aci3_3.c

F2812感应电机矢量控制程序

/* ==============================================================================
System Name:  ACI33

File Name:	ACI3_3.C

Description:	Primary system file for the Sensored Indirect Field
          		Orientation Control for a Three Phase AC Induction Motor. 

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 header files used in the main function
#include "target.h"


#if (DSP_TARGET==F2812)
#include "DSP281x_Device.h"
#endif

#include "IQmathLib.h"
#include "aci3_3.h"
#include "parameter.h"
#include "build.h"
#include <math.h>

// Prototype statements for functions found within this file.
interrupt void MainISR(void);

// Global variables used in this system
float32 VdTesting = 0.25;         // Vd testing (pu)
float32 VqTesting = 0;            // Vq testing (pu)
float32 IdRef = 0.2;              // Id reference (pu)
float32 IqRef = 0.05;             // Iq reference (pu)
float32 SpeedRef = 0.5;           // Speed reference (pu)
float32 T = 0.001/ISR_FREQUENCY;  // Samping period (sec), see parameter.h  

Uint16 IsrTicker = 0;
Uint16 BackTicker = 0;

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

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

volatile Uint16 EnableFlag = FALSE;

Uint16 SpeedLoopPrescaler = 25;     // Speed loop prescaler
Uint16 SpeedLoopCount = 1;    		// Speed loop counter

// Instance a current model object
//CURMOD cm1 = CURMOD_DEFAULTS;

// Instance a few transform objects
CLARKE clarke1 = CLARKE_DEFAULTS;
PARK park1 = PARK_DEFAULTS;
IPARK ipark1 = IPARK_DEFAULTS;

// Instance PID regulators to regulate the d and q synchronous axis currents,
// and speed
PIDREG3 pid1_id = PIDREG3_DEFAULTS;
PIDREG3 pid1_iq = PIDREG3_DEFAULTS;
PIDREG3 pid1_spd = PIDREG3_DEFAULTS;

// Instance a ramp controller to smoothly ramp the frequency
RMPCNTL rc1 = RMPCNTL_DEFAULTS;

//	Instance a ramp generator to simulate an Anglele
RAMPGEN rg1 = RAMPGEN_DEFAULTS;

// Instance a PWM driver instance
PWMGEN pwm1 = PWMGEN_DEFAULTS;

// Instance a PWM DAC driver instance
//PWMDAC pwmdac1 = PWMDAC_DEFAULTS;

// Instance a Space Vector PWM modulator. This modulator generates a, b and c
// phases based on the d and q stationery reference frame inputs
SVGENDQ svgen_dq1 = SVGENDQ_DEFAULTS;

// Instance a QEP interface driver
QEP qep1 = QEP_DEFAULTS;

// Instance a speed calculator based on QEP
SPEED_MEAS_QEP speed1 = SPEED_MEAS_QEP_DEFAULTS;

// Instance a enable PWM drive driver (only for DMC1500) 
//DRIVE drv1 = DRIVE_DEFAULTS;

// Create an instance of the current/dc-bus voltage measurement driver
ILEG2DCBUSMEAS ilg2_vdc1 = ILEG2DCBUSMEAS_DEFAULTS;

// Instance a current model constant object
// CURMOD_CONST cm1_const = CURMOD_CONST_DEFAULTS;

// Create an instance of DATALOG Module
//DLOG_4CH dlog = DLOG_4CH_DEFAULTS; 


void main(void)
{


// ******************************************
// Initialization code for DSP_TARGET = F2812
// ******************************************
#if (DSP_TARGET==F2812)

// Initialize System Control registers, PLL, WatchDog, Clocks to default state:
        // This function is found in the DSP281x_SysCtrl.c file.
	InitSysCtrl();

// HISPCP prescale register settings, normally it will be set to default values
    EALLOW;   // This is needed to write to EALLOW protected registers
    SysCtrlRegs.HISPCP.all = 0x0000;     // SYSCLKOUT/1 
    EDIS;   // This is needed to disable write to EALLOW protected registers 

