demo.c

基于矢量控制的永磁同步交流伺服电机控制系统 可以用的源程序

#include "DSP281x_Device.h"
#include "DSP281x_Examples.h"

#define LCD_DELAY_nUS(A)  Delay(((((long double) A * 1000.0L) / (long double)6.666667) - 18.0L) / 14.0L)
void Delay(unsigned long loopCnt);


//'''''''''''''''''''''''''液晶显示值/'''''''''''''''''''''''''''''''''''''
extern unsigned char number[10];
extern unsigned char a,b,c,d,e, biao_zhi;
       unsigned char f;

int  NowSpd=0;
long  Place_now_display=0;
//'''''''''''''''''''''''''''end'''''''''''''''''''''''''''''''//

//::::::::::::::::::::::::电机初始化变量定义:::::::::::::::::::::::::::::::::
    char motor_OK=1, shan_qu=0;
//;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;

/*::::::::::::::::::::::::::速度变量值定义:::::::::::::::::::::::::::::::::::::::::::*/
 int temp=0, temp1=0, temp2=0;  
 long             SatErr_speed=0,
              OutPreSat_speed=0;  //速度变量值定义
long speed_now=0, Up_speed=0,  speed_error=0,  Ui_speed=0;
long speed_set=0;


//:::::::::::::::::::::::::::位置环变量定义:::::::::::::::::::::::::::
long PlaceSet=0, PlaceError=0,
	              Place_now=0,  Now_P=0,//圈数
              OutPreSat_Place=0;               //位置变量值定义
unsigned char PlaceSetBit=0;  //位置设定标志位
 
//--------------------------------------------------------------------

//:::::::::::::::::::::::::空间矢量变量定义:::::::::::::::::::::::::::::::::::::::::
int extent_temp=0, extent_temp1=0, extent_temp2=0;//位置变量值定义

unsigned int extent[14]={0x3999, 0x2999, 0x6999, 0x4999, 0x5999, 0x1999, 0x3999, 0x2999, 0x6999, 0x4999, 0x5999, 0x1999, 0x3999, 0x2999 };   //区域数组定义
int extent_i=0, extent_D=0, extent_Q=0, extent_D_1=0;  //扇区变量,extent_i, extent_D, extent_Q(extent_Q比extent_D超前90度

//-----------------------------------

extern const int  sin_theta[1000];//外部SIN表
extern const int  cos_theta[1000];//外部cos表

//cos_theta[theta]为Q15格式, ID, IQ为Q7格式1-128, Id,Iq为LONG型
int     t1=0, t2=0, CMPR_temp=1250, theta=0, pwm_temp=0;// turn=0;
long Id=0, Iq=0, ID=0, IQ=0, Ualfa=0, Ubeta=0, x=0, y=0, z=0, temp_volue=0;

//===========================电流环变量定义=========================
int   AD2_temp=0,Ki_Q_temp=0, Ki_D_temp=0, pwm_x=0,theta_add_60=0;
long Iu=0,Iv=0, I_d=0, I_q=0,  I_ref_D=0, I_ref_Q=0, I_er_Q=0,
      I_er_D=0,  I_order_Q=0,
     OutPreSat_IQ=0, SatErr_IQ=0, Ui_IQ=0, Up_IQ=0,
     OutPreSat_ID=0, SatErr_ID=0, Ui_ID=0, Up_ID=0;
//------------------------------------------------------------------
// long adc_x0=0, adc_x1=0, adc_restul1=0, adc_restul0=0,adc_i=0;

//===========================测试变量==============================
//   unsigned int  TimeClash=0, timer2_x=0,timer2_x1=0, timer1_test[1000]={0}, 
//                 timer2_test[1000]={0}, timer3_test[500]={0}, //timer4_test[500]={0},
//                 test_i=0, ICTs=0;
  unsigned int  TimeClash=0;
  extern unsigned int IsrTest;
                                          
