main.c

基于TMS320F2812的永磁同步电机矢量控制软件部分

/* ==============================================================================
System Name:  PMSM31

File Name:	PMSM3_1.C

Description:	Primary system file for the Real Implementation of Sensored  
          		Field Orientation Control for a Three Phase Permanent-Magnet
          		Synchronous Motor (PMSM) using QEP sensor

Originator:		Digital control systems Group - Texas Instruments

Note: In this software, the default inverter is supposed to be DMC1500 board. 
=====================================================================================
 History:
-------------------------------------------------------------------------------------
 04-15-2005	Version 3.20: Support both F280x and F281x targets 
 04-25-2005 Version 3.21: Move EINT and ERTM down to ensure that all initialization
 						  is completed before interrupts are allowed.
=================================================================================  */
	#include "DSP281x_Device.h"
	#include "IQmathLib.h"
	#include "pmsm3_1.h"
	#include "parameter.h"
	#include "build.h"

//=========本文件中用到的函数原型声明============	
	interrupt void MainISR(void);
	interrupt void QepISR(void);
	interrupt void SCIB_IX_ISR(void);
	void Delay_Us(Uint16,Uint16);
	
	#define CPU_CLOCK_SPEED      6.6667L   // for a 150MHz CPU clock speed
	#define DELAY_US(A)  DSP28x_usDelay(((((long double) A * 1000.0L) / (long double)CPU_CLOCK_SPEED) - 9.0L) / 5.0L)
	extern void DSP28x_usDelay(unsigned long Count);

//============全局变量声明=======================
	float32 T = 0.001/ISR_FREQUENCY;   	//PWM频率20KHZ,周期50us
	
	float32 SpeedRef = 0.15;				//速度参考值(标幺值),(0.2) 
	float32 IqRef = 0.1;				// Iq参考值(标幺值)
	float32 IdRef = 0;					// Id参考值(标幺值) 
	float32 VqTesting = 0.18;			// Vq测试值(标幺值),(0.25)   
	float32 VdTesting = 0;				// Vd测试值(标幺值)
	float32 angle;
	 
	Uint16 BackTicker = 0;
	Uint16 IsrTicker = 0;

	int16 PwmDacCh1=0;
	int16 PwmDacCh2=0;
	int16 PwmDacCh3=0;

	int16 DlogCh1 = 0;
	int16 DlogCh2 = 0;
	int16 DlogCh3 = 0;
	int16 DlogCh4 = 0;

	Uint16 LockRotorFlag = FALSE;

	Uint16 SpeedLoopPrescaler =10;      // Speed loop prescaler
	Uint16 SpeedLoopCount = 1;           // Speed loop counter

	Uint16 Counter1,Counter2;			//用作临时循环变量
	Uint16 rcounter=0;					//旋转的圈数

	Uint16	SCI_1;	//发送给SCI口的4个8位的数据：SCI_4-SCI_3-SCI_2-SCI_1
	Uint16	SCI_2;
	Uint16	SCI_3;
	Uint16	SCI_4;
//============全局变量声明结束=======================



//=============全局对象声明及初始构造================
	//电流(直流电压)ADC对象
	ILEG2DCBUSMEAS ilg2_vdc1 = ILEG2DCBUSMEAS_DEFAULTS;
	
	//位置角度及转速计算对象
	QEP qep1 = QEP_DEFAULTS;
	SPEED_MEAS_QEP speed1 = SPEED_MEAS_QEP_DEFAULTS;
	
	//坐标变换对象
	CLARKE clarke1 = CLARKE_DEFAULTS;	
	PARK park1 = PARK_DEFAULTS;	
	IPARK ipark1 = IPARK_DEFAULTS;	
	
	//PID控制器对象
	PIDREG3 pid1_spd = PIDREG3_DEFAULTS;
	PIDREG3 pid1_iq = PIDREG3_DEFAULTS;
	PIDREG3 pid1_id = PIDREG3_DEFAULTS;
	
	//空间矢量运算及PWM相关对象
	SVGENDQ svgen_dq1 = SVGENDQ_DEFAULTS;
	PWMGEN pwm1 = PWMGEN_DEFAULTS;
	PWMDAC pwmdac1 = PWMDAC_DEFAULTS;

	//其它辅助对象 
	RMPCNTL rc1 = RMPCNTL_DEFAULTS;
	RAMPGEN rg1 = RAMPGEN_DEFAULTS;
	DLOG_4CH dlog = DLOG_4CH_DEFAULTS;      
//=============全局对象声明及初始构造结束================



//==================主函数===============================
void main(void)
{
	//初始化系统设置
	InitSysCtrl();						//关闭看门狗;设置PLL(5*30MHZ);设置并打开打开默认高低速外设时钟
	EALLOW;
    SysCtrlRegs.HISPCP.all = 0x0000;	// 设置高速外设时钟为150MHZ
    SysCtrlRegs.LOSPCP.all=0x0002;		//设置高速外设时钟(SCI)37.5MHZ  
    EDIS; 
	
	//禁止并清除所有CPU中断
	DINT;
	IER = 0x0000;
	IFR = 0x0000;
	
