[参考译文] TMS320F28027：角度补偿

https://e2e.ti.com/support/microcontrollers/c2000-microcontrollers-group/c2000/f/c2000-microcontrollers-forum/1373915/tms320f28027-angle-compensation

工具与软件：

_iq angleDelayComp(const _iq fm_pu, const _iq angleUncomp_pu)
{
  _iq angleDelta_pu = _IQmpy(fm_pu,_IQ(USER_IQ_FULL_SCALE_FREQ_Hz/(USER_PWM_FREQ_kHz*1000.0)));
  _iq angleCompFactor = _IQ(1.0 + (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK * 0.5);
  _iq angleDeltaComp_pu = _IQmpy(angleDelta_pu, angleCompFactor);
  uint32_t angleMask = ((uint32_t)0xFFFFFFFF >> (32 - GLOBAL_Q));
  _iq angleComp_pu;
  _iq angleTmp_pu;

  // increment the angle
  angleTmp_pu = angleUncomp_pu + angleDeltaComp_pu;

  // mask the angle for wrap around
  // note: must account for the sign of the angle
  angleComp_pu = _IQabs(angleTmp_pu) & angleMask;

  // account for sign
  if(angleTmp_pu < _IQ(0.0))
    {
      angleComp_pu = -angleComp_pu;
    }

  return(angleComp_pu);
} // end of angleDelayComp() function

e：\ti\motorware\motorware_1_01_00_18\sw\solutions\instaspin_foc\boards\boostxldrv8305_revA\f28x\f2802xF\projects\ccs\proj_lab11a

您好、这个例程的角度补偿原理是什么？ 为什么速度越快、补偿越大？ 您有介绍过它吗？