pmsm3_4.c

基于TMS320F2812的电动机控制源码(使用C语言)

    dlog.prescalar = 1;
    dlog.init(&dlog);

// Initialize QEP module
    qep1.LineEncoder = 2000;
    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);

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

// Initialize ADC module
// Note for DMC550: 
//  - At 24 dc-bus volt, the ADC input for measured Vdc_bus range is 24*1/(24.9+1) = 0.927 volt
//  - Then, Vdc_bus gain = 3.0/0.927 = 3.2375 (or 0x675C in Q13) 
    ilg2_vdc1.VdcMeasGain = 0x675C;
    ilg2_vdc1.ChSelect = 0x0610;
    ilg2_vdc1.init(&ilg2_vdc1);

// Initialize the RAMPGEN module
    rg1.StepAngleMax = _IQ(BASE_FREQ*T);

// Initialize the RAMPGEN module
    rc1.RampDelayMax = 5;

// Initialize the PID_REG3 module for Id
	pid1_id.Kp = _IQ(0.1);
	pid1_id.Ki = _IQ(T/0.02);			
	pid1_id.Kd = _IQ(0/T); 						
	pid1_id.Kc = _IQ(0.5);
    pid1_id.OutMax = _IQ(0.30);
    pid1_id.OutMin = _IQ(-0.30);    

// Initialize the PID_REG3 module for Iq
	pid1_iq.Kp = _IQ(0.1); 
	pid1_iq.Ki = _IQ(T/0.02);				
	pid1_iq.Kd = _IQ(0/T); 				
	pid1_iq.Kc = _IQ(0.5);
    pid1_iq.OutMax = _IQ(0.95);
    pid1_iq.OutMin = _IQ(-0.95);

// Initialize the PID_REG3 module for speed control
    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); 

// Initialize the PID_REG3 module for position control
    pid1_pos.Kp = _IQ(28.2);
	pid1_pos.Ki = _IQ(0);        // Integral term is not used 
	pid1_pos.Kd = _IQ(0);        // Derivative term is not used
 	pid1_pos.Kc = _IQ(0);
    pid1_pos.OutMax = _IQ(1);
    pid1_pos.OutMin = _IQ(-1);

//Initialize ModusA port
	InitSciAPort();

// 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 PdpintISR(void)
{
	DINT;
	DRTM;

	IER = 0x0000;
	IFR = 0x0000;

	EvaRegs.T1CON.all=0x8800;
	EvaRegs.COMCONA.all = 0x2000;

//	EvaRegs.T3CON.all=0x8800;
//	EvbRegs.COMCONB.all = 0x0000;
}

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 PWMDAC module 
// ------------------------------------------------------------------------------	
    PwmDacCh1 = (int16)_IQtoIQ15(svgen_dq1.Ta);
    PwmDacCh2 = (int16)_IQtoIQ15(svgen_dq1.Tb);    
    PwmDacCh3 = (int16)_IQtoIQ15(svgen_dq1.Tc);    

// ------------------------------------------------------------------------------
//    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)

// ------------------------------------------------------------------------------
//    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 ILEG2_VDC read function.
// ------------------------------------------------------------------------------
    ilg2_vdc1.read(&ilg2_vdc1);

// ------------------------------------------------------------------------------
//    Connect inputs of the CLARKE module and call the clarke transformation
//    calculation function.
// ------------------------------------------------------------------------------
 	clarke1.As = _IQ15toIQ((int32)ilg2_vdc1.ImeasA);
  	clarke1.Bs = _IQ15toIQ((int32)ilg2_vdc1.ImeasB);
	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 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 PWMDAC module 
// ------------------------------------------------------------------------------	
    PwmDacCh1 = (int16)_IQtoIQ15(svgen_dq1.Ta);
    PwmDacCh2 = (int16)_IQtoIQ15(clarke1.As);
    PwmDacCh3 = (int16)_IQtoIQ15(rg1.Out);

// ------------------------------------------------------------------------------
//    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)

// ------------------------------------------------------------------------------
//    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 ILEG2_VDC read function.
// ------------------------------------------------------------------------------
    ilg2_vdc1.read(&ilg2_vdc1);

// ------------------------------------------------------------------------------
//    Connect inputs of the CLARKE module and call the clarke transformation
//    calculation function.
// ------------------------------------------------------------------------------
 	clarke1.As = _IQ15toIQ((int32)ilg2_vdc1.ImeasA);
  	clarke1.Bs = _IQ15toIQ((int32)ilg2_vdc1.ImeasB);
	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;