FOC风机方案，包含龙伯格观测器，顺风逆风启动代码（文末附下载链接！）

/******************************************************************************** Function Name : Speed_PI* Description : It implements the PLL PI regulator.* Input : (B-emf alpha)*sin(theta),(B-emf beta)*cos(theta).* Output : None.* Return : Motor speed (dpp, digit-per-pwm).*******************************************************************************/s16 Speed_PI(s16 hAlfa_Sin, s16 hBeta_Cos){  s32 wSpeed_PI_error, wOutput;  s32 wSpeed_PI_proportional_term, wSpeed_PI_integral_term;
  wSpeed_PI_error = hBeta_Cos - hAlfa_Sin;#if 1    //????  if(wSpeed_PI_error > 50)    wSpeed_PI_error = 50;  else if(wSpeed_PI_error < -50)    wSpeed_PI_error = -50;#endif  wSpeed_PI_proportional_term = hSpeed_P_Gain * wSpeed_PI_error;  // !!!p  wSpeed_PI_integral_term = hSpeed_I_Gain * wSpeed_PI_error;      // !!!i
  if ( (wSpeed_PI_integral_sum >= 0) && (wSpeed_PI_integral_term >= 0) && (Max_Speed_Out == FALSE) )  {    if ((s32)(wSpeed_PI_integral_sum + wSpeed_PI_integral_term) < 0)    {      wSpeed_PI_integral_sum = S32_MAX;    }    else    {      wSpeed_PI_integral_sum += wSpeed_PI_integral_term;  //integral    }  }  else if ( (wSpeed_PI_integral_sum <= 0) && (wSpeed_PI_integral_term <= 0) && (Min_Speed_Out == FALSE) )  {    if((s32)(wSpeed_PI_integral_sum + wSpeed_PI_integral_term) > 0)    {      wSpeed_PI_integral_sum = -S32_MAX;    }    else    {      wSpeed_PI_integral_sum += wSpeed_PI_integral_term;   //integral    }  }  else  {    wSpeed_PI_integral_sum += wSpeed_PI_integral_term;   //integral  }
  wOutput = (wSpeed_PI_proportional_term >> 14) + (wSpeed_PI_integral_sum >> 18);
  if (wOutput > wMotorMaxSpeed_dpp)  {    Max_Speed_Out = TRUE;    wOutput = wMotorMaxSpeed_dpp;  }  else if (wOutput < (-wMotorMaxSpeed_dpp))  {    Min_Speed_Out = TRUE;    wOutput = -wMotorMaxSpeed_dpp;  }  else  {    Max_Speed_Out = FALSE;    Min_Speed_Out = FALSE;  }
  return ((s16)wOutput);}