DSP无刷直流电动机驱动控制程序.docx

2.4 无刷直流电动机驱动控制程序/#/无刷电机控制源程序/TMS320F2812/#/=/头文件调用/=#include DSP28_Device.h#include math.h#include float.h/=/常量附值/=#define Idc_max 3000 /电流给定最大值 #define Idc_min 0 /电流给定最小值 /=/标志位/=char Iab_Data=0;struct Flag_Bits / bits description Uint16 Send:1; / 0 串口发数 Uint16 Test:1; / 1 串口测试 Uint16 Vflag:1; / 2 转速更新 Uint16 SendEnd:1; / 3 串口发送结束 Uint16 Sign1:1; / 4 上一次给定转向标志 Uint16 Sign2:1; / 5 本次给定转向标志 Uint16 Openint:1; / 6 启动标志 Uint16 Adfrist:1; / 7 保留 Uint16 Spdoff:1; / 8 保留 Uint16 Zero:1; / 9 转速过零标志 Uint16 Mode:3; / 10-12 保留 Uint16 Dshow:1; / 13 保留 Uint16 Sign:1; / 14 当前转向标志;union Flag_Reg Uint16 all; struct Flag_Bits bit;FlagRegs;/=/全局变量/=/串口通信变量unsigned int Sci_Rx8=0,0,0,0,0,0,0,0; /接收数据数组unsigned int Sci_Tx8=0,0,0,0,0,0,0,0; /发送数据数组char T_pointer=0; /发送数据数组指针char R_pointer=0; /接收数据数组指针char T_length=1; /发送数据长度 char R_length=0; /接收数据长度 char a2=0; /控制参数unsigned int spd_kp=0; /转速环P参数unsigned int spd_ki=0; /转速环I参数 unsigned int id_kp=0,id_ki=0; /电流PI参数signed int spd_given=0; /转速给定signed int spd_given1=0; /转速给定signed int spd_given2=0; /转速给定/控制变量unsigned int cap1=0; /前次换向标志位unsigned int cap2=0; /本次换向标志位unsigned int intruptcount=0; /定时器1下溢中断次数unsigned int speed_given = 1000; /转速给定signed int Idc_given2=0; /算得本次电流给定值signed int speed_e1=0; /前次转速误差signed int speed_e2=0; /本次转速误差signed int Ia_e1=0; /前次电流误差 signed int Ia_e2=0; /本次电流误差char t2first=0;signed int COMP2=0; /装比较寄存器值/转速反馈char Spd_Data=0; /滤波计数int speed_counter=0; /速度环计数器unsigned int cap_a; /本次捕获单元数据unsigned int cap_b; /上次捕获单元数据long cap_c; /捕获单元数据差signed int BLDC_SPD10=0,0,0,0,0,0,0,0,0,0;/转速滤波signed int spd_fd_q1=0; /转速反馈临时变量unsigned int spd_fd_q0=0; /转速检测值char cc=0;/电流反馈unsigned int ia6=0,0,0,0,0,0; /A相电流反馈值 unsigned int ib6=0,0,0,0,0,0; /B相电流反馈值signed int ia_fd=0,ib_fd=0; /电流反馈signed int Temp_filter=0; /临时变量unsigned int t1per=0; /周期寄存器数值/临时变量signed long long1_tmp=0;signed long long2_tmp=0;signed int u16_tmp1=0;signed int u16_tmp2=0;/=/子程序声明/=interrupt void t1uf_int(void);interrupt void cap_int(void);void Ad(void);void speed(void); /计算速度void Ia_PI(void); /电流环调节Iavoid speed_PI(void); /速度环调节void bldc(void); void Check_Rxdata(void); void Sci_Send(signed int sci_delay);char *Fen_Jie(signed int Send_Temp);unsigned int Sci_Rx_check(unsigned int i_Rx,unsigned int *p_Rx); signed int DIV_CAL(long signed int dividend,signed int divisor);unsigned int U_DIV_CAL(long unsigned int udividend,unsigned