TI公司官网源代码基于TMS320F2812的永磁同步电动机空间矢量控制的算法实现

往链点点通共享资源，了解更多请登录第7章基于TMS320F2812的永磁同步电动机控制例1、空间矢量算法实现SVGEN_DQ对象结构体定义typedef struct {_iq Ualpha; // 输入：α轴参考电压_iq Ubeta; // 输入：β轴参考电压_iq Ta; // 输出：参考相位a开关函数_iq Tb; // 输出：参考相位b开关函数_iq Tc; // 输出：参考相位c开关函数void (*calc)(); // 函数指针} SVGENDQ;typedef SVGENDQ *SVGENDQ_handle;SVGEN_DQ模块调用方法：main(){}void interrupt periodic_interrupt_isr(){svgen_dq1.Ualpha = Ualpha1; // 提供输入参数：svgen_dq1svgen_dq1.Ubeta = Ubeta1; // 提供输入参数：svgen_dq1svgen_dq2.Ualpha = Ualpha2; // 提供输入参数：vgen_dq2svgen_dq2.Ubeta = Ubeta2; // 提供输入参数：svgen_dq2svgen_dq1.calc(&svgen_dq1); // 调用函数模块svgen_dq1svgen_dq2.calc(&svgen_dq2); // 调用函数模块svgen_dq2Ta1 = svgen_dq1.Ta; // 访问运算结果svgen_dq1Tb1 = svgen_dq1.Tb; // 访问运算结果svgen_dq1Tc1 = svgen_dq1.Tc; // 访问运算结果svgen_dq1Ta2 = svgen_dq2.Ta; // 访问运算结果svgen_dq2Tb2 = svgen_dq2.Tb; // 访问运算结果svgen_dq2Tc2 = svgen_dq2.Tc; // 访问运算结果svgen_dq2}为进一步了解空间矢量算法的基本原理，下面给出空间矢量模块的源代码：void svgendq_calc(SVGENDQ *v){_iq Va,Vb,Vc,t1,t2;_iq sector = 0; /*设相位置（sector）等于Q0 *//*逆clarke变换*/Va = v->Ubeta;Vb = _IQmpy(_IQ(-0.5),v->Ubeta) + _IQmpy(_IQ(0.8660254),v->Ualfa); /* 0.8660254 = sqrt(3)/2 */ Vc = _IQmpy(_IQ(-0.5),v->Ubeta) - _IQmpy(_IQ(0.8660254),v->Ualfa); /* 0.8660254 = sqrt(3)/2 *//* 60度sector的确定*/if (Va>_IQ(0))sector = 1;if (Vb>_IQ(0))sector = sector + 2;if (Vc>_IQ(0))sector = sector + 4;/* X,Y,Z (Va,Vb,Vc)的计算*/Va = v->Ubeta; /* X = Va */Vb = _IQmpy(_IQ(0.5),v->Ubeta) + _IQmpy(_IQ(0.8660254),v->Ualfa); /* Y = Vb */Vc = _IQmpy(_IQ(0.5),v->Ubeta) - _IQmpy(_IQ(0.8660254),v->Ualfa); /* Z = Vc */if (sector==1) /* sector 1: t1=Z and t2=Y (abc ---> Tb,Ta,Tc) */{t1 = Vc;t2 = Vb;v->Tb = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); /* tbon = (1-t1-t2)/2 */v->Ta = v->Tb+t1; /* taon = tbon+t1 */v->Tc = v->Ta+t2; /* tcon = taon+t2 */}else if (sector==2) /* sector 2: t1=Y and t2=-X (abc ---> Ta,Tc,Tb) */{t1 = Vb;t2 = -Va;v->Ta = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); /* taon = (1-t1-t2)/2 */v->Tc = v->Ta+t1; /* tcon = taon+t1 */v->Tb = v->Tc+t2; /* tbon = tcon+t2 */}else if (sector==3) /* sector 3: t1=-Z and t2=X (abc ---> Ta,Tb,Tc) */{t1 = -Vc;t2 = Va;v->Ta = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); /* taon = (1-t1-t2)/2 */v->Tb = v->Ta+t1; /* tbon = taon+t1 */v->Tc = v->Tb+t2; /* tcon = tbon+t2 */}else if (sector==4) /* sector 4: t1=-X and t2=Z (abc ---> Tc,Tb,Ta) */{t1 = -Va;t2 = Vc;v->Tc = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); /* tcon = (1-t1-t2)/2 */v->Tb = v->Tc+t1; /* tbon = tcon+t1 */v->Ta = v->Tb+t2; /* taon = tbon+t2 */}else if (sector==5) /* sector 5: t1=X and t2=-Y (abc ---> Tb,Tc,Ta) */{t1 = Va;t2 = -Vb;v->Tb = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); /* tbon = (1-t1-t2)/2 */v->Tc = v->Tb+t1; /* tcon = tbon+t1 */v->Ta = v->Tc+t2; /* taon = tcon+t2 */}else if (sector==6) /* sector 6: t1=-Y and t2=-Z (abc ---> Tc,Ta,Tb) */{t1 = -Vb;t2 = -Vc;v->Tc = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); /* tcon = (1-t1-t2)/2 */v->Ta = v->Tc+t1; /* taon = tcon+t1 */v->Tb = v->Ta+t2; /* tbon = taon+t2 */}v->Ta = _IQmpy(_IQ(2),(v->Ta-_IQ(0.5)));v->Tb = _IQmpy(_IQ(2),(v->Tb-_IQ(0.5)));v->Tc = _IQmpy(_IQ(2),(v->Tc-_IQ(0.5)));}在相位置(sector)3中的一个矢量的例子：PWM1PWM3PWM5图相位置(sector)PWM 实例及其占空比例2、事件管理器配置EvaRegs.T1PR = p->n_period; /* SYSTEM_FREQUENCY*1000000*T/2 *//*初始化Timer 1周期寄存器*//* 预定标器X1 (T1)，ISR周期= T x 1 */ EvaRegs.T1CON.all = PWM_INIT_STATE; /* 对称操作模式*/ EvaRegs.DBTCONA.all = DBTCON_INIT_STATE;EvaRegs.ACTRA.all = ACTR_INIT_STATE;CONA.all = 0xA200;EvaRegs.CMPR1 = p->n_period;EvaRegs.CMPR2 = p->n_period;EvaRegs.CMPR3 = p->n_period;EALLOW;GpioMuxRegs.GPAMUX.all |= 0x003F;例3、TMS320F2812电流及DC母线电压检测//******************************************************************************// TMS320F2812电流及DC母线电压检测// 文件名称：F28XILEG_VDC.C//****************************************************************************** #include "DSP28_Device.h"#include "f28xileg_vdc.h"#include "f28xbmsk.h"#define CPU_CLOCK_SPEED 6.6667L // CPU时钟速度150MHz#define ADC_usDELAY 5000L#define DELAY_US(A) DSP28x_usDelay(((((long double) A * 1000.0L)/ (long double)CPU_CLOCK_SPEED) - 9.0L) / 5.0L) extern void DSP28x_usDelay(unsigned long Count);void F28X_ileg2_dcbus_drv_init(ILEG2DCBUSMEAS *p){DELAY_US(ADC_usDELAY);AdcRegs.ADCTRL1.all = ADC_RESET_FLAG; /*复位ADC模块*/asm(" NOP ");asm(" NOP ");AdcRegs.ADCTRL3.bit.ADCBGRFDN = 0x3; /* 为bandgap和参考电路供电*/DELAY_US(ADC_usDELAY); /*为ADC其他单元上电前延时*/AdcRegs.ADCTRL3.bit.ADCPWDN = 1; /*为ADC其他单元上电*/AdcRegs.ADCTRL3.bit.ADCCLKPS = 3; /* 设置ADCTRL3寄存器*/DELAY_US(ADC_usDELAY);AdcRegs.ADCTRL1.all = ADCTRL1_INIT_STATE; /*设置ADCTRL1寄存器*/AdcRegs.ADCTRL2.all = ADCTRL2_INIT_STATE; /*设置ADCTRL2寄存器*/AdcRegs.ADCMAXCONV.bit.MAX_CONV = 2; /* 确定3个转换*/AdcRegs.ADCCHSELSEQ1.all = p->Ch_sel; /* 配置通道选择*/EvaRegs.GPTCONA.bit.T1TOADC = 1; /*设置采用Timer1 UF触发ADC转换*/ }void F28X_ileg2_dcbus_drv_read(ILEG2DCBUSMEAS *p){int dat_q15;long tmp;/* 等待ADC转换结束*/while (AdcRegs.ADCST.bit.SEQ1_BSY == 1){};dat_q15 = AdcRegs.ADCRESULT0^0x8000; /*将转换结果变成Q15格式双极性数据*/tmp = (long)(p->Imeas_a_gain*dat_q15);p->Imeas_a = (int)(tmp>>13);p->Imeas_a += p->Imeas_a_offset;p->Imeas_a *= -1; /*正向，电流流向电动机*/dat_q15 = AdcRegs.ADCRESULT1^0x8000; /*将转换结果变成Q15格式双极性数据*/tmp = (long)(p->Imeas_b_gain*dat_q15);p->Imeas_b = (int)(tmp>>13);p->Imeas_b += p->Imeas_b_offset;p->Imeas_b *= -1; /*正向，电流流向电动机*/dat_q15 = (AdcRegs.ADCRESULT2>>1)&0x7FFF; /*将转换结果变成Q15格式双极性数据*/tmp = (long)(p->Vdc_meas_gain*dat_q15);p->Vdc_meas = (int)(tmp>>13);p->Vdc_meas += p->Vdc_meas_offset;p->Imeas_c = -(p->Imeas_a + p->Imeas_b);AdcRegs.ADCTRL2.all |= 0x4040; /* 复位排序器*/}例4、电动机位置检测/******************************************************************************// TMS320F2812电动机位置检测QEP电路初始化及应用// 文件名称：F28XQEP.C//****************************************************************************** #include "DSP28_Device.h"#include "f28xqep.h"#include "f28xbmsk.h"void F28X_EV1_QEP_Init(QEP *p){EvaRegs.CAPCON.all = QEP_CAP_INIT_STATE; /*设置捕捉单元*/EvaRegs.T2CON.all = QEP_TIMER_INIT_STATE; /*设置捕捉定时器*/EvaRegs.T2PR = 0xFFFF;EvaRegs.EV AIFRC.bit.CAP3INT = 1; /*清除CAP3标志*/EvaRegs.EV AIMRC.bit.CAP3INT = 1; /*使能CAP3中断*/GpioMuxRegs.GPAMUX.all |= 0x0700; /*配置捕捉单元的引脚*/}void F28X_EV1_QEP_Calc(QEP *p){long tmp;p->dir_QEP = 0x4000&EvaRegs.GPTCONA.all;p->dir_QEP = p->dir_QEP>>14;p->theta_raw = EvaRegs.T2CNT + p->cal_angle;tmp = (long)(p->theta_raw*p->mech_scaler); /* Q0*Q26 = Q26 */tmp &= 0x03FFF000;p->theta_mech = (int)(tmp>>11); /* Q26 -> Q15 */p->theta_mech &= 0x7FFF;p->theta_elec = p->pole_pairs*p->theta_mech; /* Q0*Q15 = Q15 */p->theta_elec &= 0x7FFF;}void F28X_EV1_QEP_Isr(QEP *p){p->QEP_cnt_idx = EvaRegs.T2CNT;EvaRegs.T2CNT = 0;p->index_sync_flag = 0x00F0;//******************************************************************************// TMS320F2812电动机位置检测QEP电路初始化参数及函数定义// 文件名称：F28XQEP.H//******************************************************************************#ifndef __F28X_QEP_H__#define __F28X_QEP_H__#include "f28xbmsk.h"/* 初始化T2CON和CAPCON */#define QEP_CAP_INIT_STATE 0x9004#define QEP_TIMER_INIT_STATE (FREE_RUN_FLAG + \TIMER_DIR_UPDN + \TIMER_CLK_PRESCALE_X_1 + \TIMER_ENABLE_BY_OWN + \TIMER_ENABLE + \TIMER_CLOCK_SRC_QEP + \TIMER_COMPARE_LD_ON_ZERO)/* 定义QEP (正交编码电路) 驱动的对象*/typedef struct {int theta_elec; /* 输出: 电动机电角度(Q15) */ int theta_mech; /* 输出: 电动机机械角度(Q15) */int dir_QEP; /* 输出: 电动机转动方向(Q0) */int QEP_cnt_idx; /* 变量: 编码器计数(Q0) */int theta_raw; /* 变量: 定时器2得出的角度(Q0) */int mech_scaler; /* 参数: 0.9999/计数最大值，计数最大值= 4000 (Q26) */int pole_pairs; /* 参数: 极对数(Q0) */int cal_angle; /* 参数: 编码器和相之间的角度偏移量(Q0) */int index_sync_flag; /* 输出: Index sync status (Q0) */void (*init)(); /* 初始化函数指针*/void (*calc)(); /* 计算函数指针*/void (*isr)(); /* 中断程序指针*/} QEP;/* 定义一个QEP_handle */typedef QEP *QEP_handle;#define QEP_DEFAULTS { 0x0, 0x0,0x0,0x0,0x0,16776,2,-2365,0x0, \(void (*)(long))F28X_EV1_QEP_Init, \(void (*)(long))F28X_EV1_QEP_Calc, \(void (*)(long))F28X_EV1_QEP_Isr }void F28X_EV1_QEP_Init(QEP_handle);void F28X_EV1_QEP_Calc(QEP_handle);void F28X_EV1_QEP_Isr(QEP_handle);#endif /* __F28X_QEP_H__ */例5、TMS320F2812实现三相永磁同步电动机的磁场定向控制//****************************************************************************** // 采用TMS320F2812实现三相永磁同步电动机的磁场定向控制// 文件名称：PMSM3_1.C//******************************************************************************#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EV A 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.EV AIMRA.bit.T1UFINT = 1;EvaRegs.EV AIFRA.bit.T1UFINT = 1;// 使能CAP3中断（定时器2）EvaRegs.EV AIMRC.bit.CAP3INT = 1;EvaRegs.EV AIMRC.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INTMERTM; // 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.EV AIMRA.bit.T1UFINT = 1;EvaRegs.EV AIFRA.all = BIT9;PieCtrlRegs.PIEACK.all |= PIEACK_GROUP2;}interrupt void EvaTimer2(void){qep1.isr(&qep1);EvaRegs.EV AIMRC.bit.CAP3INT = 1;EvaRegs.EV AIFRC.all = BIT2;PieCtrlRegs.PIEACK.all |= PIEACK_GROUP3;}。