永磁同步电动机控制_2812.c

里面包含了基于dsp2812的永磁同步电动机和步进电动机的5个源程序。用c语言编的。

#include "IQmathLib.h"         /* 包含IQmath库函数的头文件 */
#include "DSP28_Device.h"
#include "pmsm3_1.h"
#include "parameter.h"
#include "build.h"

//   函数声明
interrupt void EvaTimer1(void);
interrupt void EvaTimer2(void);

// 全局变量定义
float Vd_testing = 0;            	/* Vd testing (pu) */
float Vq_testing = 0.25;         	/* Vq testing (pu) */
float Id_ref = 0;                	/* Id reference (pu) */
float Iq_ref = 0.4;              	/* Iq reference (pu) */
float speed_ref = 0.2;           	/* Speed reference (pu) */
float T = 0.001/ISR_FREQUENCY;   	/* Samping period (sec), see parameter.h */

int isr_ticker = 0;

int pwmdac_ch1=0;
int pwmdac_ch2=0;
int pwmdac_ch3=0;

volatile int enable_flg=0;
int lockrtr_flg=1;

int speed_loop_ps = 10;     	// 速度环定标器
int speed_loop_count = 1;    	// 速度环计数器

CLARKE clarke1 = CLARKE_DEFAULTS;
PARK park1 = PARK_DEFAULTS;
IPARK ipark1 = IPARK_DEFAULTS;

PIDREG3 pid1_id = PIDREG3_DEFAULTS;
PIDREG3 pid1_iq = PIDREG3_DEFAULTS;
PIDREG3 pid1_spd = PIDREG3_DEFAULTS;

PWMGEN pwm1 = PWMGEN_DEFAULTS;
PWMDAC pwmdac1 = PWMDAC_DEFAULTS;

SVGENDQ svgen_dq1 = SVGENDQ_DEFAULTS;
QEP qep1 = QEP_DEFAULTS;
SPEED_MEAS_QEP speed1 = SPEED_MEAS_QEP_DEFAULTS;
DRIVE drv1 = DRIVE_DEFAULTS;

RMPCNTL rc1 = RMPCNTL_DEFAULTS;
RAMPGEN rg1 = RAMPGEN_DEFAULTS;

ILEG2DCBUSMEAS ilg2_vdc1 = ILEG2DCBUSMEAS_DEFAULTS;

//  主函数
void main(void)
{

//   系统初始化
	InitSysCtrl();

//  HISPCP 设置
    EALLOW;   
    SysCtrlRegs.HISPCP.all = 0x0000;     /* SYSCLKOUT/1  */
    EDIS;   

// 禁止并清除所有CPU中断:
	DINT;
	IER = 0x0000;
	IFR = 0x0000;

// 初始化Pie到默认状态
	InitPieCtrl();

// 初始化PIE相量表
	InitPieVectTable();	
	
// 初始化EVA  定时器1：
    //设置定时器1寄存器 (EV A)
    EvaRegs.GPTCONA.all = 0;
   //等待使能标志位
   while (enable_flg==0) 
    {
// 使能定时器1的下溢中断
    EvaRegs.EVAIMRA.bit.T1UFINT = 1;
    EvaRegs.EVAIFRA.bit.T1UFINT = 1;

// 使能CAP3中断（定时器2）
    EvaRegs.EVAIMRC.bit.CAP3INT = 1;
    EvaRegs.EVAIMRC.bit.CAP3INT = 1;
    };

// 重新分配中断向量
	EALLOW;	
	PieVectTable.T1UFINT = &EvaTimer1;
	PieVectTable.CAPINT3 = &EvaTimer2;
	EDIS;   

// 使能PIE组2的中断6（T1UFINT）
    PieCtrlRegs.PIEIER2.all = M_INT6;

// 使能PIE组3的中断7（CAPINT3）
    PieCtrlRegs.PIEIER3.all = M_INT7;

// 使能CPU INT2（T1UFINT）和INT3（CAPINT3）：
	IER |= (M_INT2 | M_INT3);

// 使能全局中断和最高优先级适时调试事件管理器功能：
	
	EINT;   	//使能全局中断INTM
	ERTM;	// 使能适时调试中断DBGM

/*	模块初始化	 */ 
    pwm1.n_period = SYSTEM_FREQUENCY*1000000*T/2;  /* 预定标器X1 (T1), ISR周期 = T x 1 */ 
	pwm1.init(&pwm1); 

    pwmdac1.pwmdac_period = 2500;  /* PWM频率 = 30 kHz */
    pwmdac1.PWM_DAC_IPTR0 = &pwmdac_ch1;
    pwmdac1.PWM_DAC_IPTR1 = &pwmdac_ch2;
    pwmdac1.PWM_DAC_IPTR2 = &pwmdac_ch3;
	pwmdac1.init(&pwmdac1); 

    qep1.init(&qep1);
   
    drv1.init(&drv1);

    ilg2_vdc1.init(&ilg2_vdc1);

/* 初始化SPEED_FRQ模块 */
    speed1.K1 = _IQ21(1/(BASE_FREQ*T));
    speed1.K2 = _IQ(1/(1+T*2*PI*30));  /* 低通截至频率 = 30 Hz */
    speed1.K3 = _IQ(1)-speed1.K2;
    speed1.rpm_max = 120*BASE_FREQ/P;

