DSP电机控制PMSM.docx

#include DSP28_Device.hEVA eva = EVA_DEFAULTS;EVB evb = EVB_DEFAULTS;RAMPGEN rampgen = RAMPGEN_DEFAULTS;VHZPROF vhzprof = VHZPROF_DEFAULTS;SVGENDQ svgendq = SVGENDQ_DEFAULTS;ROTATEVECTOR rotatevector = ROTATEVECTOR_DEFAULTS;static unsigned int RBBuf;static unsigned int RABuf;interrupt void ISRTimer1(void);interrupt void ISRTimer2(void);interrupt void T1UFINT_ISR(void);long f_given=0;long f_now=0;float happy=0;/显示相关unsigned int f_given_disp=0; /接到的的值unsigned int ku=10; /输入电压与电机额定电压的比unsigned int DispBuf2;/显示缓存,存在EEPROM,(ku,f_given)unsigned int RunFlag=0; /运行标志unsigned int TurnFlag=0; /正反转/_iq ha = 65545;/_iq hb = 65521;/_iq hc ;void ShowDisp(void); /显示函数，用于将数据显示到显示板_iq test120;_iq test220;void main(void)/*初始化系统*/InitSysCtrl();/*关中断*/DINT;IER = 0x0000;IFR = 0x0000;/*初始化PIE控制寄存器*/InitPieCtrl();/*初始化PIE矢量表*/InitPieVectTable();/*初始化SCIb寄存器*/ InitSci();/初始化24Vxx/Init24Cxx();/*设置CPU定时器*/InitCpuTimers();ConfigCpuTimer(&CpuTimer2, 150, 20000);ConfigCpuTimer(&CpuTimer1, 150, 100000);/每0.1秒加1Hz，每秒加Y*1000000赫兹 StartCpuTimer1(); StartCpuTimer2();/*初始化IO口*/ InitGpio(); /*初始化EV*/eva.Init(&eva);evb.Init(&evb);/*设置中断服务程序入口地址*/EALLOW;/ This is needed to write to EALLOW protected registersPieVectTable.T1UFINT = &T1UFINT_ISR;PieVectTable.TXBINT = &SCITXINTB_ISR; /设置串口B发送中断的中断向量PieVectTable.RXBINT = &SCIRXINTB_ISR; /设置串口B接受中断的中断向量 PieVectTable.TXAINT = &SCITXINTA_ISR; /设置串口A发送中断的中断向量PieVectTable.RXAINT = &SCIRXINTA_ISR; /设置串口A接受中断的中断向量PieVectTable.TINT2 = &ISRTimer2; PieVectTable.XINT13= &ISRTimer1;/定时器1和外部中断合用一个中断标志位 /此处为XINT13并不是TINT1EDIS; / This is needed to disable write to EALLOW protected registers/*使能位于PIE中组2的第6个中断 定时器1下溢中断*/PieCtrl.PIEIER2.bit.INTx6=1;/*开中断*/IER |= M_INT2; /EVAIER |= M_INT9; /SCI /允许串口中断IER |= M_INT14; /cputimer2 IER |= M_INT13; /cputimer1 EINT; / Enable Global interrupt INTMERTM;/ Enable Global realtime interrupt DBGMeva.Close(&eva);evb.Open(&evb);rampgen.StepAngleMax = _IQ(0.0128); /最大频率128hz 中断频率10k while(1)/hc= _IQmpy(ha,hb);只进行保留整数位，对于小数位不进行四舍五入。hc=（ha*hb）/65536 /=/ 定时器1下溢中断服务程序./=interrupt void T1UFINT_ISR(void) / EV-A/ asm ( ESTOP0); / PieCtrl.PIEACK.bit.ACK2=1; / EvaRegs.EVAIFRA.bit.T1UFINT=1; /清中断标志位 /rampgen模块 产生矢量旋转的角度 需要设置StepAngleMax这里是控制转速的。/ rampgen.Freq = _IQ(50)7;rampgen.Freq = _IQ(float)f_now)7;/ 因为最大频率128Hz，是2的7次方，那么除以128就是以最大频率来看的标幺值rampgen.calc(&rampgen);/vhzprof模块 vvvf控制，根据频率比例控制输出电压的量/vhzprof.Freq = _IQ(50);vhzprof.Freq = _IQ(float)f_now)+_IQ(0.11);vhzprof.calc(&vhzprof); /RotateVector模块 产生旋转矢量对应的Ualpha Ubeta if(TurnFlag=0) rotatevector.Angle = rampgen.Angle; /停止标志elserotatevector.Angle = -rampgen.Angle;rotatevector.k = vhzprof.VoltOut;rotatevector.calc(&rotatevector) ; /svgendq模块 