weizhisudupid.c

这是使用DSP TMS320F2812对无刷励磁直流电机进行有传感器闭环控制的程序

#include "DSP28_Device.h"
#include "motor.h"


/***************************************************/
interrupt void t1pint_isr(void);
interrupt void t2pint_isr(void);
interrupt void  cap_isr(void);
interrupt void  pdpinta_isr(void);
void delay(unsigned int m);
void pidcontrol(int u,int y);//速度调节

unsigned int t1prd=117;//定时器1的周期
unsigned int t2prd=117;//定时器2的标志

unsigned int dir=0;//电机转动方向

unsigned int dccurent;//直流母线电流
Uint32 Sumdcc=0;
unsigned int dcccount=0,Averagedcc=0;//母线电流平均值初始化
unsigned int dcvoltage;//直流母线电压
Uint32 Sumdcv=0;
unsigned int dcvcount=0,Averagedcv=0;//母线电压平均值初始化

unsigned int capstastus;//定义cap口的电平
Uint32 Time,T2cnt,count=0;//,Speed=0,;
unsigned Pole=2;//极对数
Uint32 Sum=0,Average=0;
unsigned int l=0,nnn=0,Speed=0;

//速度到pwm的初始值
unsigned int pwm=20;//pwm的占空比初值
float kp=0.003,ki=0.02,kd=0.0;
int Speedset=2200;
int ek=0,ek1=0,ek2=0;
int du;
float duk;

int t2=0;
unsigned int yy=0;
unsigned int test0[2000],test1[5000];
int sss=0;

/***************************************************/
void main(void)
{
	/*初始化系统*/
	InitSysCtrl();

	/*关中断*/
	DINT;
	IER = 0x0000;
	IFR = 0x0000;

	/*初始化PIE*/
	InitPieCtrl();

	/*初始化PIE矢量表*/
	InitPieVectTable();	
	
	/*初始化GPIO*/
	Gpioinit();
	
	/*初始化AD*/
	InitAdc();
	
	/*初始化PWM*/
	Init_eva_pwm(); 
    
    /*初始化CAP*/
    Capinit();
	
	EALLOW;  // This is needed to write to EALLOW protected register
    PieVectTable.CAPINT1=&cap_isr;
    PieVectTable.CAPINT2=&cap_isr;
    PieVectTable.CAPINT3=&cap_isr;
    PieVectTable.T1PINT=&t1pint_isr;
    PieVectTable.T2PINT=&t2pint_isr;
    PieVectTable.PDPINTA=&pdpinta_isr;    
    EDIS;    // This is needed to disable write to EALL
	
	PieCtrl.PIEIER2.bit.INTx4=1;//T1pint中断
    PieCtrl.PIEIER3.bit.INTx1=1;//T2pint中断
    PieCtrl.PIEIER3.bit.INTx5=1;//Cap1中断
    PieCtrl.PIEIER3.bit.INTx6=1;//Cap2中断
    PieCtrl.PIEIER3.bit.INTx7=1;//Cap3中断
    PieCtrl.PIEIER1.bit.INTx1=1;//pdpinta中断     	
	/* 设置IER寄存器 */

	IER |= M_INT1;
    IER |= M_INT2; // t1pint enable
    IER |= M_INT3; // capture enable    
    
    
    // Enable global Interrupts and higher priority real-time debug events:
	startmotor();
	EINT;   // Enable Global interrupt INTM
	ERTM;	// Enable Global realtime interrupt DBGM    
    
// Step 6. IDLE loop. Just sit and loop forever (optional):	
    while(1)
    {              	
	}	
} 	


interrupt void  t2pint_isr(void)
{
  count++; 
  EvaRegs.EVAIFRB.bit.T2PINT=1;//清除中断标志
  EvaRegs.EVAIMRB.bit.T2PINT=1;//中断允许    
  PieCtrl.PIEACK.bit.ACK3=1;//向cpu申请中断 
}


interrupt void  cap_isr(void)
{  
   /*****以下用来检测传感器的输出电平，用来换向****/
   Uint32 kk=t2prd;
   EALLOW;
   GpioMuxRegs.GPAMUX.bit.CAP1Q1_GPIOA8=0;//设定cap1~3为gpio
   GpioMuxRegs.GPAMUX.bit.CAP2Q2_GPIOA9=0;
   GpioMuxRegs.GPAMUX.bit.CAP3QI1_GPIOA10=0;   
   GpioMuxRegs.GPADIR.bit.GPIOA8=0;//设定cap1~3为输入
   GpioMuxRegs.GPADIR.bit.GPIOA9=0;
   GpioMuxRegs.GPADIR.bit.GPIOA10=0;
   capstastus=(GpioDataRegs.GPADAT.all&0x0700)>>8;
   
   if(dir==1)
    {
     	switch(capstastus)//ir2136 的hin和lin是反向的
   	 	{
   			case 1: EvaRegs.ACTR.all=0x7fd;break;//h3 fall
   			case 2: EvaRegs.ACTR.all=0xfd7;break;//h1 fall
   			case 3: EvaRegs.ACTR.all=0x7df;break;//h2 rise
   			case 4: EvaRegs.ACTR.all=0xd7f;break;//h2 fall
   			case 5: EvaRegs.ACTR.all=0xf7d;break;//h1 rise
   			case 6: EvaRegs.ACTR.all=0xdf7;break;//h3 rise
   	 	}
    }
    else
    {
    	switch(capstastus)//ir2136 的hin和lin是反向的
   	 	{
   			case 5: EvaRegs.ACTR.all=0xfd7;break;//h1 rise    
   			case 1: EvaRegs.ACTR.all=0xd7f;break;//h3 fall
   			case 3: EvaRegs.ACTR.all=0xdf7;break;//h2 rise
   			case 2: EvaRegs.ACTR.all=0xf7d;break;//h1 fall
   			case 6: EvaRegs.ACTR.all=0x7fd;break;//h3 rise
   			case 4: EvaRegs.ACTR.all=0x7df;break;//h2 fall
   	 	}
    }
      
