📄 acmotor.lst
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ANSI-C/cC++ Compiler for ST7 V-5.0.7, Aug 21 2001
1: /**************** (c) 2004 STMicroelectronics ********************************
2:
3: PROJECT : 3-phase AC induction motor drive Software Library
4: COMPILER : COSMIC / METROWERKS
5:
6: MODULE : acmotor.c
7: VERSION : 1.0.0
8:
9: CREATION DATE : April 2004
10:
11: AUTHOR : V. Onde / Microcontroller Division Applications
12: Consumer & Micro Group
13:
14: -*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-
15:
16: DESCRIPTION : 3-phase AC motor control routines, include Start/Stop
17: management and PI regulation
18:
19: -*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-
20:
21: MODIFICATIONS :
22:
23: *******************************************************************************
24: THE SOFTWARE INCLUDED IN THIS FILE IS FOR GUIDANCE ONLY. ST MICROELECTRONICS
25: SHALL NOT BE HELD LIABLE FOR ANY DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES
26: WITH RESPECT TO ANY CLAIMS ARISING FROM USE OF THIS SOFTWARE.
27: ******************************************************************************/
28:
29: #include "lib.h" /*General purpose typedefs and macros */
30: #include "mtc.h" /*Public motor control peripheral function prototypes*/
31: #include "ACMparam.h" /*AC Motor Control parameters */
32: #include "acmotor.h" /*Public AC motor control function prototypes */
33: #include "pwmart.h" /*Public general purpose Timebase function prototypes*/
34:
35: #ifdef PI_PARAM_TUNING
36: u8 Kp, Ki;
37: #else
38: static u8 Kp, Ki;
39: #endif
40:
41: static s32 VoltageIntegralTerm;
42: static s8 Error_slip;
43: static s32 DeltaVoltage_slip;
44: static s16 Voltage_slip;
45: static s32 DeltaVoltage_slip_s32;
46: static s32 Voltage_slip_s32;
47: static BOOL MinPiOut;
48: static BOOL MaxPiOut;
49:
50:
51: #define VOLT_INIT ((u8)0) /* Voltage initialisation at MCU start-up */
52: #define FREQ_INIT ((u16)50) /* Freq initialisation at MCU start-up */
53:
54: #define SLEW_LIMIT ((u8)20) /* Voltage and frequency increment/decrement
55: rate in ms */
56:
57: /*-----------------------------------------------------------------------------
58: ROUTINE Name : ACM_Init
59:
60: Description: This function performs the initialisation of ACM module.
61: Conditions for proper initialisation of ACM module:
62: _ MTC functions called in below described order,
63: _ Init Sinewave generation with Voltage = 0 to be sure that duty
64: cycle on each phase is 50% when starting.
65: -----------------------------------------------------------------------------*/
66: void ACM_Init(void)
67: {
Function: ACM_Init
Source : ..\..\source\acmotor.c
Options : -Cc -F7 -Lasm=%n.lst -Ml -N -Os -Ou -Of -Ol0 -OnPMNC -Or
68:
69: MTC_InitPeripheral(); // Initialize peripheral for three phase PWM generation
0000 cd0000 CALL MTC_InitPeripheral
70: MTC_InitSineGen(); // Configure SW variables for sinewave generation
0003 cd0000 CALL MTC_InitSineGen
71:
72: MTC_Set_ClockWise_Direction();
0006 cd0000 CALL MTC_Set_ClockWise_Direction
73:
74: ART_SetSpeedRegPeriod(SAMPLING_TIME);
0009 a60a LD A,#10
000b cc0000 JP ART_SetSpeedRegPeriod
75:
76: }
77:
78:
79: /*-----------------------------------------------------------------------------
80: ROUTINE Name : ACM_VoltageMaxAllowed
81:
82: Description: This function limits the voltage on motor stator according to
83: setpoints given in ACMParam.h. It performs a linear interpolation.
84: No error codes are returned if StatorFrequency is outside the
85: frequency domain given in MTCParam.h [VF_LOWFREQ_LIMIT/VF_HIGHFREQ_LIMIT].
86: Duration:
87: Important caution: when modifying setpoints, user must keep in mind that
88: VF_COEFF, VF_OFFSET and local variable Buffer are declared as u16.
89: They must therefore be declared as u32 there is chance for overflow to occur.
