使用c语言实现上述描述

以下是使用C语言实现基于PI-PLL锁相环的无感BLDC电机角速度估算的示例代码：

#include <stdio.h>
#include <math.h>

#define PI 3.14159265358979323846

// 定义锁相环参数
#define Kp 1.0
#define Ki 0.1
#define Kd 0.0

// 定义电机参数
#define R 1.0
#define L 0.01
#define Ke 0.1
#define J 0.001

// 定义采样周期和采样次数
#define T 0.001
#define N 1000

int main() {
    // 定义变量
    double ia[N], ib[N], ic[N], va[N], vb[N], vc[N], theta[N], omega[N];
    double v_alpha[N], v_beta[N], v_d[N], v_q[N], i_alpha[N], i_beta[N], i_d[N], i_q[N];
    double e_alpha[N], e_beta[N], e_d[N], e_q[N], v_pll[N], theta_pll[N], omega_pll[N];
    double error[N], error_sum[N], error_diff[N], u[N];

    // 初始化变量
    for (int i = 0; i < N; i++) {
        theta[i] = 2.0 * PI * (double)i / (double)N;
        ia[i] = sin(theta[i]);
        ib[i] = sin(theta[i] + 2.0 * PI / 3.0);
        ic[i] = sin(theta[i] - 2.0 * PI / 3.0);
        va[i] = 0.0;
        vb[i] = 0.0;
        vc[i] = 0.0;
        omega[i] = 0.0;
        error[i] = 0.0;
        error_sum[i] = 0.0;
        error_diff[i] = 0.0;
        u[i] = 0.0;
    }

    // 开始计算
    for (int i = 0; i < N; i++) {
        // 计算电压矢量
        va[i] = 0.5 * sin(theta[i]);
        vb[i] = 0.5 * sin(theta[i] + 2.0 * PI / 3.0);
        vc[i] = 0.5 * sin(theta[i] - 2.0 * PI / 3.0);

        // 计算电流矢量
        i_alpha[i] = ia[i] - (ib[i] + ic[i]) / 2.0;
        i_beta[i] = (ib[i] - ic[i]) / 2.0 * sqrt(3.0);
        i_d[i] = i_alpha[i] * cos(theta[i]) + i_beta[i] * sin(theta[i]);
        i_q[i] = -i_alpha[i] * sin(theta[i]) + i_beta[i] * cos(theta[i]);

        // 计算电动势矢量
        e_alpha[i] = Ke * omega[i] * sin(theta[i]);
        e_beta[i] = Ke * omega[i] * sin(theta[i] + 2.0 * PI / 3.0);
        e_d[i] = e_alpha[i] * cos(theta[i]) + e_beta[i] * sin(theta[i]);
        e_q[i] = -e_alpha[i] * sin(theta[i]) + e_beta[i] * cos(theta[i]);

        // 计算电压矢量旋转角度
        theta_pll[i] = atan2(v_beta[i], v_alpha[i]);

        // 计算电压矢量旋转速度
        omega_pll[i] = (theta_pll[i] - theta_pll[i-1]) / T;

        // 计算电压矢量的PI-PLL控制
        error[i] = theta_pll[i] - theta[i];
        error_sum[i] += error[i];
        error_diff[i] = (error[i] - error[i-1]) / T;
        v_pll[i] = Kp * error[i] + Ki * error_sum[i] + Kd * error_diff[i];

        // 计算电压矢量
        v_alpha[i] = v_pll[i] * sin(theta[i]);
        v_beta[i] = v_pll[i] * sin(theta[i] + 2.0 * PI / 3.0);

        // 计算d-q坐标系下的电压矢量
        v_d[i] = v_alpha[i] * cos(theta[i]) + v_beta[i] * sin(theta[i]);
        v_q[i] = -v_alpha[i] * sin(theta[i]) + v_beta[i] * cos(theta[i]);

        // 计算d-q坐标系下的电流
        i_d[i+1] = i_d[i] + T * (v_d[i] - R * i_d[i] + e_d[i]) / L;
        i_q[i+1] = i_q[i] + T * (v_q[i] - R * i_q[i] + e_q[i]) / L;

        // 计算电机角速度
        omega[i+1] = omega[i] + T * (i_q[i] * Ke - J * omega[i]) / J;
    }

    // 输出结果
    for (int i = 0; i < N; i++) {
        printf("theta = %f, omega = %f\n", theta[i], omega[i]);
    }

    return 0;
}

需要注意的是，在实际应用中，需要根据具体的电机参数和控制要求进行参数调整和优化，并对代码进行适当的修改和调整。