/*初始化RAMPGEN模块 */
    rg1.step_angle_max = _IQ(BASE_FREQ*T);

/* 初始化PID_REG3  Id调节模块 */
	pid1_id.Kp_reg3 = _IQ(0.75);  
	pid1_id.Ki_reg3 = _IQ(T/0.0005);	 				
	pid1_id.Kd_reg3 = _IQ(0/T); 						
	pid1_id.Kc_reg3 = _IQ(0.2);
    pid1_id.pid_out_max = _IQ(0.30);
    pid1_id.pid_out_min = _IQ(-0.30);    
 
/* 初始化PID_REG3  Iq调节模块 */
	pid1_iq.Kp_reg3 = _IQ(0.75);
	pid1_iq.Ki_reg3 = _IQ(T/0.0005);	
	pid1_iq.Kd_reg3 = _IQ(0/T); 
	pid1_iq.Kc_reg3 = _IQ(0.2);
    pid1_iq.pid_out_max = _IQ(0.95);
    pid1_iq.pid_out_min = _IQ(-0.95); 

/*初始化PID_REG3  速度调节模块 */
     pid1_spd.Kp_reg3 = _IQ(1); 
	pid1_spd.Ki_reg3 = _IQ(T*speed_loop_ps/0.1);
	pid1_spd.Kd_reg3 = _IQ(0/(T*speed_loop_ps));	
 	pid1_spd.Kc_reg3 = _IQ(0.2);
    pid1_spd.pid_out_max = _IQ(1);
    pid1_spd.pid_out_min = _IQ(-1); 

// 循环等待
	for(;;);

} 	

interrupt void EvaTimer1(void)
{

    isr_ticker++;

    if (speed_loop_count==speed_loop_ps)
     {
      	pid1_spd.pid_ref_reg3 = _IQ(speed_ref);
      	pid1_spd.pid_fdb_reg3 = speed1.speed_frq;
	  	pid1_spd.calc(&pid1_spd);
      	speed_loop_count=1;
     }
    else speed_loop_count++; 

    		pid1_iq.pid_ref_reg3 = pid1_spd.pid_out_reg3;
		pid1_iq.pid_fdb_reg3 = park1.qe;
		pid1_iq.calc(&pid1_iq);

    		pid1_id.pid_ref_reg3 = _IQ(Id_ref);
		pid1_id.pid_fdb_reg3 = park1.de;
		pid1_id.calc(&pid1_id);

    		ipark1.de = pid1_id.pid_out_reg3;
    		ipark1.qe = pid1_iq.pid_out_reg3;	
    		ipark1.ang = speed1.theta_elec;
    		ipark1.calc(&ipark1);

  	svgen_dq1.Ualfa = ipark1.ds;
 		svgen_dq1.Ubeta = ipark1.qs;
  		svgen_dq1.calc(&svgen_dq1);

    	pwm1.Mfunc_c1 = (int)_IQtoIQ15(svgen_dq1.Ta); /* Mfunc_c1 is in Q15 */
    		pwm1.Mfunc_c2 = (int)_IQtoIQ15(svgen_dq1.Tb); /* Mfunc_c2 is in Q15 */
    	pwm1.Mfunc_c3 = (int)_IQtoIQ15(svgen_dq1.Tc); /* Mfunc_c3 is in Q15 */
		pwm1.update(&pwm1);
	
ilg2_vdc1.read(&ilg2_vdc1);
	
 	clarke1.as = _IQ15toIQ((long)ilg2_vdc1.Imeas_a);
  		clarke1.bs = _IQ15toIQ((long)ilg2_vdc1.Imeas_b);
		clarke1.calc(&clarke1);
	
    		park1.ds = clarke1.ds;
    		park1.qs = clarke1.qs;
    		park1.ang = speed1.theta_elec;
    		park1.calc(&park1);

    		qep1.calc(&qep1);
 
    		speed1.theta_elec = _IQ15toIQ((long)qep1.theta_elec);
    		speed1.dir_QEP = (long)(qep1.dir_QEP);
    		speed1.calc(&speed1);

    		pwmdac_ch1 = (int)_IQtoIQ15(svgen_dq1.Ta);
    		pwmdac_ch2 = (int)_IQtoIQ15(clarke1.as);    
    		pwmdac_ch3 = (int)_IQtoIQ15(speed1.theta_elec);    

    		drv1.enable_flg = enable_flg;
    		drv1.update(&drv1);

		pwmdac1.update(&pwmdac1);  

// 使能定时器中断
		EvaRegs.EVAIMRA.bit.T1UFINT = 1;
		EvaRegs.EVAIFRA.all = BIT9;
		PieCtrlRegs.PIEACK.all |= PIEACK_GROUP2;
}

interrupt void EvaTimer2(void)
{
     qep1.isr(&qep1);
	EvaRegs.EVAIMRC.bit.CAP3INT = 1;
	EvaRegs.EVAIFRC.all = BIT2;
	PieCtrlRegs.PIEACK.all |= PIEACK_GROUP3;
  }