// Disable and clear all CPU interrupts:
	DINT;
	IER = 0x0000;
	IFR = 0x0000;

// Initialize Pie Control Registers To Default State:
        // This function is found in the DSP281x_PieCtrl.c file.
	InitPieCtrl();

// Initialize the PIE Vector Table To a Known State:
        // This function is found in DSP281x_PieVect.c.
	// This function populates the PIE vector table with pointers
        // to the shell ISR functions found in DSP281x_DefaultIsr.c.
	InitPieVectTable();	
	
// User specific functions, Reassign vectors (optional), Enable Interrupts:

// Initialize EVA Timer 1:
    // Setup Timer 1 Registers (EVA)
    EvaRegs.GPTCONA.all = 0;

   // Waiting for enable LowFreqag set
   while (EnableFlag==FALSE) 
    { 
      BackTicker++;
    }
    
// Enable Underflow interrupt bits for GP timer 1
    EvaRegs.EVAIMRA.bit.T1UFINT = 1;
    EvaRegs.EVAIFRA.bit.T1UFINT = 1;

// Reassign ISRs. 
        // Reassign the PIE vector for T1UFINT to point to a different 
        // ISR then the shell routine found in DSP281x_DefaultIsr.c.
        // This is done if the user does not want to use the shell ISR routine
        // but instead wants to use their own ISR.

	EALLOW;	// This is needed to write to EALLOW protected registers
	PieVectTable.T1UFINT = &MainISR;
	EDIS;   // This is needed to disable write to EALLOW protected registers

// Enable PIE group 2 interrupt 6 for T1UFINT
    PieCtrlRegs.PIEIER2.all = M_INT6;

// Enable CPU INT2 for T1UFINT:
	IER |= M_INT2;

#endif

// Initialize PWM module
    pwm1.PeriodMax = SYSTEM_FREQUENCY*1000000*T/2;  // Perscaler X1 (T1), ISR period = T x 1 
	pwm1.init(&pwm1); 

    // Initialize PWMDAC module 
//   pwmdac1.PeriodMax = (SYSTEM_FREQUENCY*200/(30*2))*5;   // PWMDAC Frequency = 30 kHz 这是为什么？
//   pwmdac1.PwmDacInPointer0 = &PwmDacCh1;
//   pwmdac1.PwmDacInPointer1 = &PwmDacCh2;
//   pwmdac1.PwmDacInPointer2 = &PwmDacCh3;
// 	 pwmdac1.init(&pwmdac1); 

//Initialize DATALOG module      
 //   dlog.iptr1 = &DlogCh1;
 //   dlog.iptr2 = &DlogCh2;
 //   dlog.iptr3 = &DlogCh3; 
 //   dlog.iptr4 = &DlogCh4;
 //   dlog.trig_value = 0x0;
 //   dlog.size = 0x400;
 //   dlog.prescalar = 1;
 //   dlog.init(&dlog);

// Initialize QEP module
    qep1.LineEncoder = 2048;
    qep1.MechScaler = _IQ30(0.25/qep1.LineEncoder);
    qep1.PolePairs = P/2;
    qep1.CalibratedAngle = -1250;
    qep1.init(&qep1);
    
    
// Initialize the Speed module for QEP based speed calculation
    speed1.K1 = _IQ21(1/(BASE_FREQ*T));
    speed1.K2 = _IQ(1/(1+T*2*PI*30));  // Low-pass cut-off frequency
    speed1.K3 = _IQ(1)-speed1.K2;
    speed1.BaseRpm = 120*(BASE_FREQ/P); //基速，因为P为极数，不是极对数

// Initialize enable drive module (FOR DMC1500 ONLY)    
    //drv1.init(&drv1);

// Initialize ADC module
    ilg2_vdc1.init(&ilg2_vdc1);

// Initialize the SPEED_PR module

// #if (DSP_TARGET==F2812)
    // x128-T2, 150MHz, 1000-teeth sprocket