   
   /*以下用来计算转速*/
    T2cnt=EvaRegs.T2CNT;//读取定时器2的值
    Time=kk*count+ T2cnt;//获得运转1相所需时间    
    Sum+=Time;   
    l++;
        
    if(l==12)//每转12/6/pole计算一下转速
    {
      Average=Sum/12;  
              
      Speed=kk*20000*60/(Average*6*Pole);//计算转速        
      Sum=0;      
      l=0;               
      test0[nnn]=Speed;//测试用，存储速度值             
      nnn++;      
      if(nnn==2000)
      {      	 
      	  nnn=0;  
      }

    }
    
    count=0;
    EvaRegs.T2CON.all = 0x1400;//关闭定时器2   
    EvaRegs.T2CNT = 0x0000;
    EvaRegs.T2CON.all = 0x1440;//启动定时器2
    
   
    /*************************/
    GpioMuxRegs.GPAMUX.bit.CAP1Q1_GPIOA8=1;//重新设定cap1~3为gpio
    GpioMuxRegs.GPAMUX.bit.CAP2Q2_GPIOA9=1;
    GpioMuxRegs.GPAMUX.bit.CAP3QI1_GPIOA10=1; 
   
    EvaRegs.EVAIFRC.all = 7 ; // 清捕捉中断
    EvaRegs.CAPFIFO.all = 0x01500; // 清空捕捉堆栈   
    PieCtrl.PIEACK.bit.ACK3=1;//cap1中断向cpu申请中断
}

interrupt void  t1pint_isr(void)
{
    dcvoltage=(AdcRegs.RESULT0)>>4;
  	dccurent=(AdcRegs.RESULT1)>>4; 
  	
  	yy++;
  	if(yy==10000) 
  	{
  		yy=0;
  		GpioDataRegs.GPADAT.bit.GPIOA13 =!GpioDataRegs.GPADAT.bit.GPIOA13;//程序运行显示  
    }
   //母线电压检测，过压保护，
   //注：电机在启动或者转动方向改变时，可能母线电压有脉动
   //采用多次求平均值
    Sumdcv+=dcvoltage;    
    dcvcount++;
    if(dcvcount==500)
    {
    	Averagedcv=Sumdcv/500;//求平均母线电压
    	Sumdcv=0;
    	dcvcount=0;	
    }    
  	
  	//母线电流检测，过流保护，采用多次求平均值
  	Sumdcc+=dccurent;    
    dcccount++;
    if(dcccount==200)
    {
    	Averagedcc=Sumdcc/200;//求平均母线电流
    	Sumdcc=0;
    	dcccount=0;	    	
    }    
    
  			
  	if((Averagedcv>=3000)|(Averagedcc>=3000))
  	{
  		stopmotor();
  		if(Averagedcv>=3000) 
  		GpioDataRegs.GPADAT.bit.GPIOA11 =1;//过压显示
  		if(Averagedcc>=3000)
  		GpioDataRegs.GPADAT.bit.GPIOA12 =1;//过流显示	
  	}
  	
    else
    {   
        GpioDataRegs.GPADAT.bit.GPIOA11 =0;//过压显示
        GpioDataRegs.GPADAT.bit.GPIOA12 =0;//过流显示 	
  		////速度调节
  		test1[t2]=Averagedcc;
  		t2++;
  		if(t2==5000)
  		{   
  			pidcontrol(Speedset,Speed);//250ms 
  			t2=0;  		
  		}
  	
  	}
  	/******************************/  
  	AdcRegs.ADC_ST_FLAG.bit.INT_SEQ1_CLR=1; //清除状态字
 	AdcRegs.ADCTRL2.bit.RST_SEQ1=1;//复位seq1
  
  	EvaRegs.EVAIFRA.bit.T1PINT=1;//清除中断标志
  	EvaRegs.EVAIMRA.bit.T1PINT=1;//中断允许 
   
  	PieCtrl.PIEACK.bit.ACK2=1;//向cpu申请中断

}


interrupt void  pdpinta_isr(void)
{
  
  	EvaRegs.EVAIFRA.bit.PDPINTA=1;//清除PDPINTA中断标志
  	PieCtrl.PIEACK.bit.ACK1=1;//向cpu申请中断
  	
    stopmotor();    
  	EvaRegs.COMCONA.bit.FCOMPOE=1;//重新使能比较输出
 
}



//pid控制
void pidcontrol(int u,int y)
{
   
	ek=u-y;
	duk=kp*(ek-ek1)+ki*ek+kd*(ek+ek2-ek1*2);
	du=(int)duk;
	if(duk>1)  duk=1;
	if(duk<-1) duk=-1;	
	pwm-=du;    
	if(pwm<4)
	{
	  pwm=4;		
	}
	if(pwm>70)
	{
	  pwm=70;	
	}
	EvaRegs.CMPR1=pwm;
	EvaRegs.CMPR2=pwm;
	EvaRegs.CMPR3=pwm;
	
	ek2=ek1;
	ek1=ek;	
}

void delay(unsigned int m)
{
    unsigned int i,j;
	for(i=0;i<m;i++)
	{
		for(j=0;j<1500;j++)
		{}
	}
}


/***********************************************************************/
//	No	more
/***********************************************************************/