pmsm.c

用freescale公司的DSP56F8013芯片实现的PMSM的SVPWM 驱动

#include "Cpu.h"
#include "Events.h"
#include "PWM.h"
#include "MFR.h"
#include "ADC1.h"
#include "PB413.h"
#include "TI1.h"
#include "TO1.h"
#include "ACRELAY.h"
#include "LEDSPI.h"
#include "SCIAS.h"
#include "PE_Types.h"
#include "PE_Error.h"
#include "PE_Const.h"
#include "IO_Map.h"
#include "Start.h"
#include "Close.h"
#include "Smopos.h"
#include "Clarke.h"
#include "Iclarke.h"
#include "Park.h"
#include "Ipark.h"
#include "Filter.h"
#include "Normal.h"
#include "Spdcal.h"
#include "Spdreg.h"

/* PMSM */
int count1;								/* used in delay time for DSP work */
int count2;								/* used in delay time for DSP work */
int count3;								/* used in delay time for DSP work */
int count4;								/* used in delay time for PWM output */
volatile int cnt2spd=0; 				/* set the speedref */
volatile int ktempmax;					/* Q15 set the ktemp max value */
volatile double numfmax;				/* set the numf max value */

/* Start */
volatile int cnt=1;						/* set the frequency of speed change */				
volatile int cnt2spdadj=1;				/* set the frequency of speed change */
volatile int ktemp=0;					/* temp value for k */
volatile int k;							/* Q16 set the amplitude of field */		
volatile double numn=0;					/* set the frequency of rotor speed */
volatile double numf=0;
volatile int num=0;
volatile unsigned int sector=1;			/* indicate the sector from 1 to 6 */

/* Event */
volatile long int cnt2drtchg=0;			/* set the frequency of direction change */
volatile bool updown=1;					/* 1 for anticlockwise, 0 for clockwise */
volatile unsigned int Vbus1;
volatile unsigned int Vbusoffset=144;	/* Vbus offset value when real value is zero */
volatile int Vbus;						/* Q6 */
volatile unsigned int Ia1;				/* A current in ADC */
volatile unsigned int Ib1;				/* B current in ADC */
volatile int Iaoffset=2097;				/* A current when the value is zero */
volatile int Iboffset=2095;				/* Theory value=(4096*1.65)/3.3=2048 */
volatile int Ia;						/* A current after shift right 3 bits */
volatile int Iaold;	
volatile int Iafst=1;		
volatile int Ib;						/* A current after shift right 3 bits */
volatile int Imax;						/* store the max value of current sense */
volatile bool Imaxfst=0;				/* flag to indicate the first */
volatile int cnt2Imax=0;	
volatile int index=0;					/* indicate the subscript of the array to store the max value */
volatile unsigned int cnt2Imaxchg=0;	/* indicate when to change the step */
volatile int Imaxtab[28];				/* store the max Imax,28＝1400/50 */
volatile int Imin=0;					/* store the min Imax */						
volatile int idx=0;						/* index for search the min Imax */
volatile int Iminflag=0;				/* disable some codes and make the motor run */
volatile int d;	
volatile int e;

volatile int a;							/* Q15 A phase current */
volatile int b;							/* Q15 B phase current */
volatile int c;							/* Q15 C phase current */
volatile int alfa;						/* Q15 alfa axis phase current */
volatile int beta;						/* Q15 beta axis phase current */
volatile int isalfa;					/* Q15 alfa axis phase current */
volatile int isbeta;					/* Q15 beta axis phase current */
volatile bool negative=0;
volatile int d1;						/* Q15 d axis phase current */
volatile int q1;						/* Q15 q axis phase current */
volatile int theta;						/* rotor position anle */
volatile int cnt2autoadj=0;		
volatile bool autoadj=0;
volatile int gujun=0;					/* for debug */	

volatile int isalfae;					/* Q15 alfa axis estimated current */
volatile int isbetae;					/* Q15 beta axis estimated current */
volatile int vsalfa;					/* Q6 alaf axis phase voltage */		
volatile int vsbeta;					/* Q6 beta axis phase voltage */
volatile int esalfa;					/* Q6 alfa axis back EMF */
volatile int esbeta;					/* Q6 beta axis back EMF */
volatile int zalfa;						/* Q6 alfa axis sliding control */
volatile int zbeta;						/* Q6 beta axis sliding control */
volatile int quadrant;					/* determine the rotor angle quadrant */
volatile int thetatemp;
volatile int thetae;					/* estimated rotor position anle */
volatile int id;						/* Q15 d axis current */
volatile int iq;						/* Q15 q axis current */
volatile int idref=0;					/* Q15 d axis reference current */
volatile int iqref=10840;				/* 3700 Q15 q axis reference current */
volatile int udout;						/* Q6 d axis voltage command */
volatile int uqout;						/* Q6 q axis voltage command */
volatile int ualfa;						/* Q6 alfa axis voltage command */
volatile int ubeta;						/* Q6 beta axis voltage command */
volatile int iqout;						/* current regulate output */
volatile int iqtemp0=0;					/* Q1 */