//-------------------------------------------------------------------

//==========================串口程式变量定义==========================
int ReceiveTemp = 0,  SciCommand_i=0, SciCommand_j=0, SetBit=0;
 int SpeedSetTemp = 0, PlaceEnable=1, SpeedSetAD=0;
long PlaceSetTemp=0, SciCommand[14]={0};

//--------------------------------------------------------------------

////////////////外部中断初始化///////////////////////
void init_Xint1(void)
{   
     EALLOW;
     PieCtrlRegs.PIEIER1.bit.INTx4=1;  //中断允许
	 PieCtrlRegs.PIEIFR1.bit.INTx4=0;  //清除中断标志
	 PieCtrlRegs.PIEACK.bit.ACK1=1;
     XIntruptRegs.XINT1CR.bit.POLARITY=1; // 上升沿触发
	 XIntruptRegs.XINT1CR.bit.ENABLE=1;
	 EDIS;
	 EINT;
}



////////////////ADC初始化/////////////////////
void init_ADC(void)
{
   //AdcRegs.ADCTRL1.bit.RESET = 1;
   //AdcRegs.ADCTRL1.bit.RESET = 0;
   
   AdcRegs.ADCTRL3.bit.ADCPWDN = 1;   
   LCD_DELAY_nUS(2000);
   AdcRegs.ADCTRL3.bit.ADCBGRFDN = 3;
   LCD_DELAY_nUS(2000);
   AdcRegs.ADCTRL1.bit.CONT_RUN = 1; //连续运行；
   AdcRegs.ADCTRL1.bit.CPS = 0;
   
   AdcRegs.ADCTRL2.bit.EVA_SOC_SEQ1 = 1;
   AdcRegs.ADCTRL2.bit.SOC_SEQ1 = 1;
   AdcRegs.ADCTRL3.bit.ADCCLKPS = 3; //25MHZ

   
   AdcRegs.ADCMAXCONV.bit.MAX_CONV1 = 2;
   AdcRegs.ADCCHSELSEQ1.bit.CONV00 = 0;
   AdcRegs.ADCCHSELSEQ1.bit.CONV01 = 1;
   AdcRegs.ADCCHSELSEQ1.bit.CONV02 = 2;
}

///////////////初始化事件管理器EVA////////////////////
void Init_Evx(void)
{
  
 //=======定时器3定时中断初始化======================
  EALLOW;
  EvbRegs.T3PR=9375;   //一毫秒
  EvbRegs.T3CON.all=0x1340;    //8分频
  PieCtrlRegs.PIEIER4.bit.INTx4=1;//定时器3周期中断允许
  PieCtrlRegs.PIEIFR4.bit.INTx4=0;//清除中断标志位
  PieCtrlRegs.PIEACK.bit.ACK4=1;
  EvbRegs.EVBIMRA.bit.T3PINT=1;
  EvbRegs.EVBIFRA.bit.T3PINT=1;
  EDIS;

//-------------------------------------------

//========定时器1下溢中断&(svpwm)初始化====================
  EALLOW;
  EvaRegs.T1CON.all = 0x0842; //定时器1，连续增减，一分频， 使能，比较使能,立即重载
  EvaRegs.T1PR = 1250;        //30MHZ PWM
  EvaRegs.CMPR1 = 0;        //测试用
  EvaRegs.CMPR2 = 0;        //测试用
  EvaRegs.COMCONA.all |= 0X9200;   //使能比较操作, 使能SVPWM模式, T0下溢重载, PWM比较输出使能
  EvaRegs.ACTRA.all = 0X0999;    //SV正转, PWM 1,3,5低有效 & pWM 2,4,6高有效; 

 // EvaRegs.EXTCONA.bit.INDCOE = 1; //独立输出比较使能
 // EvaRegs.GPTCONA.all |= 0x0052;
  EvaRegs.T1CNT = 0;

  EvaRegs.EVAIMRA.bit.T1UFINT = 1; //下溢中断允许
  EvaRegs.EVAIFRA.bit.T1UFINT = 1; //清除下溢中断标志位

