正弦波永磁同步电动机驱动控制程序

1、3.5 正弦波永磁同步电动机驱动控制程序/# #/ 采用矢量控制算法控制永磁同步电机/ TMS320F2812/# #/= /头文件调用/= #include "DSP281x_Device.h"/= /常量附值/= #define Delta 5#define PI 3.1415926#define Kpspeed 0.7 /0.9 /转速环 PI 调节器低速时参数要大 一些#define Kispeed 0.7 /0.6 / 0.6 0.6 150转时#define Kpd 0.1 /0.07#define Kid 0.1 /0.1#define Kpq 0.15 /0

2、.22 /0.22 /0.07#define Kiq 0.1 /0.04 /0.04 /0.1/= /全局变量/= unsigned int index1; /index1为转子位置角用于 PARK PARKN变换 unsigned int index2;unsigned int testtime; /index2为转子位置角加或减 2分之 PIint charge=0; /自举充电时间控制位unsigned long rd=0; /转子定位时间控制位int L2=0; /T2计数器当前计数值int L1=0; /T2计数器上一次计数值int L; /计数器两次差值用于 M 法转速计算int

3、lin=0;unsigned int capcount=0;unsigned int cap50;/通过 SCI 口发信息unsigned int scienable=0;unsigned int canchannel=0; /发送选项控制unsigned long a=0,b=0;unsigned int speedsci=0;unsigned int speedsd=0;unsigned int speedthousand=3; /转速千位unsigned int speedhundred=3; /转速百位unsigned int speeddecade=1; /转速十位unsigned

4、int speedlow=0;unsigned int Udc=3500; /转速个位unsigned int Udcthousand=0; /电压千位unsigned int Udchundred=0; /电压百位unsigned int Udcdecade=4; /电压十位unsigned int Udclow=8; /电压个位unsigned int Idc=0;unsigned int Idcthousand=0; /电流千位unsigned int Idchundred=0; /电流百位unsigned int Idcdecade=6; /电流十位unsigned int Idclo

5、w=0; /电流个位unsigned int scicount=0; /向上位机发送数据周期控制unsigned long setspeed=2500; /上位机设定的速度unsigned int scisend6;char ReceivedChar=0;char scired6;int p=0,q=0,sciflag=0,tenable=0;int i,j,t;/AD数字滤波unsigned int once=0;long Ia_now;long Ia_fore;long Ib_now;long Ib_fore;long Ic_now;unsigned int ad_count;unsign

6、ed int delay=0;unsigned int S_Ia=0;unsigned int ia18=0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0; unsigned int ib18=0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0;long Icb,Ica; /CLARK变换两相静止坐标系电流 long Iat,Ibt; /AD数字滤波中间变量long Ia=0,Ib=0,Ic=0; /滤波后的电流值/转速环 PI 调节参数int direct=0; /转向控制 0为正转 1为反转long speed_given=170; /转速给定lo

7、ng speed_count=10; /转速计算周期控制标志long speed_feed=0; /转速反馈long speed_out2=0; /上次转速调节器输出long speed_e1; /当前转速偏差long speed_e2=0; /上次转速偏差/电流环 PI 调节参数long Id_given=0; /Id给定long Iq_given=0; /Iq给定转速调节器输出 long Id_feed; /d轴电流反馈值long Iq_feed; /q轴电流反馈值long Id_e; /d轴当前电流偏差long Id_e0=0; /d轴上次电流偏差long Iq_e; /q轴当前电流偏差

8、long Iq_e0=0; /q轴上次电流偏差long Ud=-150; /d轴电流调节器输出long Uq=1000; /q轴电流调节器输出long Ud0=0; /上次 d 轴电流调节器输出 long Uq0=0; /上次 q 轴电流调节器输出 long Upa,Upb; /Ud Uq PARKN变换值 long Ua,Ub,Uc; /SPWM调制电压void init_SCI(void; /串口初始化void scia_xmit(int a; /串口发送函数void init_eva(void; /EVA初始化void init_ADC(void; /ADC初始化void calcuin

9、dex(void; /转子位置角计算void calcuspeed(void; /转速计算void speed_PI(void; /转速环 PI 调节void AD(void; /AD采样及滤波void I_PI(void; /电流环 PI 调节void CLARK(void; /CLARK变换void CLARKN(void; /CLARK逆变换void PARK(void; /PARK变换void PARKN(void; /PARK逆变换interrupt void t1pint_isr(void; /定时器 1中断服务程序 interrupt void cap3_isr(void; /捕

10、获单元 3中断服务程序 interrupt void sci_isr(void;signed int sintable512=/同 SPWM/Q15格式 , 将 2PI 弧度分成了 512份void main(void/初始化系统InitSysCtrl(;/关中断DINT;IER = 0x0000;IFR = 0x0000;/初始化 PIE 中断InitPieCtrl(;/初始化 PIE 中断矢量表InitPieVectTable(;EALLOW;EDIS;EALLOW;PieVectTable.T1UFINT = &t1pint_isr;PieVectTable.CAPINT3 =

