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

1、 1 / 29 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：轴参考电压 _iq Ubeta; _iq Ta; _iq Tb; _iq Tc; SVGENDQ; typedef SVGENDQ *SVGENDQ_handle; SVGEN_DQ模块调用方法： main() void interrupt periodic_interrupt_isr()svgen_dq 1.Ualpha = Ualpha1; svgen_dq 1.Ubeta = Ubeta1; svgen_

2、dq 2.Ualpha = Ualpha2; svgen_dq 2.Ubeta = Ubeta2; 2 / 29 svgen_dq 1.calc(&svgen_dq1); svgen_dq 2.calc(&svgen_dq2); Ta1 = svgen_dq 1.Ta; Tb1 = svgen_dq 1.Tb; Tc1 = svgen_dq 1.Tc; Ta2 = svgen_dq 2.Ta; Tb2 = svgen_dq 2.Tb; Tc2 = svgen_dq 2.Tc; /提供输入参数： svgen_dq1 /提供输入参数： svgen_dq1 /提供输入参数： 3 /

3、29 vgen_dq2 /提供输入参数： svgen_dq2 /调用函数模块svgen_dq1 /调用函数模块svgen_dq2 /访问运算结果svgen_dq1 /访问运算结果svgen_dq1 /访问运算结果svgen_dq1 /访问运算结果svgen_dq2 /访问运算结果svgen_dq2 /访问运算结果svgen_dq2 /输入：轴参考电压 /输出： 参考相位a开关函数 /输出： 参考相位b开关函数 /输出： 参考相位c开关函数 函数指针 void (*calc)(); / 4 / 29 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_c

4、alc(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.),v->Ualfa);/* 0. = sqrt (3)/2 */Vc = _IQmpy(_IQ(- 0.5),v->Ubeta) - _IQmpy(_IQ( 0.),v->Ualfa);/* 0. = sqrt (3)/2 */* 60度sector的确定*/ if (

5、Va>_IQ (0) sector = 1; if (Vb>_IQ (0) sector = sector + 2; if (Vc>_IQ 5 / 29 (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.),v->Ualfa);/* Y = Vb */ Vc = _IQmpy(_IQ( 0.5),v->Ubeta) - _IQmpy(_IQ( 0.),v-

6、>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

7、 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 */ 6 / 29 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;

8、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

9、-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 */

10、 7 / 29 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-&

11、gt;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： CMPR3tcon CMPR2tbon CMPR1taontPWM1tPWM3tPWM5T0/4T 6/2T 6/2T 0/4T 8 / 29 0/4T 6/4T 4/4T 0/4tV0V 6V 4V 7V 7V 6V 4V0T 图相位置(sector)PWM实例及其占空比例2

12、、事件管理器配置 EvaRegs.T1PR = p->n_period;/* SYSTEM_FREQUENCY*1000*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.DBTCON A.all = DBTCON_INIT_STATE; EvaRegs.ACTR A.all = ACTR_INIT_STATE; EvaRegs.COMCON A.all = 0xA200; EvaRegs.CMPR1 = p->n_peri

13、od; EvaRegs.CMPR2 = p->n_period; 9 / 29 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_V DC.C /* #include DSP28_Device.h #include f28xileg_vdc.h #include f28xbmsk.h #define CPU_CLOCK_SP EED6.6667L/CPU时钟

14、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) / 10 / 29 5.0L)extern void DSP28x_usDelay(unsigned long Count); void F28X_ileg2_dcbus_drv_init(ILEG2DCBUSMEAS *p)DELAY_US(ADC_usDELAY); asm( NOP ); asm( NOP ); AdcR

15、egs.ADCTRL 3.bit.ADCBGRFDN = 0x3; DELAY_US(ADC_usDELAY); AdcRegs.ADCTRL 3.bit.ADCPWDN = 1; AdcRegs.ADCTRL 3.bit.ADCCLKPS = 3; DELAY_US(ADC_usDELAY); AdcRegs.ADCTRL 1.all = ADCTRL1_INIT_STATE; AdcRegs.ADCTRL 2.all = ADCTRL2_INIT_STATE; AdcRegs.ADCMAXCONV.bit.MAX_CONV = 2; AdcRegs.ADCCHSELSEQ 1.all =

