aci3_3.c

伺服控制数学模型

    ipark1.Angle = rg1.Out;
    ipark1.calc(&ipark1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PWMDAC module 
// ------------------------------------------------------------------------------	
    PwmDacCh1 = float2fix(ipark1.Alpha,15);
    PwmDacCh2 = float2fix(ipark1.Beta,15);    
    PwmDacCh3 = float2fix(rg1.Out,15);    

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module 
// ------------------------------------------------------------------------------
    DlogCh1 = float2fix(ipark1.Alpha,15);
    DlogCh2 = float2fix(ipark1.Beta,15);
    DlogCh3 = float2fix(rg1.Freq,15);
    DlogCh4 = float2fix(rg1.Out,15);

#endif // (BUILDLEVEL==LEVEL1)


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

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

// ------------------------------------------------------------------------------
//    Connect inputs of the RAMP GEN module and call the Ramp generator
//    calculation function.
// ------------------------------------------------------------------------------
    rg1.Freq = rc1.SetpointValue;
    rg1.calc(&rg1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PARK module and call the park transformation
//    calculation function.
// ------------------------------------------------------------------------------
    park1.Alpha = aci1.Ialpha;
    park1.Beta = aci1.Ibeta;
    park1.Angle = rg1.Out;
 	park1.calc(&park1);

// ------------------------------------------------------------------------------
//    Connect inputs of the INV_PARK module and call the inverse park transformation
//    calculation function.
// ------------------------------------------------------------------------------
    ipark1.Ds = VdTesting;
    ipark1.Qs = VqTesting;	
    ipark1.Angle = rg1.Out;
    ipark1.calc(&ipark1);

// ------------------------------------------------------------------------------
//    Connect inputs of the ACI module and call the induction motor model
//    calculation function.
// ------------------------------------------------------------------------------
	aci1.Ualpha = ipark1.Alpha;
	aci1.Ubeta = ipark1.Beta;
	aci1.calc(&aci1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PWMDAC module 
// ------------------------------------------------------------------------------	
    PwmDacCh1 = float2fix(aci1.Ialpha,15);
    PwmDacCh2 = float2fix(aci1.Wr,15);    
    PwmDacCh3 = float2fix(aci1.Torque,15);    

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module 
// ------------------------------------------------------------------------------
    DlogCh1 = float2fix(ipark1.Alpha,15);
    DlogCh2 = float2fix(ipark1.Beta,15);
    DlogCh3 = float2fix(aci1.Ialpha,15);
    DlogCh4 = float2fix(aci1.Ibeta,15);

#endif // (BUILDLEVEL==LEVEL2) 


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

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

// ------------------------------------------------------------------------------
//    Connect inputs of the RAMP GEN module and call the Ramp generator
//    calculation function.
// ------------------------------------------------------------------------------
    rg1.Freq = rc1.SetpointValue;
    rg1.calc(&rg1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PARK module and call the park transformation
//    calculation function.
// ------------------------------------------------------------------------------
    park1.Alpha = aci1.Ialpha;
    park1.Beta = aci1.Ibeta;
    park1.Angle = rg1.Out;
 	park1.calc(&park1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PID module and call the PID IQ controller
//    calculation function.
// ------------------------------------------------------------------------------  
    pid1_iq.Ref = IqRef;
	pid1_iq.Fdb = park1.Qs;
	pid1_iq.calc(&pid1_iq);

// ------------------------------------------------------------------------------
//    Connect inputs of the PID module and call the PID ID controller
//    calculation function.
// ------------------------------------------------------------------------------  
    pid1_id.Ref = IdRef;
	pid1_id.Fdb = park1.Ds;
	pid1_id.calc(&pid1_id);

// ------------------------------------------------------------------------------
//    Connect inputs of the INV_PARK module and call the inverse park transformation
//    calculation function.
// ------------------------------------------------------------------------------
    ipark1.Ds = pid1_id.Out;
    ipark1.Qs = pid1_iq.Out;	
    ipark1.Angle = rg1.Out;
    ipark1.calc(&ipark1);

// ------------------------------------------------------------------------------
//    Connect inputs of the ACI module and call the induction motor model
//    calculation function.
// ------------------------------------------------------------------------------
	aci1.Ualpha = ipark1.Alpha;
	aci1.Ubeta = ipark1.Beta;
	aci1.calc(&aci1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PWMDAC module 
// ------------------------------------------------------------------------------	
    PwmDacCh1 = float2fix(aci1.Ialpha,15);
    PwmDacCh2 = float2fix(aci1.Wr,15);    
    PwmDacCh3 = float2fix(aci1.Torque,15);    

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module 
// ------------------------------------------------------------------------------
    DlogCh1 = float2fix(aci1.Ialpha,15);
    DlogCh2 = float2fix(aci1.Ibeta,15);
    DlogCh3 = float2fix(aci1.Wr,15);
    DlogCh4 = float2fix(aci1.Torque,15);

#endif // (BUILDLEVEL==LEVEL3) 


// ***************** LEVEL4 *****************
#if (BUILDLEVEL==LEVEL4)

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

// ------------------------------------------------------------------------------
//    Connect inputs of the RAMP GEN module and call the Ramp generator
//    calculation function.
// ------------------------------------------------------------------------------
    rg1.Freq = rc1.SetpointValue;
    rg1.calc(&rg1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PARK module and call the park transformation
//    calculation function.
// ------------------------------------------------------------------------------
    park1.Alpha = aci1.Ialpha;
    park1.Beta = aci1.Ibeta;
    park1.Angle = rg1.Out;
 	park1.calc(&park1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PID module and call the PID IQ controller
//    calculation function.
// ------------------------------------------------------------------------------  
    pid1_iq.Ref = IqRef;
	pid1_iq.Fdb = park1.Qs;
	pid1_iq.calc(&pid1_iq);

