libdsp/lib_observer.c: update some comments
The angle observer always refer to a motor electrical angle, while the speed observer can be applied to a motor electrical speed or a motor mechanical speed.
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@ -289,9 +289,9 @@ struct motor_aobserver_f32_s
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struct motor_sobserver_div_f32_s
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{
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float angle_diff; /* Mechanical angle difference */
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float angle_acc; /* Accumulated mechanical angle */
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float angle_prev; /* Previous mechanical angle */
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float angle_diff; /* Angle difference */
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float angle_acc; /* Accumulated angle */
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float angle_prev; /* Previous angle */
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float one_by_dt; /* Frequency of observer execution */
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float cntr; /* Sample counter */
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float samples; /* Number of samples for observer */
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@ -410,7 +410,7 @@ void motor_aobserver_smo(FAR struct motor_aobserver_f32_s *o,
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*
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* Input Parameters:
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* so - (in/out) pointer to the DIV speed observer data
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* sample - (in) number of mechanical angle samples
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* sample - (in) number of angle samples
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* filter - (in) low-pass filter for final omega
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* per - (in) speed observer execution period
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*
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@ -447,13 +447,13 @@ void motor_sobserver_div_init(FAR struct motor_sobserver_div_f32_s *so,
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* Name: motor_sobserver_div
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*
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* Description:
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* Estimate motor mechanical speed based on motor mechanical angle
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* difference.
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* Estimate motor speed based on motor angle difference (electrical
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* or mechanical)
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*
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* Input Parameters:
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* o - (in/out) pointer to the speed observer data
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* angle - (in) mechanical angle normalized to <0.0, 2PI>
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* dir - (in) mechanical rotation direction. Valid values:
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* angle - (in) angle normalized to <0.0, 2PI>
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* dir - (in) rotation direction. Valid values:
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* DIR_CW (1.0f) or DIR_CCW(-1.0f)
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*
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****************************************************************************/
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@ -731,13 +731,13 @@ void motor_sobserver_pll(FAR struct motor_sobserver_f32_s *o,
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* Name: motor_sobserver_speed_get
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*
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* Description:
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* Get the estmiated motor mechanical speed from the observer
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* Get the estmiated motor speed from the observer
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*
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* Input Parameters:
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* o - (in/out) pointer to the speed observer data
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*
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* Returned Value:
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* Return estimated motor mechanical speed from observer
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* Return estimated motor speed from observer
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*
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****************************************************************************/
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@ -758,7 +758,7 @@ float motor_sobserver_speed_get(FAR struct motor_sobserver_f32_s *o)
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* o - (in/out) pointer to the angle observer data
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*
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* Returned Value:
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* Return estimated motor mechanical angle from observer
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* Return estimated motor electrical angle from observer
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*
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****************************************************************************/
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