16、p->Ch_sel;/*设置ADCTRL1寄存器*/ /*设置ADCTRL2寄存器*/*确定3个转换 /*配置通道选择*/*/*为ADC其他单元上电*/ 11 / 29 /*设置ADCTRL3寄存器*/ /*为bandgap和参考电路供电*/ /*为ADC其他单元上电前延时*/*复位ADC模块*/ AdcRegs.ADCTRL 1.all = ADC_RESET_FLAG; EvaRegs.GPTCON A.bit.T1TOADC = 1; /*设置采用Timer1 UF触发ADC转换*/void F28X_ileg2_dcbus_drv_read(ILEG2DCBUSMEAS *p)i

17、nt dat_q15; long tmp; /*等待ADC转换结束*/ while (AdcRegs.ADCST.bit.SEQ1_BSY = 1) ; dat_q15 = AdcRegs.ADCRESULT00x8000;/*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; dat_q15 = AdcRegs.ADCRESULT

18、10x8000;/*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; 12 / 29 p->Imeas_b *= -1; 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->Vd

19、c_meas = (int)(tmp>>13); p->Vdc_meas += p->Vdc_meas_offset; p->Imeas_c = -(p->Imeas_a + p->Imeas_b); AdcRegs.ADCTRL 2.all |= 0x40;/*复位排序器*/*正向，电流流向电动机*/ /*正向，电流流向电动机*/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#inc

20、lude f28xbmsk.h voidF28X_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 = 0xFF; 13 / 29 EvaRegs.EVAIFR C.bit.CAP3INT = 1; EvaRegs.EVAIMR C.bit.CAP3INT = 1; GpioMuxRegs.GPAMUX.all |= 0x0700;void F28X_EV1_QEP_Cal

21、c(QEP *p)long tmp; p->dir_QEP = 0x4000&EvaRegs.GPTCON A.all; p->dir_QEP = p->dir_QEP>>14; p->theta_raw = EvaRegs.T2CNT + p->cal_angle; tmp = (long)(p->theta_raw*p->mech_scaler); tmp &= 0x03FFF000; p->theta_mech = (int)(tmp>>11); p->theta_mech &= 0x7

22、FFF; /* Q0*Q15 = Q15 */ p->theta_elec = p->pole_pairs*p->theta_mech; 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/* Q26 -> Q15 */ /* Q0*Q26 = Q26 */*清除CAP3标志*/ 14 / 29 /*使能CAP3中断*/ /*配置捕捉单元的引脚*/ /文件名称： F28XQEP.H /* #ifndef _F28X_QEP_H_ #define _

23、F28X_QEP_H_ #include f28xbmsk.h /*初始化T2CON和CAPCON*/ #define QEP_CAP_INIT_STATE0x9004 #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

24、 theta_elec;/*输出: 电动机电角度(Q15) int theta_mech;/*输出: 15 / 29 电动机机械角度(Q15) int dir_QEP;/*输出: 电动机转动方向(Q0) 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: 0.99/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

25、 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, 16 / 29 (void (*)(long)F28X_EV1_QEP_Init, (void (*)(long)F28X_EV1_QEP_Calc, (void (*)(long)F28X_EV1_QEP_I

26、sr 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 D

27、SP28_Device.h #include pmsm3_ 1.h #include parameter.h 17 / 29 #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; float Vq_testing = 0.25; float Id_ref = 0; float Iq_ref = 0.4; float speed_ref = 0.2; int isr_ticker = 0; int pwmdac_ch1

28、=0; int pwmdac_ch2=0; int pwmdac_ch3=0; volatile int enable_flg=0; int lockrtr_flg=1; int speed_loop_ps = 10; int speed_loop_count = 1; 18 / 29 CLARKE clarke1 = CLARKE_DEFAULTS; PARK park1 = PARK_DEFAULTS; IPARK ipark1 = IPARK_DEFAULTS; PIDREG3 pid1_id = PIDREG3_DEFAULTS; PIDREG3 pid1_iq = PIDREG3_D