  PieCtrlRegs.PIEIER2.bit.INTx6 = 1;//下溢中断向量允许
  PieCtrlRegs.PIEIFR2.bit.INTx6 = 0;//清除下溢中断标志  
  PieCtrlRegs.PIEACK.bit.ACK2 = 1;
 

 /////////////////QEP初始化////////////////
    EvaRegs.T2CON.all = 0x1870;
    EvaRegs.T2CNT = 0x0000;
    EvaRegs.T2PR = 0xffff;
 //------------------------------------------


 /*////////////// EVB捕获功能初始化 /////////
   EvbRegs.CAPCONB.bit.CAP45EN = 1;   //使能捕捉单元4和5
   EvbRegs.CAPCONB.bit.CAP45TSEL = 3;  //44和5选择定时器3
   EvbRegs.CAPCONB.bit.CAP4EDGE = 3;  // 单元4上升和下降沿触发
   EvbRegs.CAPCONB.bit.CAP5EDGE = 3;  // 单元5上升和下降沿触发


   EvbRegs.EVBIFRC.bit.CAP4INT = 1;  //复位捕捉4标志位
   EvbRegs.EVBIFRC.bit.CAP5INT = 1;  //复位捕捉5标志位

   EvbRegs.EVBIMRC.bit.CAP4INT = 1;  //允许捕捉中断4
   EvbRegs.EVBIMRC.bit.CAP5INT = 1;  //允许捕捉中断5
   
   PieCtrlRegs.PIEIER5.bit.INTx5 = 1; //允许捕捉中断4向量
   PieCtrlRegs.PIEIER5.bit.INTx6 = 1; //允许捕捉中断5向量

   PieCtrlRegs.PIEIFR5.bit.INTx5 = 0; //清除捕捉中断4标志位
   PieCtrlRegs.PIEIFR5.bit.INTx6 = 0; //清除捕捉中断5标志位

   PieCtrlRegs.PIEACK.bit.ACK5 = 1;  */
   
 //------------------------------------------
 
   EDIS;
}	

///////////////////SCI初始化//////////////////////////////////
void InitSci(void)
{
    EALLOW;
    //Send
    SciaRegs.SCICTL1.bit.SWRESET = 1;
    SciaRegs.SCICCR.bit.SCICHAR = 7; //取八位数据
	SciaRegs.SCICTL1.bit.TXENA = 1;  //open send
    //Receive
    SciaRegs.SCICTL1.bit.RXENA = 1;  //open receive
    SciaRegs.SCICTL2.bit.RXBKINTENA = 1; //允许接收中断

   
	SciaRegs.SCIHBAUD = 0x01;
	SciaRegs.SCILBAUD = 0xE7;       //9600

	PieCtrlRegs.PIEIER9.bit.INTx1 = 1; //允许接收中断
	PieCtrlRegs.PIEIFR9.bit.INTx1 = 0;
	PieCtrlRegs.PIEACK.bit.ACK9 = 1;

	///////////////功率保护中断初始化////////////////
	EvaRegs.EVAIMRA.bit.PDPINTA = 1; //PDPINTA中断允许
	EvaRegs.EVAIFRA.bit.PDPINTA = 1; //PDPINTA中断标志清零
	PieCtrlRegs.PIEIER1.bit.INTx1 = 1;  //PDPINTA中断允许
	PieCtrlRegs.PIEIFR1.bit.INTx1 = 0;
       PieCtrlRegs.PIEACK.bit.ACK1 = 1;  //
	
	EDIS;
	
}
//-----------------------------------------------------------

///////////////////电机初始化函数(位置确定)////////////////////////////
void motor_init(void)
{
    switch(GpioDataRegs.GPADAT.all & 0xE000)
    {
        case 0xA000: shan_qu=0; break;
        case 0x2000: shan_qu=1; break;
        case 0x6000: shan_qu=2; break;
        case 0x4000: shan_qu=3; break;
        case 0xC000: shan_qu=4; break;
        case 0x8000: shan_qu=5; break;

		default: motor_OK = 0; break;
    }
    extent_D = 833 * shan_qu + 416 ;
	
}
//////////////////中虾