	//填充中断向量表
	InitPieCtrl();						//DINT;不使能PIE;清除12组PIEIER和PIEIFR
	InitPieVectTable();					//把中断向量表区装满指向形式ISR的指针;使能PIE	
	EALLOW;
	PieVectTable.T1UFINT = &MainISR;	//主中断是T1下溢中断
	PieVectTable.CAPINT3 = &QepISR;		//cap3中断
	PieVectTable.TXBINT=&SCIB_IX_ISR;
	EDIS;
	
	//开通串口SCI-A
	EALLOW;
	GpioMuxRegs.GPGMUX.all=0x0030;	//GPIOF4和GPIOF5作为SCI口
	EDIS;
	ScibRegs.SCICCR.all=0x0007;		//8位数据，无奇偶校验，一位停止位
	ScibRegs.SCICTL1.all=0x0022;	//使SCI退出复位状态，使能发送
	ScibRegs.SCIHBAUD=0x0000;
	ScibRegs.SCILBAUD=0x0027;		//波特率为117187b/s

	//初始化EVA的通用定时器控制寄存器A
	EvaRegs.GPTCONA.all = 0;			//T1、T2无事件驱动ADC，禁止定时器比较输出T1PWM、T2PWM

	//开通T1UFINT,CAP3,SCITXINTB中断
	EvaRegs.EVAIMRA.bit.T1UFINT = 1;	//使能T1UFINT
    EvaRegs.EVAIFRA.bit.T1UFINT = 1;	//清除T1UFINT中断标志
    EvaRegs.EVAIMRC.bit.CAP3INT = 1;	//使能CAP3中断
    EvaRegs.EVAIFRC.bit.CAP3INT = 1;	//清除CAP3中断标志
	
	PieCtrlRegs.PIEIER9.all = M_INT4;
    PieCtrlRegs.PIEIER2.all = M_INT6;
    PieCtrlRegs.PIEIER3.all = M_INT7;
	IER |= (M_INT2 | M_INT3| M_INT9);
	
	//初始化GBIOB6(s4)和GPIOB7(s12)引脚作为输入引脚,其中s4升速，s12减速
	//初始化GBIOB8(s5)和GPIOE0(s13)引脚作为输入引脚,其中s5提升转矩,s13降低转矩
	GpioMuxRegs.GPBMUX.bit.T3PWM_GPIOB6=0x0;	//I/O
	GpioMuxRegs.GPBMUX.bit.T4PWM_GPIOB7=0x0;	//I/O
	GpioMuxRegs.GPBMUX.bit.CAP4Q1_GPIOB8=0x0;	//I/O
	GpioMuxRegs.GPEMUX.bit.XINT1_XBIO_GPIOE0=0x0;	//I/O

	GpioMuxRegs.GPBDIR.bit.GPIOB6=0x0;			//IN
	GpioMuxRegs.GPBDIR.bit.GPIOB7=0x0;			//IN
	GpioMuxRegs.GPBDIR.bit.GPIOB8=0x0;			//IN
	GpioMuxRegs.GPEDIR.bit.GPIOE0=0x0;			//IN
			
//=========各个对象的参数设置及硬件初始化动作============
	//电流(直流电压)ADC对象
    ilg2_vdc1.ChSelect=0x3210;	//Ia:ADINA0；Ib:ADCINA1；Ic:ADCINA2；vsense:ADCINA3
    ilg2_vdc1.init(&ilg2_vdc1);	//T1下溢时启动AD转换，采用查询方式读取电流和电压的AD结果
	
	//角度及速度计算对象
	qep1.LineEncoder = 2500;
    qep1.MechScaler = _IQ30(0.25/qep1.LineEncoder);	//一个定时器计数值代表的机械圈数
    qep1.PolePairs = P/2;
    qep1.CalibratedAngle = -2365;
    qep1.init(&qep1);			//CAP1、CAP2作为QEP1、QEP2引脚,T2计脉冲数;CAP3作为捕获T2的引脚,捕获上升沿

	speed1.K1 = _IQ21(1/(BASE_FREQ*T));
    speed1.K2 = _IQ(1/(1+T*2*PI*30));  	// Low-pass cut-off frequency,截至频率为30HZ
    speed1.K3 = _IQ(1)-speed1.K2;
    speed1.BaseRpm = 120*(BASE_FREQ/P);	//电同步转速

	//初始化PID控制器对象 
	pid1_id.Kp = _IQ(0.75);  
	pid1_id.Ki = _IQ(T/0.0005);
	pid1_id.Kd = _IQ(0/T);
	pid1_id.Kc = _IQ(0.2);
    pid1_id.OutMax = _IQ(0.30);
    pid1_id.OutMin = _IQ(-0.30);
 
	pid1_iq.Kp = _IQ(0.75);
	pid1_iq.Ki = _IQ(T/0.0005);
	pid1_iq.Kd = _IQ(0/T);
	pid1_iq.Kc = _IQ(0.2);
    pid1_iq.OutMax = _IQ(0.95);
    pid1_iq.OutMin = _IQ(-0.95);    

    pid1_spd.Kp = _IQ(1);                  
	pid1_spd.Ki = _IQ(T*SpeedLoopPrescaler/0.3);
	pid1_spd.Kd = _IQ(0/(T*SpeedLoopPrescaler));
 	pid1_spd.Kc = _IQ(0.2);
    pid1_spd.OutMax = _IQ(1);
    pid1_spd.OutMin = _IQ(-1); 
	