根据Ualpha Ubeta 产生比较器需要的TA TB TC svgendq.Ualpha = rotatevector.Ualpha; svgendq.Ubeta = rotatevector.Ubeta ; svgendq.calc(&svgendq) ; happy=rotatevector.Angle ; /ev模块eva.Ta = svgendq.Ta;eva.Tb = svgendq.Tb;eva.Tc = svgendq.Tc;eva.SetPwm(&eva);evb.Ta = svgendq.Ta;evb.Tb = svgendq.Tb;evb.Tc = svgendq.Tc;evb.SetPwm(&evb); PieCtrl.PIEACK.bit.ACK2=1; EvaRegs.EVAIFRA.bit.T1UFINT=1; /清中断标志位interrupt void SCIRXINTA_ISR(void) PieCtrl.PIEACK.bit.ACK9 = 1;RABuf=SciaRegs.SCIRXBUF.all;switch(RABuf) EINT; interrupt void SCIRXINTB_ISR(void) / SCI-B PieCtrl.PIEACK.bit.ACK9 = 1;/相应PIE组9的其他中断RBBuf=ScibRegs.SCIRXBUF.all;switch(RBBuf)case 0: /增加输入电压百分比break;case 1:/运行 break;case 2: /增加频率 break;case 3:/增加频率 break;case 4:/减少输入电压百分比break;case 5:/停止f_given = 0;break;case 6: /减小频率break;case 7:/减小频率break;EINT;interrupt void ISRTimer1(void) /内部定义的计数变量 if(RABuf =0) CpuTimer1.InterruptCount=0; f_given=0;SciaRegs.SCITXBUF = (unsigned int)f_now; f_given_disp= f_now; if(RABuf =1)/FWD Auto /unsigned int a; RunFlag = 1; eva.Open(&eva); f_given_disp= f_now; TurnFlag=0; CpuTimer1.InterruptCount+; if(CpuTimer1.InterruptCount0) f_given+; f_now = f_given; /f_given = f_now ; SciaRegs.SCITXBUF = (unsigned int)f_now; if(CpuTimer1.InterruptCount=20)&(CpuTimer1.InterruptCount=30)&(CpuTimer1.InterruptCount=50) f_given=0; f_now=0; SciaRegs.SCITXBUF = (unsigned int)f_now; eva.Close(&eva); / RABuf =0 ; if(RABuf =2)/REV Auto RunFlag = 1; eva.Open(&eva); f_given_disp= f_now; TurnFlag=1; CpuTimer1.InterruptCount+; if(CpuTimer1.InterruptCount0) f_given+; f_now=f_given; SciaRegs.SCITXBUF = (unsigned int)f_now; if(CpuTimer1.InterruptCount=20)&(CpuTimer1.InterruptCount=40) f_given = 0 ; f_now=0; SciaRegs.SCITXBUF = (unsigned int)f_now; eva.Close(&eva); / RABuf =0 ; if(RABuf =3)/FWD High CpuTimer1.InterruptCount=0; TurnFlag=0; RunFlag = 1; eva.Open(&eva); f_now=10; f_given=10; f_given_disp= f_now; / CpuTimer1.InterruptCount+; / if (CpuTimer1.InterruptCount=10 ) / / RABuf =0; / CpuTimer1.InterruptCount=0; / SciaRegs.SCITXBUF = (unsigned int)f_now; if(RABuf =4)/REV High CpuTimer1.InterruptCount=0; TurnFlag=1; RunFlag = 1; eva.Open(&eva); f_now=10; f_given=10; f_given_disp= f_now; /if (CpuTimer1.InterruptCount=10 ) / / RABuf =0; / CpuTimer1.InterruptCount=0; / SciaRegs.SCITXBUF = (unsigned int)f_now; if(RABuf =5)/FWD Low CpuTimer1.InterruptCount=0; TurnFlag=0; RunFlag = 1; eva.Open(&eva); f_now=5; f_given=5; f_given_disp= f_now; SciaRegs.SCITXBUF = (unsigned int)f_now; if(RABuf =6)/REV Low CpuTimer1.InterruptCount=0; TurnFlag=1; RunFlag = 1; eva.Open(&eva); f_now=5; f_given=5; f_given_disp= f_now; SciaRegs.SCITXBUF = (unsigned