sfoc_ti.c

本程序来自TI公司网站原程序,其功能是通过传统的矢量控制算法来实现对永磁同步电机的控制,矢量控制采用双闭环结构

/*-----------------------------------------------------------------------------
Set up PID Controller parameters.
-----------------------------------------------------------------------------*/
    v->pid_id.Kp_reg3 = 21178;  		/* Q15 */                                                    
    v->pid_id.Ki_reg3 = 5592;   		/* Q31-16bit */
    v->pid_id.Kd_reg3 = 0;		   		/* Q14 */
    v->pid_id.Kc_reg3 = 20281;  		/* Q15 */
    v->pid_id.pid_out_max = 0x4000;     /* Q15 */
    v->pid_id.pid_out_min = 0xC000;     /* Q15 */

/*-----------------------------------------------------------------------------
Set up PID Controller parameters.
-----------------------------------------------------------------------------*/
    v->pid_iq.Kp_reg3 = 21178;  		/* Q15 */                                                    
    v->pid_iq.Ki_reg3 = 5592;   		/* Q31-16bit */
    v->pid_iq.Kd_reg3 = 0;		   		/* Q14 */
    v->pid_iq.Kc_reg3 = 20281;  		/* Q15 */
    v->pid_iq.pid_out_max = 0x6500;     /* Q15 */
    v->pid_iq.pid_out_min = 0x9B00;     /* Q15 */
    
/*-----------------------------------------------------------------------------
Set up PID Controller parameters.
-----------------------------------------------------------------------------*/
    v->pid_spd.Kp_reg3 = 31457;  		/* Q15 */                                                    
    v->pid_spd.Ki_reg3 = 5592;   		/* Q31-16bit */
    v->pid_spd.Kd_reg3 = 0;   		/* Q14 */
    v->pid_spd.Kc_reg3 = 31858;  		/* Q15 */
    v->pid_spd.pid_out_max = 0x7FFF;    /* Q15 */
    v->pid_spd.pid_out_min = 0x8000;    /* Q15 */

}      /* End: SFOC_TI_Init() */
#endif /* (BUILDLEVEL==LEVEL6) */


#if (BUILDLEVEL==LEVEL7)
void SFOC_TI_Init(SFOC_TI_handle v)
{  

/*------------------------------------------------------------------------------
 Notes: 1.  Attributes are conveniently changed here, but this does
            consume cycles twice, 
            (a) in the 'C' boot-up, and then 
            (b) in the execution of this code. Setting up the needed
                constants the declaration of SVGEN svgen = VALUES, 
                rather than the defaults is clearly more effecient.
                This method is more intended for runtime changes.
    2.  There is also a code-size associated with these changes. 
-----------------------------------------------------------------------------*/

/*-----------------------------------------------------------------------------
Set up PID Controller parameters.
-----------------------------------------------------------------------------*/
    v->pid_id.Kp_reg3 = 21178;  		/* Q15 */                                                    
    v->pid_id.Ki_reg3 = 5592;   		/* Q31-16bit */
    v->pid_id.Kd_reg3 = 0;		   		/* Q14 */
    v->pid_id.Kc_reg3 = 20281;  		/* Q15 */
    v->pid_id.pid_out_max = 0x4000;     /* Q15 */
    v->pid_id.pid_out_min = 0xC000;     /* Q15 */

/*-----------------------------------------------------------------------------
Set up PID Controller parameters.
-----------------------------------------------------------------------------*/
    v->pid_iq.Kp_reg3 = 21178;  		/* Q15 */                                                    
    v->pid_iq.Ki_reg3 = 5592;   		/* Q31-16bit */
    v->pid_iq.Kd_reg3 = 0;		   		/* Q14 */
    v->pid_iq.Kc_reg3 = 20281;  		/* Q15 */
    v->pid_iq.pid_out_max = 0x6500;     /* Q15 */
    v->pid_iq.pid_out_min = 0x9B00;     /* Q15 */

