aci3_4.c

这是ti公司的一个重要的技术文档源码！ 三相异步电机无速度传感器直接磁场定向控制！ 主要是用于F2812

/* ==============================================================================
System Name:  ACI34

File Name:	ACI3_4.C

Description:	Primary system file for the Real Implementation of Sensorless Direct 
          		Field Orientation Control for a Three Phase AC Induction Motor. 

Originator:		Digital control systems Group - Texas Instruments

=====================================================================================
 History:
-------------------------------------------------------------------------------------
 05-15-2002	Release	Rev 1.0
=================================================================================  */

#include "IQmathLib.h"         /* Include header for IQmath library */
#include "DSP28_Device.h"
#include "aci3_4.h"
#include "parameter.h"
#include "build.h"

// Prototype statements for functions found within this file.
interrupt void EvaTimer1(void);

// Global variables used in this system
float Vd_testing = 0.25;         /* Vd testing (pu) */
float Vq_testing = 0;            /* Vq testing (pu) */
float Id_ref = 0.4;              /* Id reference (pu) */
float Iq_ref = 0.05;             /* Iq reference (pu) */
float speed_ref = 0.5;           /* Speed reference (pu) */
float T = 0.001/ISR_FREQUENCY;   /* Samping period (sec), see parameter.h */

int isr_ticker = 0;

int pwmdac_ch1=0;
int pwmdac_ch2=0;
int pwmdac_ch3=0;

volatile int enable_flg=0;

int speed_loop_ps = 10;      // Speed loop prescaler
int speed_loop_count = 1;    // Speed loop counter

ACIFE fe1 = ACIFE_DEFAULTS;
ACISE se1 = ACISE_DEFAULTS;

CLARKE clarke1 = CLARKE_DEFAULTS;
PARK park1 = PARK_DEFAULTS;
IPARK ipark1 = IPARK_DEFAULTS;

PIDREG3 pid1_id = PIDREG3_DEFAULTS;
PIDREG3 pid1_iq = PIDREG3_DEFAULTS;
PIDREG3 pid1_spd = PIDREG3_DEFAULTS;

PWMGEN pwm1 = PWMGEN_DEFAULTS;
PWMDAC pwmdac1 = PWMDAC_DEFAULTS;

SVGENDQ svgen_dq1 = SVGENDQ_DEFAULTS;
CAPTURE cap1 = CAPTURE_DEFAULTS;
SPEED_MEAS_CAP speed1 = SPEED_MEAS_CAP_DEFAULTS;
DRIVE drv1 = DRIVE_DEFAULTS;

RMPCNTL rc1 = RMPCNTL_DEFAULTS;
RAMPGEN rg1 = RAMPGEN_DEFAULTS;

PHASEVOLTAGE volt1 = PHASEVOLTAGE_DEFAULTS;
ILEG2DCBUSMEAS ilg2_vdc1 = ILEG2DCBUSMEAS_DEFAULTS;

ACIFE_CONST fe1_const = ACIFE_CONST_DEFAULTS; 
ACISE_CONST se1_const = ACISE_CONST_DEFAULTS; 

void main(void)
{

// Initialize System Control registers, PLL, WatchDog, Clocks to default state:
        // This function is found in the DSP28_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 DSP28_PieCtrl.c file.
	InitPieCtrl();

// Initialize the PIE Vector Table To a Known State:
        // This function is found in DSP28_PieVect.c.
	// This function populates the PIE vector table with pointers
        // to the shell ISR functions found in DSP28_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 (enable_flg==0) 
    {
// Enable Underflow interrupt bits for GP timer 1
    EvaRegs.EVAIMRA.bit.T1UFINT = 1;
    EvaRegs.EVAIFRA.bit.T1UFINT = 1;
    };

// Reassign ISRs. 
        // Reassign the PIE vector for T1PINT and T3PTINT to point to a different 
        // ISR then the shell routine found in DSP28_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.  This step is optional:
	
	EALLOW;	// This is needed to write to EALLOW protected registers
	PieVectTable.T1UFINT = &EvaTimer1;
	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 CPU INT2 for T1UFINT:
	IER |= M_INT2;

// Enable global Interrupts and higher priority real-time debug events:
	
