Jump to main content

##

# 3.5.16 tmcRpe_Parameters_s Struct

## C

    /* PLL based rotor position estimation user paramters */
    typedef struct
    {
        tmcMot_PMSM_s  * pMotorParameters;   /* Motor parameters */
        /** BEMF observer parameters */
        float32_t Ke;                        /* BEMF observer gain */
        float32_t dt;                        /* Sampling time */
        float32_t calibTimeInSec;            /* Offset calibration time */
        void * pStatePointer;                /* Pointer to module state */
    } tmcRpe_Parameters_s;

    /* SMO based rotor position estimation user paramters */
    typedef struct
    {
        tmcMot_PMSM_s  * pMotorParameters;    /* Motor parameters */

        /** BEMF observer parameters */
        float32_t boundaryI;                 /* Current boundary */
        float32_t m;                         /* BEMF oserver gain */
        float32_t lambda;                    /* Flux linkage constant */
        float32_t f0InHertz;                 /* Cut-off frequency */
        float32_t minRPM;                    /* Minimum RPM */
        float32_t dt;                        /* Sampling time */
        void * pStatePointer;                /* Pointer to module state */
    }tmcRpe_Parameters_s;

    /* ROLO based rotor position estimation user paramters */

    typedef struct
    {
        tmcMot_PMSM_s  * pMotorParameters;    /* Motor parameters */

        /** BEMF observer parameters */
        float32_t lambda;                    /* Flux linkage constant */
        float32_t f0InHertz;                 /* Cut-off frequency */
        float32_t minRPM;                    /* Minimum RPM */
        float32_t dt;                        /* Sampling time */
        void * pStatePointer;                /* Pointer to module state */
    }tmcRpe_Parameters_s;

    /* ZS/MT Hybrid Estimator ( HFI & PLL) user parameters
    typedef struct {
        /** Soft switch parameters */
        float32_t lowerThreshold;              /* Lower threshold */
        float32_t upperThreshold;              /* Upper threshold */

        tmcMot_PMSM_s * pMotorParameters;      /* Pointer to motor parameters */
        tmcRpe_HFIParameters_s hfiParameters;  /* HFI parameters */
        tmcRpe_IPCParameters_s ipcParameters;  /* IPC parameters */
        tmcRpe_TrackingLoopParams_s hfiTrackingLoop;  /* HFI tracking loop parameters */
        tmcRpe_TrackingLoopParams_s bemfTrackingLoop; /* BEMF tracking loop parameters */
        uint8_t gearRatio;                     /* Mechanical gear ratio */
        float32_t dt;                          /* Sampling time */
    } tmcRpe_Parameters_s;

## Summary

Rotor position estimation module input parameter structure.

## Description

This structure holds the necessary parameters for configuring the Rotor Position Estimator (RPE) module for a Permanent Magnet Synchronous Motor (PMSM).It includes motor-specific parameters as well as parameters for the Back Electromotive Force (BEMF) observer, which is critical for estimating the rotor position in sensor-less control applications.

## Remarks

Refer the generated header file for the exact typedef signature.