aci3_1.c

TMS320f28xx控制三相感应电机程序。包括速度检测、速度调节、V/F控制、PWM生成等。

	pid1_spd.Kd = _IQ(0/(T*SpeedLoopPrescaler));					
 	pid1_spd.Kc = _IQ(0.2);
    pid1_spd.OutMax = _IQ(0.05);
    pid1_spd.OutMin = _IQ(-0.05); 

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

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


interrupt void MainISR(void)
{

// Verifying the ISR
    IsrTicker++;

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

// ------------------------------------------------------------------------------
//    Connect inputs of the VOLT_PROF module and call the volt profile
//    calculation function.
// ------------------------------------------------------------------------------
	vhz1.Freq = _IQ(SpeedRef);     
	vhz1.calc(&vhz1);

// ------------------------------------------------------------------------------
//    Connect inputs of the SVGEN_MF module and call the space-vector gen.
//    calculation function.
// ------------------------------------------------------------------------------
    svgen_mf1.Gain = vhz1.VoltOut;     
    svgen_mf1.Freq = vhz1.Freq;  
    svgen_mf1.calc(&svgen_mf1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PWMDAC module 
// ------------------------------------------------------------------------------
    PwmDacCh1 = (int16)_IQtoIQ15(svgen_mf1.Ta);
    PwmDacCh2 = (int16)_IQtoIQ15(svgen_mf1.Tb);    
    PwmDacCh3 = (int16)_IQtoIQ15(svgen_mf1.Tc);    

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module 
// ------------------------------------------------------------------------------
    DlogCh1 = (int16)_IQtoIQ15(svgen_mf1.Ta);
    DlogCh2 = (int16)_IQtoIQ15(svgen_mf1.Tb);
    DlogCh3 = (int16)_IQtoIQ15(svgen_mf1.Tc);
    DlogCh4 = (int16)_IQtoIQ15(svgen_mf1.Ta-svgen_mf1.Tb);

// ------------------------------------------------------------------------------
//    Connect inputs of the EN_DRV module and call the enable/disable PWM signal
//    update function. (FOR DMC1500 ONLY)
// ------------------------------------------------------------------------------ 
    drv1.EnableFlag = EnableFlag;
    drv1.update(&drv1);

#endif // (BUILDLEVEL==LEVEL1)


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

// ------------------------------------------------------------------------------
//    Connect inputs of the RMP_CNTL module and call the Ramp control
//    calculation function.
// ------------------------------------------------------------------------------
    rc1.TargetValue = _IQ(SpeedRef);
    rc1.calc(&rc1);

// ------------------------------------------------------------------------------
//    Connect inputs of the VOLT_PROF module and call the volt profile
//    calculation function.
// ------------------------------------------------------------------------------
	vhz1.Freq = rc1.SetpointValue;      // Speed open-loop V/f control
	vhz1.calc(&vhz1);

// ------------------------------------------------------------------------------
//    Connect inputs of the SVGEN_MF module and call the space-vector gen.
//    calculation function.
// ------------------------------------------------------------------------------
    svgen_mf1.Gain = vhz1.VoltOut;     
    svgen_mf1.Freq = vhz1.Freq;  
    svgen_mf1.calc(&svgen_mf1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PWM_DRV module and call the PWM signal generation 
//    update function.
// ------------------------------------------------------------------------------
    pwm1.MfuncC1 = (int16)_IQtoIQ15(svgen_mf1.Ta); // MfuncC1 is in Q15 
    pwm1.MfuncC2 = (int16)_IQtoIQ15(svgen_mf1.Tb); // MfuncC2 is in Q15   
    pwm1.MfuncC3 = (int16)_IQtoIQ15(svgen_mf1.Tc); // MfuncC3 is in Q15 
    pwm1.update(&pwm1);
    
// ------------------------------------------------------------------------------
//    Connect inputs of the SPEED_PR module and call the speed calculation function 
// ------------------------------------------------------------------------------
#if (DSP_TARGET==F2808)
    if((cap1.read(&cap1))==0)             // Call the capture read function
    {
        speed1.EventPeriod=(int32)(cap1.EventPeriod);    // Read out new time stamp difference
        speed1.calc(&speed1);                 // Call the speed calulator      
    }
#endif
#if (DSP_TARGET==F2812)
    if((cap1.read(&cap1))==0)             // Call the capture read function
    {
        speed1.TimeStamp=(int32)(cap1.TimeStamp);    // Read out new time stamp 
        speed1.calc(&speed1);                 // Call the speed calulator      
    }
#endif

// ------------------------------------------------------------------------------
//    Connect inputs of the PWMDAC module 
// ------------------------------------------------------------------------------
    PwmDacCh1 = (int16)_IQtoIQ15(svgen_mf1.Ta);
    PwmDacCh2 = (int16)_IQtoIQ15(svgen_mf1.Tb);    
    PwmDacCh3 = (int16)_IQtoIQ15(svgen_mf1.Tc);    

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module 
// ------------------------------------------------------------------------------
    DlogCh1 = (int16)_IQtoIQ15(svgen_mf1.Ta);
    DlogCh2 = (int16)_IQtoIQ15(svgen_mf1.Tb);
    DlogCh3 = (int16)_IQtoIQ15(speed1.Speed);
    DlogCh4 = (int16)_IQtoIQ15(vhz1.VoltOut);

// ------------------------------------------------------------------------------
//    Connect inputs of the EN_DRV module and call the enable/disable PWM signal
//    update function. (FOR DMC1500 ONLY)
// ------------------------------------------------------------------------------ 
    drv1.EnableFlag = EnableFlag;
    drv1.update(&drv1);