int)f_now; if(RABuf =7)/All Pause /CpuTimer1Regs.TCR.bit.TRB=1;/*暂停*/ /f_now=50; eva.Close(&eva); SciaRegs.SCITXBUF = (unsigned int)f_now; CpuTimer1Regs.TCR.bit.TIF=1; ShowDisp(); PieCtrl.PIEACK.all=PIEACK_GROUP1;/SciaRegs.SCITXBUF = (unsigned int)f_now;EINT; interrupt void ISRTimer2(void)CpuTimer2.InterruptCount+;if(CpuTimer2.InterruptCount1) /20msif(f_givenf_now)if(f_now1)f_now=1;elsef_now+;else if(f_givenf_now)if(f_now1)eva.Close(&eva);f_now=0;f_given=0;RunFlag = 0; /停止标志elsef_now-;SciaRegs.SCITXBUF = (unsigned int)f_now;CpuTimer2.InterruptCount=0;ShowDisp();EINT;void ShowDisp(void) /更新显示static unsigned int i=0;switch(i)case 0:i+;ScibRegs.SCITXBUF =(ku&0xf)+(35); break;case 1:if(RunFlag)ScibRegs.SCITXBUF =23+(25);else ScibRegs.SCITXBUF =24+(25);i+;break;case 2:if(RunFlag)ScibRegs.SCITXBUF =f_now/10+(15);elseScibRegs.SCITXBUF =f_given_disp/10+(15);i+;break;case 3:if(RunFlag)ScibRegs.SCITXBUF =f_now%10;elseScibRegs.SCITXBUF =f_given_disp%10;i=0;break;default:i=0;break;/=/ No more./=/ Dont forget to set a proper GLOBAL_Q in IQmathLib.h file #include vhzprof.h#include void vhz_prof_calc(VHZPROF *v)_iq VfSlope, AbsFreq;/ Take absolute frequency to allow the operation of both rotational directions AbsFreq = labs(v-Freq);if (AbsFreq LowFreq) / Compute output voltage in profile #1 v-VoltOut = v-VoltMin; else if (AbsFreq v-LowFreq)&(AbsFreq HighFreq) / Compute slope of V/f profile VfSlope = _IQdiv(v-VoltMax - v-VoltMin),(v-HighFreq - v-LowFreq);/就是压频比的斜率 / Compute output voltage in profile #2 v-VoltOut =v-VoltMin + _IQmpy(VfSlope,(AbsFreq-v-LowFreq); else if (AbsFreq v-HighFreq)&(AbsFreq FreqMax) / Compute output voltage in profile #3 v-VoltOut = v-VoltMax; /最大的VoltMax线电压就是直流侧的电压DC直流，可以看思路图，任意时刻是上下桥臂导通。#include RotateVector.h#include iqmathlib.hvoid RotateVecotr_calc(RotateVecotr_Handle v) _iq Ua,Ub; / Using look-up IQ sine table Ub = _IQsinPU(v-Angle);/正弦函数标幺值，你站着个圆周的几分之几 Ua = _IQcosPU(v-Angle); v-Ualpha = _IQmpy(v-k,Ua); v-Ubeta = _IQmpy(v-k,Ub); #include IQmathLib.h / Include header for IQmath library/ Dont forget to set a proper GLOBAL_Q in IQmathLib.h file#include rampgen.hvoid rampgen_calc(RAMPGEN *v)/ Compute the angle rate v-Angle += _IQmpy(v-StepAngleMax,v-Freq); /这里“v-Freq”是以最大频率（128Hz）来看的给定频率标幺值，乘最大频率再乘中 /断周期就是每一个中短周期增加给定频率那么多的角度（只是线性对应关系，给定越 /大增加越快，给定越小增加就小） / Saturate the angle rate within (-1,1) if (v-Angle_IQ(1.0) v-Angle -= _IQ(1.0); else if (v-AngleAngle += _IQ(1.0);/ Compute the ramp output v-Out = _IQmpy(v-Angle,v-Gain) + v-Offset;/ Saturate the ramp output within (-1,1) if (v-Out_IQ(1.0) v-Out -= _IQ(1.0); else if (v-OutOut += _IQ(1.0);#include IQmathLib.h / Include header for