BLDC-坐标变换（Clark，Park，反Park）

坐标变换（Clark，Park，反Park）
Q15格式
电流为Ia，Ib，Ic，角度θ

Clark：

struct_Clark Clarke(struct_Curr_abc Iphase)
{ 
	struct_Clark Clarke_Output;
	
	Clarke_Output.Alpha = Iphase.Ia;	// (2/3)*[Ia -(1/2)*Ib - (1/2)*Ic]
	Clarke_Output.Beta  = (18918 * (Iphase.Ia + Iphase.Ib*2)>>15);                   	 // (2/3)*[(sqrt(3)/2)*Ib - (sqrt(3)/2)*Ic]

	return(Clarke_Output);
}

```c

Park:

```c
struct_Park Park(struct_SinCos SinCosVal, struct_Clark Clarke)
{
	struct_Park Park_Output;
	
	Park_Output.Id = ((SinCosVal.Cos * Clarke.Alpha)>>15)  + ((SinCosVal.Sin * Clarke.Beta)>>15);  
	Park_Output.Iq = ((SinCosVal.Cos * Clarke.Beta )>>15)  - ((SinCosVal.Sin * Clarke.Alpha)>>15);
	
	return(Park_Output);
}

struct_RevPark RevPark(struct_SinCos SinCosVal, struct_Volt_dq Volt)
{
	struct_RevPark RevPark_Output;
	
	RevPark_Output.Alpha = ((SinCosVal.Cos * Volt.Ud)>>15)  -  ((SinCosVal.Sin * Volt.Uq)>>15);
	RevPark_Output.Beta  = ((SinCosVal.Sin * Volt.Ud)>>15)  +  ((SinCosVal.Cos * Volt.Uq)>>15);
	
	return(RevPark_Output);
}