Vector Park Transform
Collaboration diagram for Vector Park Transform:

## Functions

static __INLINE void arm_park_f32 (float32_t Ialpha, float32_t Ibeta, float32_t *pId, float32_t *pIq, float32_t sinVal, float32_t cosVal)
Floating-point Park transform. More...

static __INLINE void arm_park_q31 (q31_t Ialpha, q31_t Ibeta, q31_t *pId, q31_t *pIq, q31_t sinVal, q31_t cosVal)
Park transform for Q31 version. More...

## Detailed Description

Forward Park transform converts the input two-coordinate vector to flux and torque components. The Park transform can be used to realize the transformation of the `Ialpha` and the `Ibeta` currents from the stationary to the moving reference frame and control the spatial relationship between the stator vector current and rotor flux vector. If we consider the d axis aligned with the rotor flux, the diagram below shows the current vector and the relationship from the two reference frames:

Stator current space vector and its component in (a,b) and in the d,q rotating reference frame

The function operates on a single sample of data and each call to the function returns the processed output. The library provides separate functions for Q31 and floating-point data types.

Algorithm
where `Ialpha` and `Ibeta` are the stator vector components, `pId` and `pIq` are rotor vector components and `cosVal` and `sinVal` are the cosine and sine values of theta (rotor flux position).
Fixed-Point Behavior
Care must be taken when using the Q31 version of the Park transform. In particular, the overflow and saturation behavior of the accumulator used must be considered. Refer to the function specific documentation below for usage guidelines.

## ◆ arm_park_f32()

 static __INLINE void arm_park_f32 ( float32_t Ialpha, float32_t Ibeta, float32_t * pId, float32_t * pIq, float32_t sinVal, float32_t cosVal )
static

Floating-point Park transform.

Parameters
 [in] Ialpha input two-phase vector coordinate alpha [in] Ibeta input two-phase vector coordinate beta [out] *pId points to output rotor reference frame d [out] *pIq points to output rotor reference frame q [in] sinVal sine value of rotation angle theta [in] cosVal cosine value of rotation angle theta
Returns
none.

The function implements the forward Park transform.

Definition at line 5511 of file arm_math.h.

## ◆ arm_park_q31()

 static __INLINE void arm_park_q31 ( q31_t Ialpha, q31_t Ibeta, q31_t * pId, q31_t * pIq, q31_t sinVal, q31_t cosVal )
static

Park transform for Q31 version.

Parameters
 [in] Ialpha input two-phase vector coordinate alpha [in] Ibeta input two-phase vector coordinate beta [out] *pId points to output rotor reference frame d [out] *pIq points to output rotor reference frame q [in] sinVal sine value of rotation angle theta [in] cosVal cosine value of rotation angle theta
Returns
none.

Scaling and Overflow Behavior:

The function is implemented using an internal 32-bit accumulator. The accumulator maintains 1.31 format by truncating lower 31 bits of the intermediate multiplication in 2.62 format. There is saturation on the addition and subtraction, hence there is no risk of overflow.

Definition at line 5545 of file arm_math.h.

inertial_sense_ros
Author(s):
autogenerated on Sun Feb 28 2021 03:18:01