spinTAC-Motion中IPARK变换前面有个位置角的补偿，这个是什么原理

就是这一块，很疑惑，具体如何计算出来的补偿角度也不是很理解

就是这一块。并且这个补偿角度如何计算出来的也不是很理解，望解答。

{
_iq angleComp_pu;


// compensate angle delay
angleComp_pu = CTRL_angleDelayComp(handle, angle_pu);//位置角度补偿


// compute the sin/cos phasor
CTRL_computePhasor(angleComp_pu,&phasor);
}


// set the phasor in the inverse Park transform
IPARK_setPhasor(obj->iparkHandle,&phasor);


// run the inverse Park module
IPARK_run(obj->iparkHandle,CTRL_getVdq_out_addr(handle),CTRL_getVab_out_addr(handle));


// run the space Vector Generator (SVGEN) module
SVGEN_run(obj->svgenHandle,CTRL_getVab_out_addr(handle),&(pPwmData->Tabc));



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位置角度补偿函数



inline _iq CTRL_angleDelayComp(CTRL_Handle handle, const _iq angle_pu)
{
CTRL_Obj *obj = (CTRL_Obj *)handle;
_iq angleDelta_pu = _IQmpy(EST_getFm_pu(obj->estHandle),_IQ(USER_IQ_FULL_SCALE_FREQ_Hz/(USER_PWM_FREQ_kHz*1000.0)));
_iq angleUncomp_pu = angle_pu;
_iq angleCompFactor = _IQ(1.0 + (float_t)USER_NUM_PWM_TICKS_PER_ISR_TICK * (float_t)USER_NUM_ISR_TICKS_PER_CTRL_TICK * ((float_t)USER_NUM_CTRL_TICKS_PER_EST_TICK - 0.5));
_iq angleDeltaComp_pu = _IQmpy(angleDelta_pu, angleCompFactor);
uint32_t angleMask = ((uint32_t)0xFFFFFFFF >> (32 - GLOBAL_Q));
_iq angleTmp_pu;
_iq angleComp_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 < 0)
{
angleComp_pu = -angleComp_pu;
}

return(angleComp_pu);
}