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

/*-----------------------------------------------------------------------------
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 */ 

/*-----------------------------------------------------------------------------
Connect SMOPOS inputs 
-----------------------------------------------------------------------------*/
  	v->smo.isalfa = v->current_dq.d;
  	v->smo.isbeta = v->current_dq.q;
    v->smo.vsalfa = v->volt.Vdirect;
    v->smo.vsbeta = v->volt.Vquadra;

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

/*------------------------------------------------------------------------------
Connect outputs of the estimated angle from SMOPOS to SPEED  
------------------------------------------------------------------------------*/
    v->speed.theta_elec = v->smo.thetae;
    v->speed.calc((void *)&v->speed);             
    v->Est_spd = v->speed.speed_frq;

}  /* End: SFOC_TI_Run() */
#endif /* (BUILDLEVEL==LEVEL5) */


#if (BUILDLEVEL==LEVEL6)         
void SFOC_TI_Run(SFOC_TI_handle v)
{  

/*-----------------------------------------------------------------------------
Connect PIDREG3 inputs for speed control  
-----------------------------------------------------------------------------*/
   	v->pid_spd.pid_ref_reg3 = v->speed_ref;
   	v->pid_spd.pid_fdb_reg3 = v->Mea_spd;

/*-----------------------------------------------------------------------------
Call the compute function for the PIDREG3 inputs for speed control
-----------------------------------------------------------------------------*/
   	v->pid_spd.calc((void *)&v->pid_spd); 	/* Call PIDREG3 compute function */
 
/*-----------------------------------------------------------------------------
Connect PIDREG3 inputs for Iq control  
-----------------------------------------------------------------------------*/
   	v->pid_iq.pid_ref_reg3 = v->pid_spd.pid_out_reg3;  
   	v->pid_iq.pid_fdb_reg3 = v->current_DQ.q;

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

/*-----------------------------------------------------------------------------
Connect voltages in DQT structure  
-----------------------------------------------------------------------------*/
   	v->voltage_DQt.D = v->pid_id.pid_out_reg3;
   	v->voltage_DQt.Q = v->pid_iq.pid_out_reg3;
   	v->voltage_DQt.theta = v->shaft_theta_elec;
      
/*-----------------------------------------------------------------------------
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->shaft_theta_elec;  
 		
/*-----------------------------------------------------------------------------
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 */ 

}
#endif /* (BUILDLEVEL==LEVEL6) */
 

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

/*-----------------------------------------------------------------------------
Connect PIDREG3 inputs for speed control  
-----------------------------------------------------------------------------*/
   	v->pid_spd.pid_ref_reg3 = v->speed_ref;
   	v->pid_spd.pid_fdb_reg3 = v->Est_spd;

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

/*-----------------------------------------------------------------------------
Connect PIDREG3 inputs for Iq control  
-----------------------------------------------------------------------------*/
   	v->pid_iq.pid_ref_reg3 = v->pid_spd.pid_out_reg3;  
   	v->pid_iq.pid_fdb_reg3 = v->current_DQ.q;

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

/*-----------------------------------------------------------------------------
Connect voltages in DQT structure  
-----------------------------------------------------------------------------*/
   	v->voltage_DQt.D = v->pid_id.pid_out_reg3;
   	v->voltage_DQt.Q = v->pid_iq.pid_out_reg3;
   	v->voltage_DQt.theta = v->smo.thetae;
      
/*-----------------------------------------------------------------------------
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->smo.thetae;

/*-----------------------------------------------------------------------------
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 */ 

/*-----------------------------------------------------------------------------
Connect SMOPOS inputs 
-----------------------------------------------------------------------------*/
  	v->smo.isalfa = v->current_dq.d;
  	v->smo.isbeta = v->current_dq.q;
    v->smo.vsalfa = v->volt.Vdirect;
    v->smo.vsbeta = v->volt.Vquadra;

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

/*------------------------------------------------------------------------------
Connect outputs of the estimated angle from SMOPOS to SPEED  
------------------------------------------------------------------------------*/
    v->speed.theta_elec = v->smo.thetae;
    v->speed.calc((void *)&v->speed);             
    v->Est_spd = v->speed.speed_frq;

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