// ------------------------------------------------------------------------------
//    Connect inputs of the PID module and call the PID ID controller
//    calculation function.
// ------------------------------------------------------------------------------  
    pid1_id.Ref = IdRef;
	pid1_id.Fdb = park1.Ds;
	pid1_id.calc(&pid1_id);

// ------------------------------------------------------------------------------
//    Connect inputs of the INV_PARK module and call the inverse park transformation
//    calculation function.
// ------------------------------------------------------------------------------
    ipark1.Ds = pid1_id.Out;
    ipark1.Qs = pid1_iq.Out;	
    ipark1.Angle = rg1.Out;
    ipark1.calc(&ipark1);

// ------------------------------------------------------------------------------
//    Connect inputs of the ACI module and call the induction motor model
//    calculation function.
// ------------------------------------------------------------------------------
	aci1.Ualpha = ipark1.Alpha;
	aci1.Ubeta = ipark1.Beta;
	aci1.calc(&aci1);

// ------------------------------------------------------------------------------
//    Connect inputs of the CUR_MOD module and call the current model
//    calculation function.
// ------------------------------------------------------------------------------
    cm1.IDs = park1.Ds;
    cm1.IQs = park1.Qs;
	cm1.Wr = aci1.Wr;
	cm1.calc(&cm1);    

// ------------------------------------------------------------------------------
//    Connect inputs of the PWMDAC module 
// ------------------------------------------------------------------------------	
    PwmDacCh1 = float2fix(aci1.Ialpha,15);
    PwmDacCh2 = float2fix(cm1.Theta,15);    
    PwmDacCh3 = float2fix(aci1.Torque,15);    

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module 
// ------------------------------------------------------------------------------
    DlogCh1 = float2fix(aci1.Ialpha,15);
    DlogCh2 = float2fix(aci1.Wr,15);
    DlogCh3 = float2fix(cm1.Theta,15);
    DlogCh4 = float2fix(rg1.Out,15);

#endif // (BUILDLEVEL==LEVEL4)


// ***************** LEVEL5 *****************
#if (BUILDLEVEL==LEVEL5)

// ------------------------------------------------------------------------------
//    Connect inputs of the PARK module and call the park transformation
//    calculation function.
// ------------------------------------------------------------------------------
    park1.Alpha = aci1.Ialpha;
    park1.Beta = aci1.Ibeta;
    park1.Angle = cm1.Theta;
 	park1.calc(&park1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PID module and call the PID speed controller
//    calculation function.
// ------------------------------------------------------------------------------  
    pid1_spd.Ref = SpeedRef;
	pid1_spd.Fdb = aci1.Wr;
	pid1_spd.calc(&pid1_spd);

// ------------------------------------------------------------------------------
//    Connect inputs of the PID module and call the PID IQ controller
//    calculation function.
// ------------------------------------------------------------------------------  
    pid1_iq.Ref = pid1_spd.Out;
	pid1_iq.Fdb = park1.Qs;
	pid1_iq.calc(&pid1_iq);

// ------------------------------------------------------------------------------
//    Connect inputs of the PID module and call the PID ID controller
//    calculation function.
// ------------------------------------------------------------------------------  
    pid1_id.Ref = IdRef;
	pid1_id.Fdb = park1.Ds;
	pid1_id.calc(&pid1_id);

// ------------------------------------------------------------------------------
//    Connect inputs of the INV_PARK module and call the inverse park transformation
//    calculation function.
// ------------------------------------------------------------------------------
    ipark1.Ds = pid1_id.Out;
    ipark1.Qs = pid1_iq.Out;	
    ipark1.Angle = cm1.Theta;
    ipark1.calc(&ipark1);

// ------------------------------------------------------------------------------
//    Connect inputs of the ACI module and call the induction motor model
//    calculation function.
// ------------------------------------------------------------------------------
	aci1.Ualpha = ipark1.Alpha;
	aci1.Ubeta = ipark1.Beta;
	aci1.calc(&aci1);

// ------------------------------------------------------------------------------
//    Connect inputs of the CUR_MOD module and call the current model
//    calculation function.
// ------------------------------------------------------------------------------
    cm1.IDs = park1.Ds;
    cm1.IQs = park1.Qs;
	cm1.Wr = aci1.Wr;
	cm1.calc(&cm1);    

// ------------------------------------------------------------------------------
//    Connect inputs of the PWMDAC module 
// ------------------------------------------------------------------------------	
    PwmDacCh1 = float2fix(aci1.Ialpha,15);
    PwmDacCh2 = float2fix(cm1.Theta,15);    
    PwmDacCh3 = float2fix(aci1.Torque,15);    

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module 
// ------------------------------------------------------------------------------
    DlogCh1 = float2fix(aci1.Ialpha,15);
    DlogCh2 = float2fix(cm1.Theta,15);
    DlogCh3 = float2fix(pid1_spd.Ref,15);
    DlogCh4 = float2fix(pid1_spd.Fdb,15);

#endif // (BUILDLEVEL==LEVEL5)

// ------------------------------------------------------------------------------
//    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.
//===========================================================================