/*-----------------------------------------------------------------------------
Set up PID Controller parameters.
-----------------------------------------------------------------------------*/
    v->pid_spd.Kp_reg3 = 11457;  		/* Q15 */                                                    
    v->pid_spd.Ki_reg3 = 4592;   		/* Q31-16bit */
    v->pid_spd.Kd_reg3 = 0;		   		/* Q14 */
    v->pid_spd.Kc_reg3 = 31858;  		/* Q15 */
    v->pid_spd.pid_out_max = 0x7FFF;    /* Q15 */
    v->pid_spd.pid_out_min = 0x8000;    /* Q15 */

    
/*-----------------------------------------------------------------------------
Setup SMOPOS sliding mode rotor angle observer parameters.   
(based on 15kHz sampling freq)
-----------------------------------------------------------------------------*/
/* PMSM motor (Pacific Scientific) */
/* fb = 200 Hz */
   	v->smo.fsmopos = 32319; 	/* Q15 */
   	v->smo.gsmopos = 15434; 	/* Q15 */
   	v->smo.kslide = 4236; 	    /* Q15 */  
   	v->smo.kslf = 3431;         /* Q15 */

/*-----------------------------------------------------------------------------
Initialize parameters of the speed calculation based on estimated angle
(based on 15kHz sampling freq)
-----------------------------------------------------------------------------*/
/* fb = 200 Hz */
    v->speed.K1_fr = 4800;  
    v->speed.K2_fr = 32361;
    v->speed.K3_fr = 407;
    v->speed.rpm_max = 6000;

 
}      /* End: SFOC_TI_Init() */
#endif /* (BUILDLEVEL==LEVEL7) */


/* ************************************************************************** */
/* ************************************************************************** */
 
#if (BUILDLEVEL==LEVEL1)
void SFOC_TI_Run(SFOC_TI_handle v)
{

/*-----------------------------------------------------------------------------
Connect freq_testing inputs to the RMPCNTL  
-----------------------------------------------------------------------------*/
    v->rmpc.target_value = v->speed_ref;  

/*-----------------------------------------------------------------------------
Call the compute function for the RMPCNTL
-----------------------------------------------------------------------------*/
    v->rmpc.calc((void *)&v->rmpc); 	/* Call RMPCNTL compute function */

/*-----------------------------------------------------------------------------
Connect RMPCNTL output to the RAMPGEN input  
-----------------------------------------------------------------------------*/
    v->rg.rmp_freq = v->rmpc.setpt_value;  

/*-----------------------------------------------------------------------------
Call the compute function for the RAMPGEN
-----------------------------------------------------------------------------*/
    v->rg.calc((void *)&v->rg); 	/* Call RAMPGEN compute function */

/*-----------------------------------------------------------------------------
Connect voltages in DQT structure  
-----------------------------------------------------------------------------*/
    v->voltage_DQt.D = v->Vd_testing;
    v->voltage_DQt.Q = v->Vq_testing;
    v->voltage_DQt.theta = v->rg.rmp_out;
      
/*-----------------------------------------------------------------------------
Call the compute function for the IPARK 
-----------------------------------------------------------------------------*/
	ipark((void *)&v->voltage_DQt,(void *)&v->voltage_dq);

/*-----------------------------------------------------------------------------
Connect IPARK voltage outputs to the SVGENDQ inputs 
-----------------------------------------------------------------------------*/
    v->svgen.d = v->voltage_dq.d;      
	v->svgen.q = v->voltage_dq.q;      
 		
/*-----------------------------------------------------------------------------
Call the compute function for the SVGENDQ
-----------------------------------------------------------------------------*/
    v->svgen.calc((void *)&v->svgen); 	/* Call SVGENDQ compute function */

}   /* End: SFOC_TI_Run() */
#endif /* (BUILDLEVEL==LEVEL1) */


#if (BUILDLEVEL==LEVEL2)         
void SFOC_TI_Run(SFOC_TI_handle v)
{  

/*-----------------------------------------------------------------------------
Connect freq_testing inputs to the RMPCNTL  
-----------------------------------------------------------------------------*/
    v->rmpc.target_value = v->speed_ref;  

/*-----------------------------------------------------------------------------
Call the compute function for the RMPCNTL
-----------------------------------------------------------------------------*/
    v->rmpc.calc((void *)&v->rmpc); 	/* Call RMPCNTL compute function */

/*-----------------------------------------------------------------------------
Connect RMPCNTL output to the RAMPGEN input  
-----------------------------------------------------------------------------*/
    v->rg.rmp_freq = v->rmpc.setpt_value;  

