foc_ti.c

TI 的DSP2407A的无速度传感器永磁同步电机FOC控制程序

#if (BUILDLEVEL==LEVEL4)         
void FOC_TI_Run(FOC_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 */

/*-----------------------------------------------------------------------------
Connect PIDREG3 inputs for Iq control  
-----------------------------------------------------------------------------*/
    v->pid_iq.pid_ref_reg3 = v->Iq_ref;  
    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 */

/*-----------------------------------------------------------------------------
Checking lockrtr_flg=FALSE for spinning mode, lockrtr_flg=TRUE for locked rotor mode 
-----------------------------------------------------------------------------*/
	if(v->lockrtr_flg==TRUE)
    {
     	/* locked rotor mode if lockrtr_flg = 1 */
/*-----------------------------------------------------------------------------
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 = 0x0000;
      
/*-----------------------------------------------------------------------------
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 = 0x0000;

	}   /* End: lockrtr_flg==TRUE */
    
    else if(v->lockrtr_flg==FALSE)
    {   /* spinning mode if lockrtr_flg = 0 */

/*-----------------------------------------------------------------------------
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->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;

    }   /* End: lockrtr_flg==FALSE */

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


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


#if (BUILDLEVEL==LEVEL5)         
void FOC_TI_Run(FOC_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);


}
#endif /* (BUILDLEVEL==LEVEL5) */