	//初始化PWM相关对象
	//仿真挂起，则当前定时器周期结束停止；150MHZ;连续增减(对称PWM)
	//每一对都是前者高有效，后者低有效
	//死区时间(10×8)/150M＝0.533us
	//当T1下溢或周期匹配时，CMPRx重载
    pwm1.PeriodMax = SYSTEM_FREQUENCY*1000000*T/2;  //半个采样周期内的CPU时钟周期数
    pwm1.init(&pwm1);
	
	//仿真挂起，则当前定时器周期结束停止；150MHZ;连续增减(对称PWM)
	//每一对都是前者低有效，后者高有效
	//死区时间0
	//仅当T1下溢时，CMPRx重载
	pwmdac1.PeriodMax = (SYSTEM_FREQUENCY*200/(30*2))*5;   // PWMDAC Frequency = 30 kHz
    pwmdac1.PwmDacInPointer0 = &PwmDacCh1;
    pwmdac1.PwmDacInPointer1 = &PwmDacCh2;
    pwmdac1.PwmDacInPointer2 = &PwmDacCh3;
	pwmdac1.init(&pwmdac1); 
	
	//初始化其它模块
	dlog.iptr1 = &DlogCh1;
    dlog.iptr2 = &DlogCh2;
    dlog.iptr3 = &DlogCh3;
    dlog.iptr4 = &DlogCh4;
    dlog.trig_value = 0x1;
    dlog.size = 0x400;
    dlog.prescalar = 1;
    dlog.init(&dlog);
	
	rc1.RampDelayMax=40;				//加速的快慢
	rg1.StepAngleMax = _IQ(BASE_FREQ*T);//电机全速(速度标幺值为1)运行下一个PWM周期内旋转磁场转过的电角度(标幺值)
//====各个对象的参数设置及硬件初始化动作完成=============

	//通入某一电压矢量0.5S，使转子磁场和定子磁场对准，定位初始转子位置
	
    angle=-0.25;
	ipark1.Ds = _IQ(VdTesting);
    ipark1.Qs = _IQ(VqTesting);	
    ipark1.Angle=_IQ(angle);
    ipark1.calc(&ipark1);
	
	svgen_dq1.Ualpha = ipark1.Alpha;
 	svgen_dq1.Ubeta = ipark1.Beta;
  	svgen_dq1.calc(&svgen_dq1);	
	
	pwm1.MfuncC1 = (int16)_IQtoIQ15(svgen_dq1.Ta); // MfuncC1 is in Q15
    pwm1.MfuncC2 = (int16)_IQtoIQ15(svgen_dq1.Tb); // MfuncC2 is in Q15  
    pwm1.MfuncC3 = (int16)_IQtoIQ15(svgen_dq1.Tc); // MfuncC3 is in Q15
	pwm1.update(&pwm1);
	
	DELAY_US(10000);
	
	
	//使能全局中断、INTM实时中断DBGM
	EINT;
	ERTM;

	for(;;) 
	{
		BackTicker++;	//死循环

		//=======处理升降速按键========
		if (GpioDataRegs.GPBDAT.bit.GPIOB6==0)	//s4按下为0,升速
		{
			//去抖
			Delay_Us(2000,1000);
			SpeedRef+=0.01;
			if (SpeedRef>0.99) SpeedRef=0.99;
		}
		if (GpioDataRegs.GPBDAT.bit.GPIOB7==0)	//s12按下为0,减速
		{
			//去抖
			Delay_Us(2000,1000);
			SpeedRef-=0.01;
			if (SpeedRef<0.01) SpeedRef=0.01;
		}
		//=======处理升降力矩按键========
		if (GpioDataRegs.GPBDAT.bit.GPIOB8==0)	//s5按下为0,提升力矩
		{
			//去抖
			Delay_Us(2000,1000);
			VqTesting+=0.01;
			if (VqTesting>0.8) VqTesting=0.8;
		}
		if (GpioDataRegs.GPEDAT.bit.GPIOE0==0)	//s13按下为0,降低力矩
		{
			//去抖
			Delay_Us(2000,1000);
			VqTesting-=0.01;
			if (VqTesting<0.01) VqTesting=0.01;
		}
	}
}




//======================中断函数定义=====================
interrupt void MainISR(void)
{

	// Verifying the ISR
    IsrTicker++;

	#if (BUILDLEVEL==LEVEL1)
	//***************** LEVEL1 *****************
	
	// ------------------------------------------------------------------------------
	// 	经过RampDelayMax(40)个PWM周期调整一次SetPointValue（瞬时速度标幺值)
	// 	直到SetPointValue接近SpeedRef,模拟升速