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28377电机例程程序,速度解算部分程序

请问,28377里的PMSM例程程序里这段速度解算程序是什么意思,大致明白,但又不是很懂,想请教一下,还有就是程序里面的量用的基本都是标幺值,我怎么能知道它的标称值是多少呢,比如电角度,速度这些,不知道它是以什么为基准化成的标幺值?