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）

// ------------------------------------------------------------------------------
//    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==LEVEL3)


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


// ------------------------------------------------------------------------------
// 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 RESOLVER module and call the speed/position calculation 
//    function. 
// ------------------------------------------------------------------------------
    speed1.SinIn = _IQ15toIQ((int32)adc1.Ch3Out);
    speed1.CosIn = _IQ15toIQ((int32)adc1.Ch4Out); 
    speed1.calc(&speed1);

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module 
// ------------------------------------------------------------------------------
    DlogCh1 = (int16)_IQtoIQ15(svgen_dq1.Ta);
    DlogCh2 = (int16)_IQtoIQ15(clarke1.As);
    DlogCh3 = (int16)_IQtoIQ15(speed1.OutputTheta);
    DlogCh4 = (int16)_IQtoIQ15(rg1.Out);

// ------------------------------------------------------------------------------
//    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==LEVEL4)


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

// ------------------------------------------------------------------------------
// 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);

// ------------------------------------------------------------------------------
//    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 = speed1.OutputTheta;
    park1.calc(&park1);
 
// ------------------------------------------------------------------------------
//    Connect inputs of the PID_REG3 module and call the PID speed controller
//    calculation function.
// ------------------------------------------------------------------------------  
    if (SpeedLoopCount==SpeedLoopPrescaler)
     {
//      pid1_spd.Ref = rc1.SetpointValue;
      pid1_spd.Ref = _IQ(SpeedRef);
      pid1_spd.Fdb = speed1.Speed;
	  pid1_spd.calc(&pid1_spd);
      SpeedLoopCount=1;
     }
    else SpeedLoopCount++; 

// ------------------------------------------------------------------------------
//    Connect inputs of the PID_REG3 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_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 = speed1.OutputTheta;
    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 RESOLVER module and call the speed/position calculation 
//    function. 
// ------------------------------------------------------------------------------
    speed1.SinIn = _IQ15toIQ((int32)adc1.Ch3Out);
    speed1.CosIn = _IQ15toIQ((int32)adc1.Ch4Out); 
    speed1.calc(&speed1);

// ------------------------------------------------------------------------------
//    Connect inputs of the DATALOG module 
// ------------------------------------------------------------------------------
    DlogCh1 = (int16)_IQtoIQ15(svgen_dq1.Ta);
    DlogCh2 = (int16)_IQtoIQ15(speed1.OutputTheta);
    DlogCh3 = (int16)_IQtoIQ15(pid1_spd.Ref);
    DlogCh4 = (int16)_IQtoIQ15(pid1_spd.Fdb);

// ------------------------------------------------------------------------------
//    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==LEVEL5) 


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

}


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// No more.
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