current;     //!< the isr counter
  uint_least16_t     counter_isr;         //!< the isr counter
  uint_least16_t     counter_speed;       //!< the speed counter
  uint_least16_t     counter_traj;        //!< the traj counter
  bool             flag_enableCtrl;       //!< a flag to enable the controller
  bool             flag_enableDcBusComp;  
//!< a flag to enable the DC bus compensation in the controller
  bool             flag_enablePowerWarp;  //!< a flag to enable PowerWarp
  bool             flag_enableOffset;     
//!< a flag to enable offset estimation after idle state
  bool             flag_enableSpeedCtrl;  //!< a flag to enable the speed controller
  bool             flag_enableUserMotorParams;     
//!< a flag to use known motor parameters from user.h file
} CTRL_Obj;