pmsm3_1.c

TI公司28XDSP控制永磁同步电机(PMSM)

/* ==============================================================================
System Name:  PMSM31

File Name:	PMSM3_1.C

Description:	Primary system file for the Real Implementation of Sensored  
          		Field Orientation Control for a Three Phase Permanent-Magnet
          		Synchronous Motor (PMSM) using QEP sensor

Originator:		Digital control systems Group - Texas Instruments

Note: In this software, the default inverter is supposed to be DMC1500 board. 
=====================================================================================
 History:
-------------------------------------------------------------------------------------
 04-15-2005	Version 3.20: Support both F280x and F281x targets 
 04-25-2005 Version 3.21: Move EINT and ERTM down to ensure that all initialization
 						  is completed before interrupts are allowed.
=================================================================================  */

// Include header files used in the main function
#include "target.h"

#if (DSP_TARGET==F2808)
#include "DSP280x_Device.h"
#endif
#if (DSP_TARGET==F2812)
#include "DSP281x_Device.h"
#endif

#include "IQmathLib.h"
#include "pmsm3_1.h"
#include "parameter.h"
#include "build.h"
#include <math.h>

// Prototype statements for functions found within this file.
interrupt void MainISR(void);
#if (DSP_TARGET==F2812)
interrupt void QepISR(void);
#endif

// Global variables used in this system
float32 VdTesting = 0;            // Vd testing (pu) 
float32 VqTesting = 0.25;         // Vq testing (pu) 
float32 IdRef = 0;                // Id reference (pu) 
float32 IqRef = 0.2;              // Iq reference (pu) 
float32 SpeedRef = 0.2;           // Speed reference (pu) 
float32 T = 0.001/ISR_FREQUENCY;   // Samping period (sec), see parameter.h 

Uint16 IsrTicker = 0;
Uint16 BackTicker = 0;

int16 PwmDacCh1=0;
int16 PwmDacCh2=0;
int16 PwmDacCh3=0;

int16 DlogCh1 = 0;
int16 DlogCh2 = 0;
int16 DlogCh3 = 0;
int16 DlogCh4 = 0;

volatile Uint16 EnableFlag = FALSE;
Uint16 LockRotorFlag = FALSE;

Uint16 SpeedLoopPrescaler = 10;      // Speed loop prescaler
Uint16 SpeedLoopCount = 1;           // Speed loop counter

// Instance a few transform objects
CLARKE clarke1 = CLARKE_DEFAULTS;
PARK park1 = PARK_DEFAULTS;
IPARK ipark1 = IPARK_DEFAULTS;

// Instance PID regulators to regulate the d and q synchronous axis currents,
// and speed
PIDREG3 pid1_id = PIDREG3_DEFAULTS;
PIDREG3 pid1_iq = PIDREG3_DEFAULTS;
PIDREG3 pid1_spd = PIDREG3_DEFAULTS;

// Instance a PWM driver instance
PWMGEN pwm1 = PWMGEN_DEFAULTS;

// Instance a PWM DAC driver instance
PWMDAC pwmdac1 = PWMDAC_DEFAULTS;

// Instance a Space Vector PWM modulator. This modulator generates a, b and c
// phases based on the d and q stationery reference frame inputs
SVGENDQ svgen_dq1 = SVGENDQ_DEFAULTS;

// Instance a QEP interface driver 
QEP qep1 = QEP_DEFAULTS;

// Instance a speed calculator based on QEP
SPEED_MEAS_QEP speed1 = SPEED_MEAS_QEP_DEFAULTS;

// Instance a speed calculator based on capture Qep (for eQep of 280x only)
SPEED_MEAS_CAP speed2 = SPEED_MEAS_CAP_DEFAULTS;

// Instance a enable PWM drive driver (only for DMC1500) 
DRIVE drv1 = DRIVE_DEFAULTS;

// Instance a ramp controller to smoothly ramp the frequency
RMPCNTL rc1 = RMPCNTL_DEFAULTS;

//	Instance a ramp generator to simulate an Anglele
RAMPGEN rg1 = RAMPGEN_DEFAULTS;

// Create an instance of the current/dc-bus voltage measurement driver
ILEG2DCBUSMEAS ilg2_vdc1 = ILEG2DCBUSMEAS_DEFAULTS;

// Create an instance of DATALOG Module
DLOG_4CH dlog = DLOG_4CH_DEFAULTS;      


void main(void)
{

// ******************************************
// Initialization code for DSP_TARGET = F2808
// ******************************************
#if (DSP_TARGET==F2808)