int udivisor);/=/主程序开始/=void main(void)/控制寄存器初始设置 InitSysCtrl(); /初始化系统 DINT; /关全局中断 IER = 0x0000; IFR = 0x0000; InitPieCtrl(); /初始化PIE中断 InitPieVectTable(); /初始化PIE中断矢量表 InitGpio(); /初始化Gpio输入输出口 InitEv(); /初始化Eva的T和T2 InitAdc_Eva(); /初始化AD InitData(); EALLOW; / This is needed to write to EALLOW protected registers PieVectTable.T1UFINT=&t1uf_int;/T1下溢中断地址 PieVectTable.CAPINT4=&cap_int; PieVectTable.CAPINT5=&cap_int; PieVectTable.CAPINT6=&cap_int; EDIS; / This is needed to disable write to EALLOW protected registers PieCtrl.PIEIER2.bit.INTx6 = 1; /T1下溢中断使能 PieCtrl.PIEIER5.bit.INTx5 = 1; PieCtrl.PIEIER5.bit.INTx6 = 1; PieCtrl.PIEIER5.bit.INTx7 = 1; IER |= M_INT2; / Enable CPU Interrupt 2 IER |= M_INT4; / Enable CPU Interrupt 4 IER |= M_INT5; / Enable CPU Interrupt 5 EvbRegs.EVBIMRC.bit.CAP4INT=1; EvbRegs.EVBIMRC.bit.CAP5INT=1; EvbRegs.EVBIMRC.bit.CAP6INT=1; EvbRegs.CAPCONB.all=0x36FF; NOP; NOP; NOP; NOP; EvbRegs.CAPCONB.all=0xB6FF; EINT; /使能全局中断INTM ERTM; / Enable Global realtime interrupt DBG /等待中断（中断之外的时间内进行LCD的发送和接收） for(;) SCI_CTL(); /=/串口控制/=/*/接收数据检测/*void Check_Rxdata()switch(Sci_Rx0) case m: /转速给定和转速在线更新 case v: FlagRegs.bit.Vflag=1; if(Sci_Rx1=-) FlagRegs.bit.Sign1=0; /转速为负值 spd_given1 = Sci_Rx_check(4,Sci_Rx); else FlagRegs.bit.Sign1=1; /转速为正值 spd_given1 = Sci_Rx_check(3,Sci_Rx); if(Sci_Rx0=m) FlagRegs.bit.Sign2=FlagRegs.bit.Sign1; FlagRegs.bit.Sign=FlagRegs.bit.Sign1; break; case s: /启动 Sci_Tx0=a; Sci_Tx1=+; Sci_Tx2=0; Sci_Tx3=0; Sci_Tx4=0; Sci_Tx5=0; Sci_Tx6=0; Sci_Tx7=z; spd_given=spd_given1; Protect_Data(); Motor_Start(); FlagRegs.bit.Send=1; T_length=8; T_pointer=0; break; case t: /停止 Motor_Stop(); break; default: break; /*/ 串口接收/发送判断/*SCI_CTL() if(SciaTx_Ready() = 1) & (FlagRegs.bit.Send = 1)/发送数据准备好并且软件使能发送 if(FlagRegs.bit.Test=0) /SCI测通状态 SciaRegs.SCITXBUF = Sci_RxT_pointer; T_pointer+; /发送缓冲器数组指针+1 if(T_pointer=R_length) FlagRegs.bit.Test=1; FlagRegs.bit.Send=0; T_pointer=0; else /SCI非测通状态 SciaRegs.SCITXBUF = Sci_TxT_pointer; T_pointer+; /发送缓冲器数组指针+1 if(T_pointer=T_length) FlagRegs.bit.Send = 0; T_pointer=0; if(T_pointer=10) T_pointer=0; FlagRegs.bit.Send= 0; R_pointer=0;#if !SCIA_INTif(SciaRx_Ready() = 1) /接收数据准备好 FlagRegs.bit.SendEnd=0; FlagRegs.bit.Send= 0; Sci_RxR_pointer = SciaRegs.SCIRXBUF.all; R_pointer+; if(Sci_RxR_pointer-1=z) R_length=R_pointer-1; FlagRegs.bit.Send= 1; FlagRegs.bit.SendEnd=1; if(FlagRegs.bit.Test=1) Check_Rxdata(); R_pointer = 0; if(R_pointer= 10) R_pointer = 0; #endif /*/接收数据格式调整/*unsigned int Sci_Rx_check(unsigned int i_Rx,unsigned int *p_Rx) unsigned long data_Rx; unsigned int *p_tmp_Rx=p_Rx+i_Rx; data_Rx=1000*(*p_tmp_Rx)+100*(*(p_tmp_Rx+1)+10*(*(p_tmp_Rx+2)+(*(p_tmp_Rx+3)-53328; return(data_Rx);/*/发送数据格式调整/*char *Fen_Jie(signed int Send_Temp) unsigned int Temp; char s1,s2,s3,s4; char String_Tmp6=0,0,0,0,0,0; if(Send_Temp21; if(s1=10) s1=9; Temp=Send_Temp-s1*1000; s2=(long)Temp*5253)19; if(s2=10) s2=9; Temp=Temp-s2*100; s3=(long)Temp*3277)15; if(s3=10) s3=9; s4=Temp-s3*10; if(s4=10) s4=9; String_Tmp1=s1+48; /千位 String_Tmp2=s2+48; /百位 String_Tmp3=s3+48; /十位 String_Tmp4=s4+48; /个位 return(String_Tmp); /*/ 数据发送/*void Sci_Send(signed int sci_delay) /串口数据发送 char *p_send=0; a2+; if(a2=sci_delay)&(FlagRegs.bit.Send=0)&(FlagRegs.bit.SendEnd=1) p_send=Fen_Jie(spd_fd_q0); Sci_Tx0=a; Sci_Tx1=*p_send; Sci_Tx2=0; Sci_Tx3=*(p_send+1); Sci_Tx4=*(p_send+2); Sci_Tx5=*(p_send+3); Sci_Tx6=*(p_send+4); Sci_Tx7=z; FlagRegs.bit.Send=1; a2=0; /=/电机状态控制/=/*/ 数据处理/*Protect_Data() if(spd_kp30000) spd_kp=30000; if(spd_ki30000) spd_ki=30000; if(id_kp30000) id_kp=30000; if(id_ki30000) id_ki=30000; EvaRegs.T1PR =7500; /矢量控制开关频率5K固定 t1per=7500; EvaRegs.T1CON.all = 0X080C; /连续增减计数 InitAdc_Eva(); /*/电机停止 /* Motor_Stop() EvaRegs.CMPR1=0; EvaRegs.CMPR2=0; EvaRegs.CMPR3=0; EvaRegs.ACTR.all=0X0FFF; InitData(); FlagRegs.bit.Openint=0; EvaRegs.T1CON.bit.TENABLE=0; EvbRegs.T3CON.bit.TENABLE=0; /* /电机启动/* Motor_Start() EvaRegs.ACTR.all=0X0999; FlagRegs.bit.Openint=1; t1per=7500; EvaRegs.T1PR =7500; /周期寄存器 5khz EvaRegs.T1CON.all = 0X080C; /连续增减计数 EvbRegs.T3PR =0xffff; / 周期寄存器 EvbRegs.T3CON.all = 0X170C; / 连续增减计数 EvbRegs.EVBIMRA.all=0X0000; / T3下溢使能 EvbRegs.EVBIFRA.all=0X0FFFF; / 清中断标志位 GpioMuxRegs.GPBMUX.bit.CAP4Q1_GPIOB8=0; /将cap456设置为io口 GpioMuxRegs.GPBMUX.bit.CAP5Q2_GPIOB9=0; GpioMuxRegs.GPBMUX.bit.CAP6QI2_GPIOB10=0; cap2 = GpioDataRegs.GPBDAT.all & 0x0700; /记录cap4-6初始状态 cap2 = cap28; cap2 = cap2&0x0007; if(FlagRegs.bit.Sign=1) cap2=7-cap2; else cap2=cap2; GpioMuxRegs.GPBMUX.bit.CAP4Q1_GPIOB8=1; /将cap456设置为CAP口 GpioMuxRegs.GPBMUX.bit.CAP5Q2_GPIOB9=1; GpioMuxRegs.GPBMUX.bit.CAP6QI2_GPIOB10=1; EvaRegs.T1CON.bit.TENABLE=1; FlagRegs.bit.Vflag=1; /=/直流无刷电动机驱动双闭环主程序/=/*/驱动主程序/*void bldc() intruptcount+; speed(); switch(int)cap2) case 4: Ad(); /检测电流 if(ia_fd0) ia_fd=0; /保护 speed_PI();