pmsm3_3.c

有关TI公司用于交流电机控制程序（包含文档以及源码）

	pid1_id.Kc = _IQ(0.2);
    pid1_id.OutMax = _IQ(0.30);
    pid1_id.OutMin = _IQ(-0.30);    

// Initialize the PID_REG3 module for Iq 
	pid1_iq.Kp = _IQ(1);
	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);    

// Initialize the PID_REG3 module for speed 
    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);

// Enable global Interrupts and higher priority real-time debug events:
	EINT;   // Enable Global interrupt INTM
	ERTM;	// Enable Global realtime interrupt DBGM

// IDLE loop. Just sit and loop forever:	
	for(;;) BackTicker++;

} 	

interrupt void MainISR(void)
{

// Verifying the ISR
    IsrTicker++;


// ***************** LEVEL1 *****************
#if (BUILDLEVEL==LEVEL1)

// ------------------------------------------------------------------------------
//    Connect inputs of the RMP module and call the Ramp control
//    calculation function.
// ------------------------------------------------------------------------------
    rc1.TargetValue = _IQ(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 INV_PARK module and call the inverse park transformation
//    calculation function.
// ------------------------------------------------------------------------------
    ipark1.Ds = _IQ(VdTesting);
    ipark1.Qs = _IQ(VqTesting);	
    ipark1.Angle = rg1.Out;
    ipark1.calc(&ipark1);

// ------------------------------------------------------------------------------
//    Connect inputs of the SVGEN_DQ module and call the space-vector gen.
//    calculation function.
// ------------------------------------------------------------------------------
  	svgen_dq1.Ualpha = ipark1.Alpha;
 	svgen_dq1.Ubeta = ipark1.Beta;
  	svgen_dq1.calc(&svgen_dq1);	

// ------------------------------------------------------------------------------
//    Connect inputs of the PWM_DRV module and call the PWM signal generation 
//    update function.
// ------------------------------------------------------------------------------
    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); 

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module 
// ------------------------------------------------------------------------------
    DlogCh1 = (int16)_IQtoIQ15(svgen_dq1.Ta);
    DlogCh2 = (int16)_IQtoIQ15(svgen_dq1.Tb);
    DlogCh3 = (int16)_IQtoIQ15(svgen_dq1.Tc);
    DlogCh4 = (int16)_IQtoIQ15(svgen_dq1.Ta-svgen_dq1.Tb);

// ------------------------------------------------------------------------------
//    Connect inputs of the EN_DRV module and call the enable/disable PWM signal
//    update function. (FOR DMC1500 ONLY)
// ------------------------------------------------------------------------------ 
    drv1.EnableFlag = EnableFlag;
    drv1.update(&drv1);

#endif // (BUILDLEVEL==LEVEL1)


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

// ------------------------------------------------------------------------------
// Excitation signal generation for resolver sensor
// ------------------------------------------------------------------------------
    SineRefSignal = _IQmpy(_IQ(Amplitude),_IQsinPU(_IQ(AngleExcitation)));

    AngleExcitation += FreqExcitation*T;
    if (AngleExcitation >= 1)
       AngleExcitation -= 1;

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

// ------------------------------------------------------------------------------
//    Call the ADC read function.
// ------------------------------------------------------------------------------
    adc1.read(&adc1);

// ------------------------------------------------------------------------------
//    Connect inputs of the CLARKE module and call the clarke transformation
//    calculation function.
// ------------------------------------------------------------------------------
 	clarke1.As = _IQ15toIQ((int32)-adc1.Ch1Out);  // Negate measured current based on DMC1500 
  	clarke1.Bs = _IQ15toIQ((int32)-adc1.Ch2Out);  // Negate measured current based on DMC1500
	clarke1.calc(&clarke1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PARK module and call the park transformation
//    calculation function.
// ------------------------------------------------------------------------------
    park1.Alpha = clarke1.Alpha;
    park1.Beta = clarke1.Alpha;
    park1.Angle = rg1.Out;
    park1.calc(&park1);
 
// ------------------------------------------------------------------------------
//    Connect inputs of the INV_PARK module and call the inverse park transformation
//    calculation function.
// ------------------------------------------------------------------------------
    ipark1.Ds = _IQ(VdTesting);
    ipark1.Qs = _IQ(VqTesting);	
    ipark1.Angle = rg1.Out;
    ipark1.calc(&ipark1);