// Initialize System Control registers, PLL, WatchDog, Clocks to default state:
        // This function is found in the DSP280x_SysCtrl.c file.
	InitSysCtrl();

// Globally synchronize all ePWM modules to the time base clock (TBCLK)
    EALLOW;
    SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;
    EDIS;

// HISPCP prescale register settings, normally it will be set to default values
    EALLOW;   // This is needed to write to EALLOW protected registers
    SysCtrlRegs.HISPCP.all = 0x0000;     // SYSCLKOUT/1 
    EDIS;   // This is needed to disable write to EALLOW protected registers 

// Disable and clear all CPU interrupts:
	DINT;
	IER = 0x0000;
	IFR = 0x0000;

// Initialize Pie Control Registers To Default State:
        // This function is found in the DSP280x_PieCtrl.c file.
	InitPieCtrl();

// Initialize the PIE Vector Table To a Known State:
        // This function is found in DSP280x_PieVect.c.
	// This function populates the PIE vector table with pointers
        // to the shell ISR functions found in DSP280x_DefaultIsr.c.
	InitPieVectTable();	
	
// User specific functions, Reassign vectors (optional), Enable Interrupts:

   // Waiting for enable flag set
   while (EnableFlag==FALSE) 
    { 
      BackTicker++;
    }
    
// Enable CNT_zero interrupt using EPWM1 Time-base
    EPwm1Regs.ETSEL.bit.INTEN = 1;   // Enable EPWM1INT generation 
    EPwm1Regs.ETSEL.bit.INTSEL = 1;  // Enable interrupt CNT_zero event
    EPwm1Regs.ETPS.bit.INTPRD = 1;   // Generate interrupt on the 1st event
	EPwm1Regs.ETCLR.bit.INT = 1;     // Enable more interrupts

// Reassign ISRs. 
        // Reassign the PIE vector for EPWM1_INT to point to a different 
        // ISR then the shell routine found in DSP280x_DefaultIsr.c.
        // This is done if the user does not want to use the shell ISR routine
        // but instead wants to use their own ISR.

	EALLOW;	// This is needed to write to EALLOW protected registers
	PieVectTable.EPWM1_INT = &MainISR;
	EDIS;   // This is needed to disable write to EALLOW protected registers

// Enable PIE group 3 interrupt 1 for EPWM1_INT
    PieCtrlRegs.PIEIER3.all = M_INT1;

// Enable CPU INT3 for EPWM1_INT:
	IER |= M_INT3;

#endif


// ******************************************
// Initialization code for DSP_TARGET = F2812
// ******************************************
#if (DSP_TARGET==F2812)

// Initialize System Control registers, PLL, WatchDog, Clocks to default state:
        // This function is found in the DSP281x_SysCtrl.c file.
	InitSysCtrl();

// HISPCP prescale register settings, normally it will be set to default values
    EALLOW;   // This is needed to write to EALLOW protected registers
    SysCtrlRegs.HISPCP.all = 0x0000;     // SYSCLKOUT/1  
    EDIS;   // This is needed to disable write to EALLOW protected registers 

// Disable and clear all CPU interrupts:
	DINT;
	IER = 0x0000;
	IFR = 0x0000;

// Initialize Pie Control Registers To Default State:
        // This function is found in the DSP281x_PieCtrl.c file.
	InitPieCtrl();

// Initialize the PIE Vector Table To a Known State:
        // This function is found in DSP281x_PieVect.c.
	// This function populates the PIE vector table with pointers
        // to the shell ISR functions found in DSP281x_DefaultIsr.c.
	InitPieVectTable();	
	
// User specific functions, Reassign vectors (optional), Enable Interrupts:
	
// Initialize EVA Timer 1:
    // Setup Timer 1 Registers (EV A)
    EvaRegs.GPTCONA.all = 0;

   // Waiting for enable flag set
   while (EnableFlag==FALSE) 
    { 
      BackTicker++;
    }
    
// Enable Underflow interrupt bits for GP timer 1
    EvaRegs.EVAIMRA.bit.T1UFINT = 1;
    EvaRegs.EVAIFRA.bit.T1UFINT = 1;

// Enable CAP3 interrupt bits for GP timer 2
    EvaRegs.EVAIMRC.bit.CAP3INT = 1;
    EvaRegs.EVAIFRC.bit.CAP3INT = 1;

// Reassign ISRs. 
        // Reassign the PIE vector for T1UFINT and CAP3INT to point to a different 
        // ISR then the shell routine found in DSP281x_DefaultIsr.c.
        // This is done if the user does not want to use the shell ISR routine
        // but instead wants to use their own ISR.
	