/*-----------------------------------------------------------------------------
Call the compute function for the RAMPGEN
-----------------------------------------------------------------------------*/
    v->rg.calc((void *)&v->rg); 	/* Call RAMPGEN compute function */

/*-----------------------------------------------------------------------------
Connect voltages in DQT structure  
-----------------------------------------------------------------------------*/
    v->voltage_DQt.D = v->Vd_testing;
    v->voltage_DQt.Q = v->Vq_testing;
    v->voltage_DQt.theta = v->rg.rmp_out;
      
/*-----------------------------------------------------------------------------
Call the compute function for the IPARK 
-----------------------------------------------------------------------------*/
	ipark((void *)&v->voltage_DQt,(void *)&v->voltage_dq);

/*-----------------------------------------------------------------------------
Connect IPARK voltage outputs to the SVGENDQ inputs 
-----------------------------------------------------------------------------*/
    v->svgen.d = v->voltage_dq.d;      
	v->svgen.q = v->voltage_dq.q;      
 		
/*-----------------------------------------------------------------------------
Call the compute function for the SVGENDQ
-----------------------------------------------------------------------------*/
    v->svgen.calc((void *)&v->svgen); 	/* Call SVGENDQ compute function */

/*-----------------------------------------------------------------------------
Call the compute function for the CLARKE 
-----------------------------------------------------------------------------*/
	clark((void *)&v->current_abc,(void *)&v->current_dq);

/*-----------------------------------------------------------------------------
Connect currents in DQT structure  
-----------------------------------------------------------------------------*/
    v->current_dqt.D = v->current_dq.d;
    v->current_dqt.Q = v->current_dq.q;
    v->current_dqt.theta = v->rg.rmp_out;

/*-----------------------------------------------------------------------------
Call the compute function for the PARK 
-----------------------------------------------------------------------------*/
	park((void *)&v->current_dqt,(void *)&v->current_DQ);

/*-----------------------------------------------------------------------------
Connect SVGENDQ outputs and Vbus to the PHASEVOLTAGE inputs 
-----------------------------------------------------------------------------*/
  	v->volt.DC_bus = v->Vbus;
  	v->volt.Mfunc_V1 = v->svgen.va;
    v->volt.Mfunc_V2 = v->svgen.vb;
    v->volt.Mfunc_V3 = v->svgen.vc;

/*-----------------------------------------------------------------------------
Call the compute function for the PHASEVOLTAGE
-----------------------------------------------------------------------------*/
    v->volt.calc((void *)&v->volt);   /* Call PHASEVOLTAGE compute function */ 

}  /* End: SFOC_TI_Run() */
#endif /* (BUILDLEVEL==LEVEL2) */


#if (BUILDLEVEL==LEVEL3)         
void SFOC_TI_Run(SFOC_TI_handle v)
{  
 
/*-----------------------------------------------------------------------------
Connect freq_testing inputs to the RMPCNTL  
-----------------------------------------------------------------------------*/
    v->rmpc.target_value = v->speed_ref;  

/*-----------------------------------------------------------------------------
Call the compute function for the RMPCNTL
-----------------------------------------------------------------------------*/
    v->rmpc.calc((void *)&v->rmpc); 	/* Call RMPCNTL compute function */

/*-----------------------------------------------------------------------------
Connect RMPCNTL output to the RAMPGEN input  
-----------------------------------------------------------------------------*/
    v->rg.rmp_freq = v->rmpc.setpt_value;  

/*-----------------------------------------------------------------------------
Call the compute function for the RAMPGEN
-----------------------------------------------------------------------------*/
    v->rg.calc((void *)&v->rg); 	/* Call RAMPGEN compute function */

/*-----------------------------------------------------------------------------
Connect PIDREG3 inputs for Id control  
-----------------------------------------------------------------------------*/
    v->pid_id.pid_ref_reg3 = v->Id_ref;  
    v->pid_id.pid_fdb_reg3 = v->current_DQ.d;

/*-----------------------------------------------------------------------------
Call the compute function for the PIDREG3 inputs for Id control
-----------------------------------------------------------------------------*/
    v->pid_id.calc((void *)&v->pid_id); 	/* Call PIDREG3 compute function */