11、&cap3_isr;PieVectTable.RXAINT=&sci_isr;EDIS;IER |= M_INT2;IER |= M_INT3;IER |= M_INT9;EALLOW;EDIS;/开中断init_SCI(;init_eva(; /初始化 EVAinit_ADC(; /初始化 ADCif(direct=0speed_given=speed_given; /正反转速度设定elsespeed_given=-speed_given;EINT;ERTM;for(;if(scienable=1&&(tenable=1=1/speedsci=setspeed

12、;tenable=0;speedthousand=speedsci/1000;speedhundred=speedsci/100%10;speeddecade=speedsci/10%10;speedlow=speedsci%10;scisend0='s'scisend1=0x30+speedthousand; /speedthousand scisend2=0x30+speedhundred; /speedhundred scisend3=0x30+speeddecade; /speeddecade scisend4=0x30+speedlow; /speedlowscise

13、nd5='p'while(1scia_xmit(scisendp;p+;if(p>5p=0;break;void init_SCI(/ Note: Clocks were turned on to the SCIA peripheral/ in the InitSysCtrl( function/ No parity,8 char bits,/ async mode, idle-line protocolSciaRegs.SCIHBAUD =0x0001;SciaRegs.SCILBAUD =0x00E7;void scia_xmit(int aSciaRegs.SCIT

14、XBUF=a;void init_eva(EvaRegs.T1PR=7500; / Timer1 periodEvaRegs.T1CNT=0x0000; / Timer1 counterEvaRegs.T2PR=9999; /光电编码器 2500线EvaRegs.T2CNT=0;void init_ADC(voidfor(i=0;i<1000;i+ ;for(i=0;i<500;i+ ;/*/ /根据 L 正反转 4种不同情况进行转速计算所得转速均为正值/*/ void calcuspeed(voidif(L>=0&&(L<2000speed_feed=

15、L*3;if(L<0&&(L<-2000speed_feed=(10000+L*3;if(L>0&&(L>2000speed_feed=(10000-L*3;if(L<0&&(L>=-2000speed_feed=(-L*3;if(speed_feed>0speedsci=speed_feed;elsespeedsci=-speed_feed;void speed_PI(voidspeed_e1=speed_given-speed_feed;Iq_given=speed_out2+Kpspeed*(spe

16、ed_e1-speed_e2+Kispeed*speed_e1;if(Iq_given>500Iq_given=500;if(Iq_given<-500Iq_given=-500;speed_e2=speed_e1;speed_out2=Iq_given;/*/AD采样及滤波连续采样 18次,舍弃最大值和最小值剩下的再取平均值/*/void AD(voidfor(ad_count=0;ad_count<=17;ad_count+for(delay=0;delay<=10;delay+iaad_count=AdcRegs.ADCRESULT0>>4;ibad_

17、count=AdcRegs.ADCRESULT1>>4;/testtime=0;for(j=1;j<=17;j+for(i=0;i<=17-j;i+if(iai>iai+1t=iai;iai=iai+1;iai+1=t;if(ibi>ibi+1t=ibi;ibi=ibi+1;ibi+1=t;Iat=(ia5+ia6+ia7+ia8+ia9+ia10+ia11+ia12>>3;Ibt=(ib5+ib6+ib7+ib8+ib9+ib10+ib11+ib12>>3;Ia=Iat-2110;Ib=Ibt-2110;if(once=0Ia_fo

18、re=Ia;Ib_fore=Ib;once=1;Ia_now=(Delta*Ia+(8-Delta*Ia_fore>>3;Ib_now=(Delta*Ib+(8-Delta*Ib_fore>>3;Ia_fore=Ia_now;Ib_fore=Ib_now;Ic_now=-(Ia_now+Ib_now;/*/ /Ud Uq限幅值限定了最高转速/*/ void I_PI(voidId_e=Id_given-Id_feed; /2*Id_feedUd=Ud0+Kpd*(Id_e-Id_e0+Kid*Id_e;Iq_e=Iq_given-Iq_feed; /2*Iq_feedU

19、q=Uq0+Kpq*(Iq_e-Iq_e0+Kiq*Iq_e;if(Ud>500Ud=500;if(Ud<-500Ud=-500;if(Uq>2500Uq=2500;if(Uq<-2500Uq=-2500;Ud0=Ud;Uq0=Uq;Id_e0=Id_e;Iq_e0=Iq_e;void CLARK(voidIca=(5017*Ia_now>>12;Icb=(2896*Ia_now>>12+(5793*Ic_now>>12;void CLARKN(voidUa=(Upa*3344>>12;Ub=(-Upa*1672>&

20、gt;12+(Upb*2896>>12;Uc=-(Ua+Ub;if(Ua>7500Ua=7500;if(Ua<-7500Ua=-7500;if(Ub>7500Ub=7500;if(Ub<-7500Ub=-7500;if(Uc>7500Uc=7500;if(Uc<-7500Uc=-7500;void PARK(voidId_feed=(Ica*sintableindex2>>15+(Icb*sintableindex1>>15; Iq_feed=-(Ica*sintableindex1>>15+(Icb*sintableindex2>>15; void PARKN(voidUpa=(Ud*sintableindex2>>15-(Uq*sintableindex1>>15;Upb=(Ud*sintableind