	EALLOW;	// This is needed to write to EALLOW protected registers
	PieVectTable.T1UFINT = &MainISR;
	PieVectTable.CAPINT3 = &QepISR;
	EDIS;   // This is needed to disable write to EALLOW protected registers

// Enable PIE group 2 interrupt 6 for T1UFINT
    PieCtrlRegs.PIEIER2.all = M_INT6;

// Enable PIE group 3 interrupt 7 for CAP3INT
    PieCtrlRegs.PIEIER3.all = M_INT7;

// Enable CPU INT2 for T1UFINT and INT3 for CAP3INT:
	IER |= (M_INT2 | M_INT3);

#endif

// Initialize PWM module
    pwm1.PeriodMax = SYSTEM_FREQUENCY*1000000*T/2;  // Perscaler X1 (T1), ISR period = T x 1 
	pwm1.init(&pwm1); 

// Initialize PWMDAC module
    pwmdac1.PeriodMax = (SYSTEM_FREQUENCY*200/(30*2))*5;   // PWMDAC Frequency = 30 kHz
    pwmdac1.PwmDacInPointer0 = &PwmDacCh1;
    pwmdac1.PwmDacInPointer1 = &PwmDacCh2;
    pwmdac1.PwmDacInPointer2 = &PwmDacCh3;
	pwmdac1.init(&pwmdac1); 

// Initialize DATALOG module
    dlog.iptr1 = &DlogCh1;
    dlog.iptr2 = &DlogCh2;
    dlog.iptr3 = &DlogCh3;
    dlog.iptr4 = &DlogCh4;
    dlog.trig_value = 0x1;
    dlog.size = 0x400;
    dlog.prescalar = 1;
    dlog.init(&dlog);

// Initialize QEP module
    qep1.LineEncoder = 1000;
    qep1.MechScaler = _IQ30(0.25/qep1.LineEncoder);
    qep1.PolePairs = P/2;
    qep1.CalibratedAngle = -2365;
    qep1.init(&qep1);

// Initialize enable drive module (FOR DMC1500 ONLY)   
    drv1.init(&drv1);

// Initialize ADC module
    ilg2_vdc1.init(&ilg2_vdc1);

// Initialize the Speed module for QEP based speed calculation
    speed1.K1 = _IQ21(1/(BASE_FREQ*T));
    speed1.K2 = _IQ(1/(1+T*2*PI*30));  // Low-pass cut-off frequency
    speed1.K3 = _IQ(1)-speed1.K2;
    speed1.BaseRpm = 120*(BASE_FREQ/P);

// Initialize the Speed module for capture eQEP based speed calculation (low speed range)
#if (DSP_TARGET==F2808)
    // (CCPS=7) CAPCLK=SYSCLKOUT/128, (UPPS=5) UPEVNT=QCLK/32, 100MHz
    speed2.InputSelect = 1;
 	speed2.BaseRpm = 120*(BASE_FREQ/P);
 	speed2.SpeedScaler = 60*32*(SYSTEM_FREQUENCY*1000000/(128*speed2.BaseRpm))/(4*qep1.LineEncoder);
#endif

// Initialize the RAMPGEN module
    rg1.StepAngleMax = _IQ(BASE_FREQ*T);

// Initialize the PID_REG3 module for Id 
	pid1_id.Kp = _IQ(0.75);  
	pid1_id.Ki = _IQ(T/0.0005);
	pid1_id.Kd = _IQ(0/T);
	pid1_id.Kc = _IQ(0.2);
    pid1_id.OutMax = _IQ(0.30);
    pid1_id.OutMin = _IQ(-0.30);
 
// Initialize the PID_REG3 module for Iq 
	pid1_iq.Kp = _IQ(0.75);
	pid1_iq.Ki = _IQ(T/0.0005);
	pid1_iq.Kd = _IQ(0/T);
	pid1_iq.Kc = _IQ(0.2);
    pid1_iq.OutMax = _IQ(0.95);
    pid1_iq.OutMin = _IQ(-0.95);    

// Initialize the PID_REG3 module for speed
    pid1_spd.Kp = _IQ(1);                  
	pid1_spd.Ki = _IQ(T*SpeedLoopPrescaler/0.3);
	pid1_spd.Kd = _IQ(0/(T*SpeedLoopPrescaler));