📄 acim.c
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/**********************************************************************
* *
* Software License Agreement *
* *
* The software supplied herewith by Microchip Technology *
* Incorporated (the "Company") for its dsPIC controller *
* is intended and supplied to you, the Company's customer, *
* for use solely and exclusively on Microchip dsPIC *
* products. The software is owned by the Company and/or its *
* supplier, and is protected under applicable copyright laws. All *
* rights are reserved. Any use in violation of the foregoing *
* restrictions may subject the user to criminal sanctions under *
* applicable laws, as well as to civil liability for the breach of *
* the terms and conditions of this license. *
* *
* THIS SOFTWARE IS PROVIDED IN AN "AS IS" CONDITION. NO *
* WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, *
* BUT NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND *
* FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. THE *
* COMPANY SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, *
* INCIDENTAL OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. *
* *
**********************************************************************/
/**********************************************************************
* *
* Author: John Theys/Dave Ross *
* *
* Filename: ACIM.c *
* Date: 10/31/03 *
* File Version: 3.00 *
* *
* Tools used: MPLAB GL -> 6.30.0.0 *
* Compiler -> 1.22.3.0 *
* Assembler -> 1.22.3.0 *
* Linker -> 1.22.3.0 *
* *
* Linker File: p30f6010.gld *
* *
* *
***********************************************************************
*10/31/03 2.00 Released Motor runs fine, still some loose ends
*
*12/19/03 2.01 Cleaned up structure, created UserParms.h for all
* user defines.
*
*02/12/04 3.00 -Removed unnecessary files from project.
-Changed iRPM to int to correct floating point calc
* problems.
* -CalcVel() and velocity control loop only execute
* after number of loop periods specified by
* iIrpPerCalc.
* -Added iDispLoopCount variable to schedule
* execution of display and button routines
* -trig.s file changed to use program space for
* storage of sine data.
* -Added DiagnosticsOutput() function that uses
* output compare channels to output control variable
* information.
* -Added TORQUE_MODE definition to bypass velocity
* control loop.
* -Turned off SATDW bit in curmodel.s file. The
* automatic saturation feature prevents slip
* angle calculation from wrapping properly.
*
************************************************************************
* Code Description
*
* This file demonstrates Vector Control of a 3 phase ACIM using the
* dsPIC30F. SVM is used as the modulation strategy.
**********************************************************************/
/************** GLOBAL DEFINITIONS ***********/
#define INITIALIZE
#include "Motor.h"
#include "Parms.h"
#include "Encoder.h"
#include "SVGen.h"
#include "ReadADC.h"
#include "MeasCurr.h"
#include "CurModel.h"
#include "FdWeak.h"
#include "Control.h"
#include "PI.h"
#include "Park.h"
#include "OpenLoop.h"
#include "Util.h"
#include "LCD.h"
#include "bin2dec.h"
#include "UserParms.h"
/************** END OF GLOBAL DEFINITIONS ***********/
unsigned short uWork;
short iCntsPerRev;
short iDeltaPos;
union {
struct
{
unsigned DoLoop:1;
unsigned OpenLoop:1;
unsigned RunMotor:1;
unsigned Btn1Pressed:1;
unsigned Btn2Pressed:1;
unsigned Btn3Pressed:1;
unsigned Btn4Pressed:1;
unsigned ChangeMode:1;
unsigned ChangeSpeed:1;
unsigned :7;
}bit;
WORD Word;
} uGF; // general flags
tPIParm PIParmQ;
tPIParm PIParmQref;
tPIParm PIParmD;
tReadADCParm ReadADCParm;
int iRPM;
WORD iMaxLoopCnt;
WORD iLoopCnt;
WORD iDispLoopCnt;
/******************************************************/
void __attribute__((__interrupt__)) _ADCInterrupt(void);
void SetupBoard( void );
bool SetupParm(void);
void DoControl( void );
void Dis_RPM( BYTE bChrPosC, BYTE bChrPosR );
void DiagnosticsOutput(void);
/************* START OF MAIN FUNCTION ***************/
int main ( void )
{
SetupPorts();
InitLCD();
while(1)
{
uGF.Word = 0; // clear flags
// init Mode
uGF.bit.OpenLoop = 1; // start in openloop
// init LEDs
pinLED1 = 0;
pinLED2 = !uGF.bit.OpenLoop;
pinLED3 = 0;
pinLED4 = 0;
// init board
SetupBoard();
// init user specified parms and stop on error
if( SetupParm() )
{
// Error
uGF.bit.RunMotor=0;
return;
}
// zero out i sums
PIParmD.qdSum = 0;
PIParmQ.qdSum = 0;
PIParmQref.qdSum = 0;
iMaxLoopCnt = 0;
Wrt_S_LCD("Vector Control ", 0 , 0);
Wrt_S_LCD("S4-Run/Stop ", 0, 1);
// Enable ADC interrupt and begin main loop timing
IFS0bits.ADIF = 0;
IEC0bits.ADIE = 1;
if(!uGF.bit.RunMotor)
{
// Initialize current offset compensation
while(!pinButton1) //wait here until button 1 is pressed
{
ClrWdt();
// Start offset accumulation //and accumulate current offset while waiting
MeasCompCurr();
}
while(pinButton1); //when button 1 is released
uGF.bit.RunMotor = 1; //then start motor
}
// Run the motor
uGF.bit.ChangeMode = 1;
// Enable the driver IC on the motor control PCB
pinPWMOutputEnable_ = 0;
Wrt_S_LCD("RPM= ", 0, 0);
Wrt_S_LCD("S5-Cls. Lp S6-2x", 0, 1);
//Run Motor loop
while(1)
{
ClrWdt();
// Write vector control variables to output compare channels
// for observation on oscilloscope.