90: -----------------------------------------------------------------------------*/
91: u8 ACM_VoltageMaxAllowed(u16 StatorFrequency)
92: {
Function: ACM_VoltageMaxAllowed
Source : ..\..\source\acmotor.c
Options : -Cc -F7 -Lasm=%n.lst -Ml -N -Os -Ou -Of -Ol0 -OnPMNC -Or
0000 b701 LD _ACM_VoltageMaxAllowedp0:1,A
0002 bf00 LD _ACM_VoltageMaxAllowedp0,X
93: u8 VoltageMax;
94:
95: if ( StatorFrequency <= VF_LOWFREQ_LIMIT )
0004 a300 CP X,#0
0006 220a JRUGT *12 ;abs = 0012
0008 2604 JRNE *6 ;abs = 000e
000a a1c8 CP A,#200
000c 2204 JRUGT *6 ;abs = 0012
96: {
97: VoltageMax = V_MIN;
000e a61e LD A,#30
98:
99: } else if ( StatorFrequency >= VF_HIGHFREQ_LIMIT )
0010 2025 JRT *39 ;abs = 0037
0012 b601 LD A,_ACM_VoltageMaxAllowedp0:1
0014 be00 LD X,_ACM_VoltageMaxAllowedp0
0016 a303 CP X,#3
0018 250a JRULT *12 ;abs = 0024
001a 2604 JRNE *6 ;abs = 0020
001c a1e8 CP A,#232
001e 2504 JRULT *6 ;abs = 0024
100: {
101: VoltageMax = V_MAX;
0020 a6ff LD A,#255
102:
103: } else {
0022 2013 JRT *21 ;abs = 0037
104: u16 Buffer;
105: Buffer = (u16)(StatorFrequency * VF_COEFF) - VF_OFFSET;
0024 89 PUSH X
0025 88 PUSH A
0026 a648 LD A,#72
0028 5f CLR X
0029 cd0000 CALL _IMULU
002c a040 SUB A,#64
002e b701 LD Buffer:1,A
0030 9f LD A,X
0031 a238 SBC A,#56
0033 b700 LD Buffer,A
106: VoltageMax = (u8)(V_MIN + (u8)((u16)Buffer / (u16)256));
0035 ab1e ADD A,#30
0037 b700 LD VoltageMax,A
107: /* 256 factor is included in VF COEFF and VF_OFFSET calculations */
108: /* Aim is to keep calculation accuracy */
109: }
110:
111: return ( VoltageMax );
112: }
0039 81 RET
113:
114:
115: /*-----------------------------------------------------------------------------
116: ROUTINE Name : ACM_InitSoftStart
117:
118: Description: This function initializes the soft start procedure: it forces
119: the voltage to be null, enable the PMW outputs and set-up the
120: timebases required to smoothly increase voltage and have a start-up
121: time out.
122: -----------------------------------------------------------------------------*/
123: void ACM_InitSoftStart(u16 StatorFreq)
124: {
Function: ACM_InitSoftStart
Source : ..\..\source\acmotor.c
Options : -Cc -F7 -Lasm=%n.lst -Ml -N -Os -Ou -Of -Ol0 -OnPMNC -Or
0000 b701 LD _ACM_InitSoftStartp0:1,A
0002 bf00 LD _ACM_InitSoftStartp0,X
125: u8 VoltageMax = ACM_VoltageMaxAllowed( StatorFreq );
0004 ad00 CALLR ACM_VoltageMaxAllowed
0006 b700 LD VoltageMax,A
126: u16 TimeUnit;
127:
128:
129: MTC_InitTachoMeasure( );
0008 cd0000 CALL MTC_InitTachoMeasure
130: MTC_UpdateSine(0, StatorFreq);
000b 3f00 CLR _MTC_UpdateSinep1
000d be00 LD X,_ACM_InitSoftStartp0
000f b601 LD A,_ACM_InitSoftStartp0:1
0011 cd0000 CALL MTC_UpdateSine
131: MTC_EnableMCOutputs(); // PWM is present on MCO outputs
0014 cd0000 CALL MTC_EnableMCOutputs
132:
133: TimeUnit = START_TIMEOUT / VoltageMax;
0017 ae07 LD X,#7
0019 89 PUSH X
001a 5c INC X
001b 89 PUSH X
001c b600 LD A,VoltageMax
001e 5f CLR X
001f cd0000 CALL _IDIVU
0022 b701 LD TimeUnit:1,A
0024 bf00 LD TimeUnit,X
134: if ( TimeUnit == 0 )
0026 b601 LD A,TimeUnit:1
0028 ba00 OR A,TimeUnit
002a 2606 JRNE *8 ;abs = 0032
135: {
136: TimeUnit = 1; /* Avoid applying full voltage directly */
002c a601 LD A,#1
002e b701 LD TimeUnit:1,A
0030 3f00 CLR TimeUnit
137: }
138: ART_Set_TimeInMs(TimeUnit); // Set soft start slope
0032 be00 LD X,TimeUnit
0034 b601 LD A,TimeUnit:1
0036 cd0000 CALL ART_Set_TimeInMs
139:
140: ART_SetSequenceDuration(START_TIMEOUT + EXTRA_TIMEOUT);
0039 ae0a LD X,#10
003b a6f0 LD A,#240
003d cc0000 JP ART_SetSequenceDuration
141:
142: }
143:
144:
145: /*-----------------------------------------------------------------------------
146: ROUTINE Name : ACM_SoftStart
147:
148: Description: This function provides a soft start which limits the inrush current
149: in the motor. It also monitors the speed feedback to stop
150: the voltage increase when a given minimum rotor speed is reached.
151: The function ramps up the stator voltage linearly while the stator
152: frequency remains constant. The ramp ends when one of the following
153: conditions occurs:
154: ⌨️ 快捷键说明
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