	EINT;   // Enable Global interrupt INTM
	ERTM;	// Enable Global realtime interrupt DBGM

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

    pwmdac1.pwmdac_period = 2500;  /* PWM frequency = 30 kHz */
    pwmdac1.PWM_DAC_IPTR0 = &pwmdac_ch1;
    pwmdac1.PWM_DAC_IPTR1 = &pwmdac_ch2;
    pwmdac1.PWM_DAC_IPTR2 = &pwmdac_ch3;
	pwmdac1.init(&pwmdac1); 

    cap1.init(&cap1); 
   
    drv1.init(&drv1);

    ilg2_vdc1.init(&ilg2_vdc1);

/* Initialize the SPEED_PR module (x128-T2, 50MHz, 25-teeth sprocket */
 	speed1.rpm_max = 120*BASE_FREQ/P;
 	speed1.speed_scaler = 60*(SYSTEM_FREQUENCY*1000000/(128*25*speed1.rpm_max));

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

/* Initialize the ACI_FE module */
	fe1_const.Rs = RS;
	fe1_const.Rr = RR;
	fe1_const.Ls = LS;
	fe1_const.Lr = LR;
	fe1_const.Lm = LM;
	fe1_const.Ib = BASE_CURRENT;
	fe1_const.Vb = BASE_VOLTAGE;
	fe1_const.Ts = T;
 	fe1_const.calc(&fe1_const);
 	
 	fe1.K1_fe = _IQ(fe1_const.K1);
 	fe1.K2_fe = _IQ(fe1_const.K2);
 	fe1.K3_fe = _IQ(fe1_const.K3);
 	fe1.K4_fe = _IQ(fe1_const.K4);
 	fe1.K5_fe = _IQ(fe1_const.K5);
 	fe1.K6_fe = _IQ(fe1_const.K6);
 	fe1.K7_fe = _IQ(fe1_const.K7);
 	fe1.K8_fe = _IQ(fe1_const.K8);
    fe1.Kp_fe = _IQ(0.082);        
    fe1.Ki_fe = _IQ(T/0.1447);
 
/* Initialize the ACI_SE module */
	se1_const.Rr = RR;
	se1_const.Lr = LR;
	se1_const.fb = BASE_FREQ;
	se1_const.fc = 200;
	se1_const.Ts = T;
 	se1_const.calc(&se1_const);
 	
 	se1.K1_se = _IQ(se1_const.K1);
 	se1.K2_se = _IQ21(se1_const.K2);
 	se1.K3_se = _IQ(se1_const.K3);
 	se1.K4_se = _IQ(se1_const.K4);
 	se1.base_rpm_se = 120*BASE_FREQ/P;

/* Initialize the PID_REG3 module for Id */
	pid1_id.Kp_reg3 = _IQ(0.9463);  
	pid1_id.Ki_reg3 = _IQ(T/0.04);	 				
	pid1_id.Kd_reg3 = _IQ(0/T); 						
	pid1_id.Kc_reg3 = _IQ(0.2);
    pid1_id.pid_out_max = _IQ(0.30);
    pid1_id.pid_out_min = _IQ(-0.30);    
 
/* Initialize the PID_REG3 module for Iq */
	pid1_iq.Kp_reg3 = _IQ(0.9463);
	pid1_iq.Ki_reg3 = _IQ(T/0.04);					
	pid1_iq.Kd_reg3 = _IQ(0/T); 				
	pid1_iq.Kc_reg3 = _IQ(0.2);
    pid1_iq.pid_out_max = _IQ(0.95);
    pid1_iq.pid_out_min = _IQ(-0.95);    

/* Initialize the PID_REG3 module for speed */
    pid1_spd.Kp_reg3 = _IQ(1);                  
	pid1_spd.Ki_reg3 = _IQ(T*speed_loop_ps/0.3);			
	pid1_spd.Kd_reg3 = _IQ(0/(T*speed_loop_ps));					
 	pid1_spd.Kc_reg3 = _IQ(0.2);
    pid1_spd.pid_out_max = _IQ(1);
    pid1_spd.pid_out_min = _IQ(-1); 


// IDLE loop. Just sit and loop forever:	
	for(;;);

} 	

interrupt void EvaTimer1(void)
{

    isr_ticker++;
    