IQmath library/ Dont forget to set a proper GLOBAL_Q in IQmathLib.h file#include rampgen.hvoid rampgen_calc(RAMPGEN *v)/ Compute the angle rate v-Angle += _IQmpy(v-StepAngleMax,v-Freq); /这里“v-Freq”是以最大频率（128Hz）来看的给定频率标幺值，乘最大频率再乘中 /断周期就是每一个中短周期增加给定频率那么多的角度（只是线性对应关系，给定越 /大增加越快，给定越小增加就小） / Saturate the angle rate within (-1,1) if (v-Angle_IQ(1.0) v-Angle -= _IQ(1.0); else if (v-AngleAngle += _IQ(1.0);/ Compute the ramp output v-Out = _IQmpy(v-Angle,v-Gain) + v-Offset;/ Saturate the ramp output within (-1,1) if (v-Out_IQ(1.0) v-Out -= _IQ(1.0); else if (v-OutOut += _IQ(1.0);#include DSP28_Device.hunsigned int * UART_MODE = (unsigned int *) 0x4010;/-/ InitSCI: /-/ This function initializes the SCI(s) to a known state./void InitSci(void)/ Initialize SCI-B:*UART_MODE = 0x44;EALLOW;GpioMuxRegs.GPGMUX.all = 0x0030;/使能串行接口SCIB,SCITXDB,SCIRXDB:EDIS;/* loopback 8 bit data */ScibRegs.SCICCR.all = 0x07;/SCI通信控制寄存器，奇偶校验禁止，送回模式禁止，与RS232通信兼容，8位字符的SCI字符:ScibRegs.SCICTL1.all = 0x03;/发送器使能，通过SCITXD发送数据，接收数据发送到SCIRXEMU和SCIRXBUF；ScibRegs.SCICTL2.all = 0x03;/接收中断使能，禁止TXRDY中断；/Baud = LSPCLK/(BBR+1)*8)/(6000000/(9600*8)-1=77.125/389.625 -0x0185波特率选择寄存器；ScibRegs.SCIHBAUD = 0x01;ScibRegs.SCILBAUD = 0xE7;ScibRegs.SCICTL1.all = 0x23;/重启SCI；PieCtrl.PIEIER9.bit.INTx3 = 1;/使能SCIRXINT；PieCtrl.PIEIER9.bit.INTx4 = 0;/禁止SCITXINT；/tbd. EALLOW;GpioMuxRegs.GPFMUX.bit.SCIRXDA_GPIOF5 = 1;GpioMuxRegs.GPFMUX.bit.SCITXDA_GPIOF4 = 1; /对于GPIOF口进行选择使能SCIAEDIS;/* loopback 8 bit data */SciaRegs.SCICCR.all = 0x07; / 0x07选择地址位。0x00是空闲模式SciaRegs.SCICTL1.all = 0x03;SciaRegs.SCICTL2.all = 0x03;/Baud = LSPCLK/(BBR+1)*8)/(6000000/(9600*8)-1=77.125/389.625 -0x0185SciaRegs.SCIHBAUD = 0x01;SciaRegs.SCILBAUD = 0xE7;SciaRegs.SCICTL1.all = 0x23;PieCtrl.PIEIER9.bit.INTx1 = 1;PieCtrl.PIEIER9.bit.INTx2 = 0;/ Initialize SCI-B:/tbd./*name:int SciaTx_Ready(void)input:noneoutput:i1:ready0:busy*/int SciaTx_Ready(void)unsigned int i;if(SciaRegs.SCICTL2.bit.TXRDY = 1)i = 1;elsei = 0;return(i);/*name:int SciaRx_Ready(void)input:noneoutput:i1:new data0:none*/int SciaRx_Ready(void)unsigned int i;if(SciaRegs.SCIRXST.bit.RXRDY = 1)i = 1;elsei = 0;return(i);#include DSP28_Device.h/ InitEv: / This function initializes to a known state.void EvaInit(EvaHandle p)EALLOW;GpioMuxRegs.GPAMUX.all=0x00ff;EDIS;EvaRegs.GPTCONA.all = 0x0; /* gp timer control register */定时器EvaRegs.T1CNT = 0; /* timer1 count is zero */EvaRegs.T1CON.all = 0x0840; /* 启动定时器 连续增减模式 下溢时重装载 sysclk/1 */EvaRegs.T1PR = T1_PERIODS;/比较寄存器EvaRegs.ACTR.all = 0x0999; /* 反向旋转 1.3.5低有效，2.4.6高有效 */死区控制EvaRegs.DBTCONA.all = 0x0ff4; /* 死区时间8us */中断控制EvaRegs.EVAIMRA.all = 0x0200; /* 开定时器下溢中断 */void EvaSetPwm(EvaHandle p) E