volatile bool tab=0;
volatile int cnt2tabset=0;				/* count to time the table set */
volatile bool tabset=0;					/* 1 for set the table, 0 for stop */
volatile int cnt2tabstop=0;				/* count to stop set the */
volatile bool tabstop=0;				/* 1 for stop the table */
volatile int cnt2ctlchg=0;				/* count to change the control strategy */
volatile bool clzloop=0;				/* 1 for close loop ctrl, 0 for open loop ctrl */
volatile int ktempchg;					/* Q15 */
volatile int numtt=0;
volatile int istemp=1;
volatile int omeg;						/* rotor speed */											
volatile int tomeg;						/* time for rotor rotate 1 cycle */
volatile int spdref=240;				/* 1000rpm */
volatile bool filter1=0;
volatile int sensebit=0;
volatile bool normalbit=0;
volatile int smobit=0;
volatile bool stnormal;
volatile int delta;
volatile int deltaold;
volatile int xdtemp0=0;					
volatile int xqtemp0=0;					
volatile int thetatemp1;
volatile int thetae1;
volatile int k1;
volatile int aa,ab,ac,ad;
volatile int e=1;	
volatile unsigned int cnt2omg=0;
volatile int thetaa;
volatile int thetab;
volatile bool spdregbit=0;

//for DAC
volatile unsigned int index1,temp,spi_data,spi_data0,n; 
volatile int tempp1,tempp2;
volatile int Icurrent;

volatile int sina[180]=		
{
		0,  572, 1144, 1715, 2286, 2856, 3425, 3993, 4560,
	 5126, 5690, 6252, 6813, 7371, 7927, 8481, 9032, 9580,
	10126,10668,11207,11743,12275,12803,13328,13848,14365,
	14876,15384,15886,16384,16877,17364,17847,18324,18795,
	19261,19720,20174,20622,21063,21498,21926,22348,22763,
	23170,23571,23965,24351,24730,25102,25466,25822,26170,
	26510,26842,27166,27482,27789,28088,28378,28660,28932,
	29197,29452,29698,29935,30163,30382,30592,30792,30983,
	31164,31336,31499,31651,31795,31928,32052,32166,32270,
	32365,32449,32524,32588,32643,32688,32723,32748,32763,
	32767,32763,32748,32723,32688,32643,32588,32524,32449,
	32365,32270,32166,32052,31928,31795,31651,31499,31336,
	31164,30983,30792,30592,30382,30163,29935,29698,29452,
	29197,28932,28660,28378,28088,27789,27482,27166,26842,
	26510,26170,25822,25466,25102,24730,24351,23965,23571,
	23170,22763,22348,21926,21498,21063,20622,20174,19720,
	19261,18795,18324,17847,17364,16877,16384,15886,15384,
	14876,14365,13848,13328,12803,12275,11743,11207,10668,
	10126, 9580, 9032, 8481, 7927, 7371, 6813, 6252, 5690,
	 5126, 4560, 3993, 3425, 2856, 2286, 1715, 1144,  572
};	
volatile int cosa[180]=			
{
   	32767,32763,32748,32723,32688,32643,32588,32524,32449,
	32365,32270,32166,32052,31928,31795,31651,31499,31336,
	31164,30983,30792,30592,30382,30163,29935,29698,29452,
	29197,28932,28660,28378,28088,27789,27482,27166,26842,
	26510,26170,25822,25466,25102,24730,24351,23965,23571,
	23170,22763,22348,21926,21498,21063,20622,20174,19720,
	19261,18795,18324,17847,17364,16877,16384,15886,15384,
	14876,14365,13848,13328,12803,12275,11743,11207,10668,
	10126, 9580, 9032, 8481, 7927, 7371, 6813, 6252, 5690,
	 5126, 4560, 3993, 3425, 2856, 2286, 1715, 1144,  572,
	    0, -572,  -1144, -1715, -2286, -2856, -3425,-3993,  -4560,
	-5126, -5690, -6252, -6813, -7371, -7927, -8481, -9032, -9580,
	-10126,-10668,-11207,-11743,-12275,-12803,-13328,-13848,-14365,
	-14876,-15384,-15886,-16384,-16877,-17364,-17847,-18324,-18795,
	-19261,-19720,-20174,-20622,-21063,-21498,-21926,-22348,-22763,
	-23170,-23571,-23965,-24351,-24730,-25102,-25466,-25822,-26170,
	-26510,-26842,-27166,-27482,-27789,-28088,-28378,-28660,-28932,
	-29197,-29452,-29698,-29935,-30163,-30382,-30592,-30792,-30983,
	-31164,-31336,-31499,-31651,-31795,-31928,-32052,-32166,-32270,
	-32365,-32449,-32524,-32588,-32643,-32688,-32723,-32748,-32763
};

volatile int tana[46]=
{
		0,	572, 1144, 1717, 2291, 2867, 3444, 4023, 4605,
	5190 , 5778, 6369, 6965, 7565, 8170, 8780, 9396,10018,
	10647,11283,11927,12578,13239,13909,14589,15280,15982,
	16696,17423,18164,18919,19689,20476,21280,22102,22944,
	23807,24692,25601,26535,27496,28485,29504,30557,31644,
	32767
};

volatile int table[360];
volatile int thetabuf[5];
volatile int nbuf=0;
/////PFC
extern int value_CMPLD1,value_CMPLD2,soft_start,p_flag,dc_lowlim,dc_highlim,dcref_trgt;
////
/* for LED */
int data1=1,data2=1000;
 int Leddata[8];

extern bool change;
///for SCI
extern SCIAS_TComData senddata[12];

void main(void)									
{
  /* LED variable definition */  
  int num1,num2,num11,i,j;
  int Value[8];
  int Code[8];
  int a[10]={0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x67};
  int Bitcode[8]={0xf7,0xfb,0xfd,0xfe,0x7f,0xbf,0xdf,0xef};   
   