#endif // (BUILDLEVEL==LEVEL2)


// ***************** LEVEL3 *****************
#if (BUILDLEVEL==LEVEL3)

// ------------------------------------------------------------------------------
//    Connect inputs of the RMP_CNTL module and call the Ramp control
//    calculation function.
// ------------------------------------------------------------------------------
    rc1.TargetValue = _IQ(SpeedRef);
    rc1.calc(&rc1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PID_REG3 modules and compute the PID speed 
//    controller.
// ------------------------------------------------------------------------------  
    if (SpeedLoopCount == SpeedLoopPrescaler)
     {
      pid1_spd.Ref = rc1.SetpointValue;
	  pid1_spd.Fdb = speed1.Speed; 
	  pid1_spd.calc(&pid1_spd);
      SpeedLoopCount = 1;
     }
    else SpeedLoopCount ++; 

// ------------------------------------------------------------------------------
//    Connect inputs of the VOLT_PROF module for open-loop or closed-loop
// ------------------------------------------------------------------------------
    if (ClosedLoopFlag==FALSE)
	  vhz1.Freq = rc1.SetpointValue;         // Open-loop V/f control 
    else
	  vhz1.Freq = rc1.SetpointValue + pid1_spd.Out;    // Speed closed-loop V/f control

// ------------------------------------------------------------------------------
//    Call the volt profile calculation function.
// ------------------------------------------------------------------------------
   	vhz1.calc(&vhz1);

// ------------------------------------------------------------------------------
//    Connect inputs of the SVGEN_MF module and call the space-vector gen.
//    calculation function.
// ------------------------------------------------------------------------------
    svgen_mf1.Gain = vhz1.VoltOut;     
    svgen_mf1.Freq = vhz1.Freq;  
    svgen_mf1.calc(&svgen_mf1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PWM_DRV module and call the PWM signal generation 
//    update function.
// ------------------------------------------------------------------------------
    pwm1.MfuncC1 = (int16)_IQtoIQ15(svgen_mf1.Ta); // MfuncC1 is in Q15 
    pwm1.MfuncC2 = (int16)_IQtoIQ15(svgen_mf1.Tb); // MfuncC2 is in Q15   
    pwm1.MfuncC3 = (int16)_IQtoIQ15(svgen_mf1.Tc); // MfuncC3 is in Q15 
    pwm1.update(&pwm1);

// ------------------------------------------------------------------------------
//    Connect inputs of the SPEED_PR module and call the speed calculation function 
// ------------------------------------------------------------------------------
#if (DSP_TARGET==F2808)
    if((cap1.read(&cap1))==0)             // Call the capture read function
    {
        speed1.EventPeriod=(int32)(cap1.EventPeriod);    // Read out new time stamp difference
        speed1.calc(&speed1);                 // Call the speed calulator      
    }
#endif
#if (DSP_TARGET==F2812)
    if((cap1.read(&cap1))==0)             // Call the capture read function
    {
        speed1.TimeStamp=(int32)(cap1.TimeStamp);    // Read out new time stamp 
        speed1.calc(&speed1);                 // Call the speed calulator      
    }
#endif

// ------------------------------------------------------------------------------
//    Connect inputs of the PWMDAC module 
// ------------------------------------------------------------------------------
    PwmDacCh1 = (int16)_IQtoIQ15(svgen_mf1.Ta);
    PwmDacCh2 = (int16)_IQtoIQ15(svgen_mf1.Tb);    
    PwmDacCh3 = (int16)_IQtoIQ15(svgen_mf1.Tc);    

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module 
// ------------------------------------------------------------------------------
    DlogCh1 = (int16)_IQtoIQ15(svgen_mf1.Ta);
    DlogCh2 = (int16)_IQtoIQ15(svgen_mf1.Tb);
    DlogCh3 = (int16)_IQtoIQ15(pid1_spd.Ref);
    DlogCh4 = (int16)_IQtoIQ15(pid1_spd.Fdb);

// ------------------------------------------------------------------------------
//    Connect inputs of the EN_DRV module and call the enable/disable PWM signal
//    update function. (FOR DMC1500 ONLY)
// ------------------------------------------------------------------------------ 
    drv1.EnableFlag = EnableFlag;
    drv1.update(&drv1);

#endif // (BUILDLEVEL==LEVEL3)

// ------------------------------------------------------------------------------
//    Call the PWMDAC update function.
// ------------------------------------------------------------------------------
	pwmdac1.update(&pwmdac1);  

// ------------------------------------------------------------------------------
//    Call the DATALOG update function.
// ------------------------------------------------------------------------------
    dlog.update(&dlog);


#if (DSP_TARGET==F2808)
// Enable more interrupts from this timer
	EPwm1Regs.ETCLR.bit.INT = 1;

// Acknowledge interrupt to recieve more interrupts from PIE group 3
	PieCtrlRegs.PIEACK.all = PIEACK_GROUP3;
#endif


#if (DSP_TARGET==F2812)
// Enable more interrupts from this timer
	EvaRegs.EVAIMRA.bit.T1UFINT = 1;
	
// Note: To be safe, use a mask value to write to the entire
	// EVAIFRA register.  Writing to one bit will cause a read-modify-write
	// operation that may have the result of writing 1's to clear 
	// bits other then those intended. 
    EvaRegs.EVAIFRA.all = BIT9;

// Acknowledge interrupt to recieve more interrupts from PIE group 2
	PieCtrlRegs.PIEACK.all = PIEACK_GROUP2;
#endif

}

//===========================================================================
// No more.
//===========================================================================