#ifdef DIAGNOSTICS
DiagnosticsOutput();
#endif
// The code that updates the LCD display and polls the buttons
// executes every 50 msec.
if(iDispLoopCnt >= dDispLoopCnt)
{
//Display RPM
Dis_RPM(5,0);
// Button 1 starts or stops the motor
if(pinButton1)
{
if( !uGF.bit.Btn1Pressed )
uGF.bit.Btn1Pressed = 1;
}
else
{
if( uGF.bit.Btn1Pressed )
{
// Button just released
uGF.bit.Btn1Pressed = 0;
// begin stop sequence
uGF.bit.RunMotor = 0;
pinPWMOutputEnable_ = 1;
break;
}
}
//while running button 2 will toggle open and closed loop
if(pinButton2)
{
if( !uGF.bit.Btn2Pressed )
uGF.bit.Btn2Pressed = 1;
}
else
{
if( uGF.bit.Btn2Pressed )
{
// Button just released
uGF.bit.Btn2Pressed = 0;
uGF.bit.ChangeMode = 1;
uGF.bit.OpenLoop = ! uGF.bit.OpenLoop;
pinLED2 = !uGF.bit.OpenLoop;
}
}
//while running button 3 will double/half the speed or torque demand
if(pinButton3)
{
if( !uGF.bit.Btn3Pressed )
uGF.bit.Btn3Pressed = 1;
LATGbits.LATG0 = 0;
}
else
{
if( uGF.bit.Btn3Pressed )
{
// Button just released
uGF.bit.Btn3Pressed = 0;
uGF.bit.ChangeSpeed = !uGF.bit.ChangeSpeed;
pinLED3 = uGF.bit.ChangeSpeed;
LATGbits.LATG0 = 1;
}
}
// Button 4 does not do anything
if(pinButton4)
{
if( !uGF.bit.Btn4Pressed )
uGF.bit.Btn4Pressed = 1;
}
else
{
if( uGF.bit.Btn4Pressed )
{
// Button just released
uGF.bit.Btn4Pressed = 0;
//*** ADD CODE HERE FOR BUTTON 4 FUNCTION
}
}
} // end of display and button polling code
} // End of Run Motor loop
} // End of Main loop
// should never get here
while(1){}
}
//---------------------------------------------------------------------
// Executes one PI itteration for each of the three loops Id,Iq,Speed
void DoControl( void )
{
short i;
// Assume ADC channel 0 has raw A/D value in signed fractional form from
// speed pot (AN7).
ReadSignedADC0( &ReadADCParm );
// Set reference speed
if(uGF.bit.ChangeSpeed)
CtrlParm.qVelRef = ReadADCParm.qADValue/8;
else
CtrlParm.qVelRef = ReadADCParm.qADValue/16;
if( uGF.bit.OpenLoop )
{
// OPENLOOP: force rotating angle,Vd,Vq
if( uGF.bit.ChangeMode )
{
// just changed to openloop
uGF.bit.ChangeMode = 0;
// synchronize angles
OpenLoopParm.qAngFlux = CurModelParm.qAngFlux;
// VqRef & VdRef not used
CtrlParm.qVqRef = 0;
CtrlParm.qVdRef = 0;
}
OpenLoopParm.qVelMech = CtrlParm.qVelRef;
// calc rotational angle of rotor flux in 1.15 format
// just for reference & sign needed by CorrectPhase
CurModelParm.qVelMech = EncoderParm.qVelMech;
CurModel();
ParkParm.qVq = 0;
if( OpenLoopParm.qVelMech >= 0 )
i = OpenLoopParm.qVelMech;
else
i = -OpenLoopParm.qVelMech;
uWork = i <<2;
if( uWork > 0x5a82 )
uWork = 0x5a82;
if( uWork < 0x1000 )
uWork = 0x1000;
ParkParm.qVd = uWork;
OpenLoop();
ParkParm.qAngle = OpenLoopParm.qAngFlux;
}
else
// Closed Loop Vector Control
{
if( uGF.bit.ChangeMode )
{
// just changed from openloop
uGF.bit.ChangeMode = 0;
// synchronize angles and prep qdImag
CurModelParm.qAngFlux = OpenLoopParm.qAngFlux;
CurModelParm.qdImag = ParkParm.qId;
}
// Current model calculates angle
CurModelParm.qVelMech = EncoderParm.qVelMech;
CurModel();
ParkParm.qAngle = CurModelParm.qAngFlux;
// Calculate qVdRef from field weakening
FdWeakening();
// Set reference speed
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