29、EFAULTS; PIDREG3 pid1_spd = PIDREG3_DEFAULTS;/速度环定标器 /速度环计数器/* Vd testing (pu) */ /* Vq testing (pu) */ /* Id reference (pu) */ /* Iq reference (pu) */ /* Speed reference (pu) */ float T = 0.001/ISR_FREQUENCY;/* Samping period (sec), see parameter.h */ PWMGEN pwm1 = PWMGEN_DEFAULTS; PWMDAC pwmdac1 =

30、 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; 19 / 29 ILEG2DCBUSMEAS ilg2_vdc1 = ILEG2DCBUSMEAS_DEFAULTS; /主函数 void main(vo

31、id)/系统初始化 InitSysCtrl(); /HISPCP设置 EALLOW; SysCtrlRegs.HISPCP.all = 0x00;/* SYSCLKOUT/1*/ EDIS; /禁止并清除所有CPU中断: DINT; IER = 0x00; IFR = 0x00; /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.GPTCON A.all = 0; /等待使能标志位 20 / 29 while (enable_flg=0)/使能定时器1

32、的下溢中断 EvaRegs.EVAIMR A.bit.T1UFINT = 1;EvaRegs.EVAIFR A.bit.T1UFINT = 1; /使能CAP3中断（定时器2） EvaRegs.EVAIMR C.bit.CAP3INT = 1; EvaRegs.EVAIMR C.bit.CAP3INT = 1; ; /重新分配中断向量 /使能PIE组2的中断6（T1UFINT） PieCtrlRegs.PIER 2.all = M_INT6; /使能PIE组3的中断7（CAPINT3） PieCtrlRegs.PIER 3.all = M_INT7; /使能CPU INT2（T1UFINT）和

33、INT3（CAPINT3）： /使能全局中断和最高优先级适时调试事件管理器功能： /* pwmdac 21 / 29 1.pwmdac_period = 2500;/* PWM频率= 30 kHz */ pwmdac 1.PWM_DAC_IPTR0 = &pwmdac_ch1; pwmdac 1.PWM_DAC_IPTR1 = &pwmdac_ch2; pwmdac 1.PWM_DAC_IPTR2 = &pwmdac_ch3; qep 1.init(&qep1); drv 1.init(&drv1); ilg2_vdc 1.init(&ilg2_

34、vdc1); /*初始化SPEED_FRQ模块*/ pwmdac 1.init(&pwmdac1); 模块初始化*/ pwm 1.n_period = SYSTEM_FREQUENCY*1000*T/2;/*预定标器X1 (T1), ISR周期= T x 1 */pwm 1.init(&pwm1); EINT;/使能全局中断INTM 22 / 29 ERTM;/使能适时调试中断DBGM IER |= (M_INT2 | M_INT3); EALLOW; PieVectTable.T1UFINT = &EvaTimer1; PieVectTable.CAPINT3 = &

35、amp;EvaTimer2; EDIS; speed 1.K1 = _IQ21(1/(BASE_FREQ*T); speed 1.K2 = _IQ(1/(1+T*2*PI*30);/*低通截至频率= 30 Hz */ speed 1.K3 = _IQ (1)-speed 1.K2; speed 1.rpm_max = 120*BASE_FREQ/P; /*初始化RAMPGEN模块*/ rg 1.step_angle_max = _IQ(BASE_FREQ*T); /*初始化PID_REG3Id调节模块*/ pid1_id.Kp_reg3 = _IQ( 23 / 29 0.75); pid1_i

36、d.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_REG3Iq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); pid

37、1_iq.pid_out_max = _IQ( 0.95); pid1_iq.pid_out_min = _IQ(- 24 / 29 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 = _

38、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 = speed 1.speed_frq; pid1_spd.calc(&pid1_spd); speed_loop_count=1; else speed_loop_count+; 25 / 29 pwm 1.Mfunc_c1 = (int)_IQtoIQ15(svgen_dq 1.Ta); /* Mfunc_c1 is in Q15 */ ilg2_vdc 1.read(&ilg2_vdc1); park 1.ds = clarke 1.ds; park 1.qs = clarke 1.qs; park 1.ang = speed 1.theta_elec; park 1.calc(&park1); qep 1.calc(&qep1); speed 1.theta_elec = _IQ15toIQ(long)qep 1.theta_elec); 26 / 29 speed 1.dir_QE