// ------------------------------------------------------------------------------
//    Connect inputs of the SVGEN_DQ module and call the space-vector gen.
//    calculation function.
// ------------------------------------------------------------------------------
  	svgen_dq1.Ualpha = ipark1.Alpha;
 	svgen_dq1.Ubeta = ipark1.Beta;
  	svgen_dq1.calc(&svgen_dq1);	

// ------------------------------------------------------------------------------
//    Connect inputs of the PWM_DRV module and call the PWM signal generation 
//    update function.
// ------------------------------------------------------------------------------
    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);

// ------------------------------------------------------------------------------
//    Connect inputs of the Resolver PWM module and call its update
//    function.
// ------------------------------------------------------------------------------
    res_pwm1.RefSignal = _IQtoIQ15(SineRefSignal);
    res_pwm1.update(&res_pwm1);

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module 
// ------------------------------------------------------------------------------
    DlogCh1 = (int16)_IQtoIQ15(svgen_dq1.Ta);
    DlogCh2 = (int16)_IQtoIQ15(rg1.Out);
    DlogCh3 = (int16)_IQtoIQ15(clarke1.As);
    DlogCh4 = (int16)_IQtoIQ15(clarke1.Bs);

// ------------------------------------------------------------------------------
//    Connect inputs of the EN_DRV module and call the enable/disable PWM signal
//    update function. (FOR DMC1500 ONLY)
// ------------------------------------------------------------------------------ 
    drv1.EnableFlag = EnableFlag;
    drv1.update(&drv1);

#endif // (BUILDLEVEL==LEVEL2)


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

// ------------------------------------------------------------------------------
// Excitation signal generation for resolver sensor
// ------------------------------------------------------------------------------
    SineRefSignal = _IQmpy(_IQ(Amplitude),_IQsinPU(_IQ(AngleExcitation)));

    AngleExcitation += FreqExcitation*T;
    if (AngleExcitation >= 1)
       AngleExcitation -= 1;

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

// ------------------------------------------------------------------------------
//    Call the ADC read function.
// ------------------------------------------------------------------------------
    adc1.read(&adc1);

// ------------------------------------------------------------------------------
//    Connect inputs of the CLARKE module and call the clarke transformation
//    calculation function.
// ------------------------------------------------------------------------------
 	clarke1.As = _IQ15toIQ((int32)-adc1.Ch1Out);  // Negate measured current based on DMC1500 
  	clarke1.Bs = _IQ15toIQ((int32)-adc1.Ch2Out);  // Negate measured current based on DMC1500
	clarke1.calc(&clarke1);

// ------------------------------------------------------------------------------
//    Connect inputs of the PARK module and call the park transformation
//    calculation function.
// ------------------------------------------------------------------------------
    park1.Alpha = clarke1.Alpha;
    park1.Beta = clarke1.Beta;
    park1.Angle = rg1.Out;
    park1.calc(&park1);
 
// ------------------------------------------------------------------------------
//    Connect inputs of the PID_REG3 module and call the PID IQ controller
//    calculation function.
// ------------------------------------------------------------------------------  
    pid1_iq.Ref = _IQ(IqRef);
	pid1_iq.Fdb = park1.Qs;
	pid1_iq.calc(&pid1_iq);

// ------------------------------------------------------------------------------
//    Connect inputs of the PID_REG3 module and call the PID ID controller
//    calculation function.
// ------------------------------------------------------------------------------  
    pid1_id.Ref = _IQ(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 SVGEN_DQ module and call the space-vector gen.
//    calculation function.
// ------------------------------------------------------------------------------
  	svgen_dq1.Ualpha = ipark1.Alpha;
 	svgen_dq1.Ubeta = ipark1.Beta;
  	svgen_dq1.calc(&svgen_dq1);	

// ------------------------------------------------------------------------------
//    Connect inputs of the PWM_DRV module and call the PWM signal generation 
//    update function.
// ------------------------------------------------------------------------------
    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);

// ------------------------------------------------------------------------------
//    Connect inputs of the Resolver PWM module and call its update
//    function.
// ------------------------------------------------------------------------------
    res_pwm1.RefSignal = _IQtoIQ15(SineRefSignal);
    res_pwm1.update(&res_pwm1);

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module 
// ------------------------------------------------------------------------------
    DlogCh1 = (int16)_IQtoIQ15(svgen_dq1.Ta);
    DlogCh2 = (int16)_IQtoIQ15(svgen_dq1.Tb);
    DlogCh3 = (int16)_IQtoIQ15(rg1.Out);
    DlogCh4 = (int16)_IQtoIQ15(clarke1.As);