  /*** Processor Expert internal initialization. DON'T REMOVE THIS CODE!!! ***/
  	PE_low_level_init();							/* 32us */
  /*** End of Processor Expert internal initialization.                    ***/

 	for(count2=1;count2<100;count2++)				/* 0.5us per loop */
	{	
		for(count1=1;count1<30000;count1++) 
		{
		cnt=1;cnt=1;
		}  
	}
	ACRELAY_SetVal();
	dc_lowlim=dcref_trgt-0x124;//c3-20v//124-30v
	dc_highlim=dcref_trgt+0xc3;
  	soft_start=1;
  
  /*Initialize timer used to pfc*/
  TO1_Enable();
  setReg(TMR0_CTRL,0x1024);
  setReg(TMR0_SCR,0x0001);
  setReg(TMR0_COMSCR,0x0086);
  setReg(TMR0_CNTR,0x0000);
  setReg(TMR0_LOAD,0x0000);
  setReg(TMR0_CMP1,value_CMPLD1);
  setReg(TMR0_CMP2,value_CMPLD2);
  setReg(TMR0_CMPLD1,value_CMPLD1);
  setReg(TMR0_CMPLD2,value_CMPLD2);
  setReg(TMR0_CTRL,0x3024);

///PFC initialization end	
////for LED  
 /* for(;;) 
  {  
   Leddata[0]=0xf706;
   Leddata[1]=0xfb00;
   Leddata[2]=0xfd00;
   Leddata[3]=0xfe00;
   Leddata[4]=0x7f3f;
   Leddata[5]=0xbf3f;
   Leddata[6]=0xdf3f;
   Leddata[7]=0xef06;	
  }/////for LED end*/
///for SCI
   senddata[0]=17;
   senddata[1]=34;
   senddata[2]=51;
   senddata[3]=68;
   senddata[4]=85;
   senddata[5]=102;
   senddata[6]=119;
   senddata[7]=136;
   senddata[8]=153;
   senddata[9]=170;
   senddata[10]=187;
   senddata[11]=204;

	numfmax=2.4;			
  	ktempchg=13;						
	ktempmax=5362;			
	
	clrRegBit(ADC_ADCR1,STOP0);	
	setRegBit(ADC_ADCR1,START0);
	
	for(count2=1;count2<105;count2++)			
	{	
		for(count1=1;count1<10;count1++) 
		{
		cnt=1;cnt=1;
		}  
	}
	
	Ia1=(getReg(ADC_ADRSLT0) & 0x7fff);    			
	Ib1=(getReg(ADC_ADRSLT2) & 0x7fff);				
	Iaoffset=(int)(Ia1>>3);
	Iboffset=(int)(Ib1>>3);	
	
	for(;;)
	{
	
  	if(stnormal==1)
   	{
		Normal();
		stnormal=0;
   	}
    	if(spdregbit==1)
   	{
		Spdreg();
		spdregbit=0;
   		cnt2omg=0;
   	}

  senddata[2]=(unsigned char)(data2%10+(data2/10)%10*10);
  senddata[3]=(unsigned char)((data2/100)%10+(data2/1000)*10);
  if(data2>=1000)
  senddata[1]=1;/////high speed
  else
  senddata[1]=0;/////low speed     
  if(data1==1)
  senddata[4]=1;////clockwise
  else
  senddata[4]=0;////anti-clockwise
  

  if(change)
    {
      num1=data1;
      num11=data1;
      num2=data2;
      
   	 for(i=0;i<4;i++)
      {
       Value[i]=num1%10;
       num1=num1/10;
      }

     for(i=4;i<8;i++)
      {
       Value[i]=num2%10;
       num2=num2/10;
      }

    for(i=0;i<8;i++)
     { 
      j=Value[i]; 
      Code[i]=a[j];
     }
     

  for(i=0;i<8;i++)
    Leddata[i]=Bitcode[i]*256+Code[i];
    change=0;    

    if(num11==1)
     {
     	for(i=1;i<4;i++)
      
      	Leddata[i]=(int)(Leddata[i]|0xff00);
     	      
     }
       
     if(num11==0)  
     {
     	for(i=2;i<4;i++)
      
      	Leddata[i]=(int)(Leddata[i]|0xff00);
      	Leddata[0]=Bitcode[0]*256+a[1];
      	Leddata[1]=Bitcode[1]*256+0x40;
     }
  	 }
 	}	/* for loop end */ 
}