/* ***************** LEVEL1 ***************** */
#if (BUILDLEVEL==LEVEL1)

    rc1.target_value = _IQ(speed_ref);
    rc1.calc(&rc1);

    rg1.rmp_freq = rc1.setpt_value;
    rg1.calc(&rg1);
    
    ipark1.de = _IQ(Vd_testing);
    ipark1.qe = _IQ(Vq_testing);	
    ipark1.ang = rg1.rmp_out;
    ipark1.calc(&ipark1);

  	svgen_dq1.Ualfa = ipark1.ds;
 	svgen_dq1.Ubeta = ipark1.qs;
  	svgen_dq1.calc(&svgen_dq1);	

    pwm1.Mfunc_c1 = (int)_IQtoIQ15(svgen_dq1.Ta); /* Mfunc_c1 is in Q15 */
    pwm1.Mfunc_c2 = (int)_IQtoIQ15(svgen_dq1.Tb); /* Mfunc_c2 is in Q15 */  
    pwm1.Mfunc_c3 = (int)_IQtoIQ15(svgen_dq1.Tc); /* Mfunc_c3 is in Q15 */
	pwm1.update(&pwm1);
	
    pwmdac_ch1 = (int)_IQtoIQ15(svgen_dq1.Ta);
    pwmdac_ch2 = (int)_IQtoIQ15(svgen_dq1.Tb);    
    pwmdac_ch3 = (int)_IQtoIQ15(svgen_dq1.Tc);    

    drv1.enable_flg = enable_flg;
    drv1.update(&drv1);


#endif /* (BUILDLEVEL==LEVEL1) */

/* ***************** LEVEL2 ***************** */
#if (BUILDLEVEL==LEVEL2)

    rc1.target_value = _IQ(speed_ref);
    rc1.calc(&rc1);

    rg1.rmp_freq = rc1.setpt_value;
    rg1.calc(&rg1);
    
    ipark1.de = _IQ(Vd_testing);
    ipark1.qe = _IQ(Vq_testing);	
    ipark1.ang = rg1.rmp_out;
    ipark1.calc(&ipark1);

  	svgen_dq1.Ualfa = ipark1.ds;
 	svgen_dq1.Ubeta = ipark1.qs;
  	svgen_dq1.calc(&svgen_dq1);	

    pwm1.Mfunc_c1 = (int)_IQtoIQ15(svgen_dq1.Ta); /* Mfunc_c1 is in Q15 */
    pwm1.Mfunc_c2 = (int)_IQtoIQ15(svgen_dq1.Tb); /* Mfunc_c2 is in Q15 */  
    pwm1.Mfunc_c3 = (int)_IQtoIQ15(svgen_dq1.Tc); /* Mfunc_c3 is in Q15 */
	pwm1.update(&pwm1);

    ilg2_vdc1.read(&ilg2_vdc1);
	
 	clarke1.as = _IQ15toIQ((long)ilg2_vdc1.Imeas_a);
  	clarke1.bs = _IQ15toIQ((long)ilg2_vdc1.Imeas_b);
	clarke1.calc(&clarke1);
	
    park1.ds = clarke1.ds;
    park1.qs = clarke1.qs;
    park1.ang = rg1.rmp_out;
    park1.calc(&park1);

    volt1.DC_bus = _IQ15toIQ((long)ilg2_vdc1.Vdc_meas);
    volt1.Mfunc_V1 = svgen_dq1.Ta;
    volt1.Mfunc_V2 = svgen_dq1.Tb;
    volt1.Mfunc_V3 = svgen_dq1.Tc;        
 	volt1.calc(&volt1);

    if((cap1.read(&cap1))==0)             /* Call the capture read function */
    {
        speed1.time_stamp=(long)(cap1.time_stamp);    /* Read out new time stamp        */
        speed1.calc(&speed1);                 /* Call the speed calulator       */
    }
	
    pwmdac_ch1 = (int)_IQtoIQ15(clarke1.as);
    pwmdac_ch2 = (int)_IQtoIQ15(clarke1.bs);    
    pwmdac_ch3 = (int)_IQtoIQ15(volt1.DC_bus);    

    drv1.enable_flg = enable_flg;
    drv1.update(&drv1);

#endif /* (BUILDLEVEL==LEVEL2) */