FOC中的Park变换（TI与ST）

Park变换
Park变换的本质是静止坐标系αβ乘以一个旋转矩阵，从而得到dq坐标系，输入的i_α和i_β经过Park变换得到i_d和i_q（交直变换）。

数学公式
跟着转子旋转的“d-q”坐标系把cos，sin正余弦信号转化线性的了，theta角度是由位置传感器得到的已知变量。

simulink仿真

TI的实现
简单的两句计算，cos和sin(theta)是外部计算传入参数。对于三角函数，TI有自己的库去计算。而cos和sin(theta)不止只有在park中使用，其他地方也会使用，在这函数中再计算一次，未免多花时间了。

typedef struct {  
       _iq  Alpha;          // Input: stationary d-axis stator variable                          
       _iq  Beta;           // Input: stationary q-axis stator variable 
       _iq  Angle;          // Input: rotating angle (pu) 
       _iq  Ds;             // Output: rotating d-axis stator variable 
       _iq  Qs;             // Output: rotating q-axis stator variable
       _iq  Sine;
       _iq  Cosine;          
       } PARK;                    

/*------------------------------------------------------------------------------
        PARK Transformation Macro Definition
------------------------------------------------------------------------------*/
#define   PARK_MACRO(v)                                                                                        
    v.Ds = _IQmpy(v.Alpha,v.Cosine) + _IQmpy(v.Beta,v.Sine);   
    v.Qs = _IQmpy(v.Beta,v.Cosine)    - _IQmpy(v.Alpha,v.Sine);

ST的实现
ST的代码写很“规矩”，一步一步的。很多限幅检测。在对theta求角度的查表法也绕了一下。解决浮点计算，统一后，全使用int型的。

typedef struct
{
  int16_t hCos;
  int16_t hSin;
} Trig_Components;

typedef struct
{
  int16_t alpha;
  int16_t beta;
} alphabeta_t;

typedef struct
{
  int16_t q;
  int16_t d;
} qd_t;

__weak qd_t MCM_Park( alphabeta_t Input, int16_t Theta )
{
  qd_t Output;
  int32_t d_tmp_1, d_tmp_2, q_tmp_1, q_tmp_2;
  Trig_Components Local_Vector_Components;
  int32_t wqd_tmp;
  int16_t hqd_tmp;

  // 传入theta 查表计算得到 cos和sin的值
  Local_Vector_Components = MCM_Trig_Functions( Theta );

  // 不保证溢出，先计算一次，然后各种限幅判断，最后再做IQ的赋值
  /*No overflow guaranteed*/
  // 计算 alpha*cos(theta)
  q_tmp_1 = Input.alpha * ( int32_t )Local_Vector_Components.hCos;

  /*No overflow guaranteed*/
  // 计算 beta*sin(theta)
  q_tmp_2 = Input.beta * ( int32_t )Local_Vector_Components.hSin;

  /*Iq component in Q1.15 Format */
#ifdef FULL_MISRA_C_COMPLIANCY
  wqd_tmp = ( q_tmp_1 - q_tmp_2 ) / 32768;
#else
  /* WARNING: the below instruction is not MISRA compliant, user should verify
    that Cortex-M3 assembly instruction ASR (arithmetic shift right) is used by
    the compiler to perform the shift (instead of LSR logical shift right) */
    
  // IQ的计算，计算完了，去各种限幅。 右移15是sin和cos/32768得到真正的值，又回到16位以内
  wqd_tmp = ( q_tmp_1 - q_tmp_2 ) >> 15;
#endif

  /* Check saturation of Iq */
  if ( wqd_tmp > INT16_MAX )
    hqd_tmp = INT16_MAX;
  else if ( wqd_tmp < ( -32768 ) )
    hqd_tmp = ( -32768 );
  else
    hqd_tmp = ( int16_t )( wqd_tmp );

  Output.q = hqd_tmp;

  if ( Output.q == ( int16_t )( -32768 ) )
  {
    Output.q = -32767;
  }

  /*No overflow guaranteed*/
  d_tmp_1 = Input.alpha * ( int32_t )Local_Vector_Components.hSin;

  /*No overflow guaranteed*/
  d_tmp_2 = Input.beta * ( int32_t )Local_Vector_Components.hCos;

  /*Id component in Q1.15 Format */
#ifdef FULL_MISRA_C_COMPLIANCY
  wqd_tmp = ( d_tmp_1 + d_tmp_2 ) / 32768;
#else
  /* WARNING: the below instruction is not MISRA compliant, user should verify
    that Cortex-M3 assembly instruction ASR (arithmetic shift right) is used by
    the compiler to perform the shift (instead of LSR logical shift right) */
  wqd_tmp = ( d_tmp_1 + d_tmp_2 ) >> 15;
#endif

  /* Check saturation of Id */
  if ( wqd_tmp > INT16_MAX )
  {
    hqd_tmp = INT16_MAX;
  }
  else if ( wqd_tmp < ( -32768 ) )
  {
    hqd_tmp = ( -32768 );
  }
  else
  {
    hqd_tmp = ( int16_t )( wqd_tmp );
  }

  Output.d = hqd_tmp;

  if ( Output.d == ( int16_t )( -32768 ) )
  {
    Output.d = -32767;
  }

  return ( Output );
}