foc_ti.c

TI 的DSP2407A的无速度传感器永磁同步电机FOC控制程序

/* ==============================================================================
System Name:  PMSM3_1   (QEP version)

File Name:	FOC_TI.C

Description:  Peripheral independent object for the implementation 
              of Sensored Field Orientation Control for a Three Phase 
              Permanent-Magnet Synchronous Motor using measured rotor angle.

Originator:		Digital control systems Group - Texas Instruments

Note that the PWM/sampling frequency in C system is running at 15 kHz, which 
is different from the PWM/samping frequency in ASM system (i.e., 20 kHz) as 
indicated in the PMSM3-2 system documentation. Also, this PWM/samping frequency
in both ASM and C systems are based on x2407 with 30 MHz clock. If the x243 with
20 MHz clock is used, then the PWM/samping frequency may be decreased accordingly.   
			
=====================================================================================
 History:
-------------------------------------------------------------------------------------
 03-01-2001	Release	Rev 1.0
=================================================================================  */

#include <foc_ti.h>
#include <build.h>

#if (BUILDLEVEL==LEVEL1)
void FOC_TI_Init(FOC_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. 
-----------------------------------------------------------------------------*/

/*-----------------------------------------------------------------------------
Setup Ramp generator parameters.
-----------------------------------------------------------------------------*/
    v->rg.step_angle_max = 874;   /* This is based on 15kHz sampling frequency */     
 
/*-----------------------------------------------------------------------------
Setup Ramp control parameters.
-----------------------------------------------------------------------------*/
    v->rmpc.rmp_dly_max = 50;        
    v->rmpc.rmp_lo_limit = 0x8000;        
    v->rmpc.rmp_hi_limit = 0x7FFF;   

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


#if (BUILDLEVEL==LEVEL2)
void FOC_TI_Init(FOC_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. 
-----------------------------------------------------------------------------*/

/*-----------------------------------------------------------------------------
Setup Ramp generator parameters.
-----------------------------------------------------------------------------*/
    v->rg.step_angle_max = 874;   /* This is based on 15kHz sampling frequency */     
 
/*-----------------------------------------------------------------------------
Setup Ramp control parameters.
-----------------------------------------------------------------------------*/
    v->rmpc.rmp_dly_max = 50;        
    v->rmpc.rmp_lo_limit = 0x8000;        
    v->rmpc.rmp_hi_limit = 0x7FFF;   

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

#if (BUILDLEVEL==LEVEL3)
void FOC_TI_Init(FOC_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. 
-----------------------------------------------------------------------------*/

/*-----------------------------------------------------------------------------
Setup Ramp generator parameters.
-----------------------------------------------------------------------------*/
    v->rg.step_angle_max = 874;   /* This is based on 15kHz sampling frequency */     
 
/*-----------------------------------------------------------------------------
Setup Ramp control parameters.
-----------------------------------------------------------------------------*/
    v->rmpc.rmp_dly_max = 50;        
    v->rmpc.rmp_lo_limit = 0x8000;        
    v->rmpc.rmp_hi_limit = 0x7FFF;   

/*-----------------------------------------------------------------------------
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 */
                      
}      /* End: FOC_TI_Init() */
#endif /* (BUILDLEVEL==LEVEL3) */


#if (BUILDLEVEL==LEVEL4)
void FOC_TI_Init(FOC_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. 
-----------------------------------------------------------------------------*/

/*-----------------------------------------------------------------------------
Setup Ramp generator parameters.
-----------------------------------------------------------------------------*/
    v->rg.step_angle_max = 874;   /* This is based on 15kHz sampling frequency */     
 
/*-----------------------------------------------------------------------------
Setup Ramp control parameters.
-----------------------------------------------------------------------------*/
    v->rmpc.rmp_dly_max = 50;        
    v->rmpc.rmp_lo_limit = 0x8000;        
    v->rmpc.rmp_hi_limit = 0x7FFF;   

/*-----------------------------------------------------------------------------
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 */
                      
}      /* End: FOC_TI_Init() */
#endif /* (BUILDLEVEL==LEVEL4) */


#if (BUILDLEVEL==LEVEL5)
void FOC_TI_Init(FOC_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.