2-3直流电动机单极性可逆双闭环PWM控制程序

1、直流电动机单极性可逆双闭环 PWM控制程序 .equ _30F6010A, 1.include p30f6010A.inc.equ SPEED_SET, 750.equ _Tpwm, 1476.equ _Deadtime, 59.equ _timerate, 8.equ _volrate, 4.equ CURR_B0, 32.equ CURR_B1 , 1.equ SPEED_B0, 20.equ SPEED_B1, 1.equ CURR_RATE, 0x0014.equ SPEED_RATE, 0x04E8.equ CURR_MAX, 0x10B0.equ CURR_MIN, 0x0.equ

2、 VOLT_MAX, 0x1800.equ VOLT_MIN, 0x01FF.equ SPEED_TRANS, 0x01AD.equ SPEED_SAMPLE_OFFSET, 0x01FF.global _reset.global _PWMInterrupt.global _ADCInterrupt.global _FLTAInterrupt.global _DefaultInterrupt.section .nbss, bss, near_curr : .space 6_speed:.space 6_volt:.space 2_sign:.space 2_sysTimer:.space 2_

3、currTimer: .space 2_speedTimer: .space 2_adcSample: .space 4_speedPI:.space 4_currLim:.space 4_currPI:.space 4_voltLim:.space 4 .textreset:mov #_SP_init, W15 mov #_SPLIM_init, W0 mov W0, SPLIM nopRCALL _wreg_init mov #SPEED_SET, W0cp0 W0bra GE, _clockwise setm _signneg W0, W0_clockwise:mov #SPEED_TR

4、ANS, W1 mul.UU W0, W1, W2 mov.w W2, _speedmov #_volrate, W1 mul.UU W0,W1,W0 mov.w W0, _voltRCALL _sys_initRCALL _var_initRCALL _setup nopDone:nopnopnopbra _Done_PWMInterrupt:push.spush.d W4mov.w _speedTimer, W0cp _sysTimerbra LT, _next1mov.w _adcSample+2,W0 ;mov #SPEED_SAMPLE_OFFSET,W2 sub W0,W2,W4m

5、ov #SPEED_RATE, W5mpy W4*W5,A sac A,#-8,W0 mov.w W0, _speed+2 RCALL _SpeedCtrlmov _sysTimer, W1 add W1, #8, W1 mov W1, _speedTimer_next1: mov.w _currTimer, W0 cp _sysTimer bra LT, _next2 mov.w _adcSample,W4 mov #CURR_RATE, W5 mul.UU W4, W5, W0 mov.w W0, _curr+2 RCALL _CurrCtrl RCALL _DutyCircle mov

6、W0, PDC1 mov W0, PDC2mov _sysTimer, W1 add W1, #2, W1 mov W1, _currTimer_next2:inc.w _sysTimerpwm_end: bclr IFS2,#PWMIF pop.d W4 pop.sRETFIE_ADCInterrupt: push W0 mov ADCBUF0, W0 mov.w W0, _adcSample mov ADCBUF1, W0btst _sign, #0 neg W0, W0 mov.w W0, _adcSample+2 adc_end:bclr IFS0,#ADIF pop W0RETFIE

7、_FLTAInterrupt: bclr PTCON,#15 setm PORTD bclr TRISE,#8 bclr TRISA,#9 bset PORTA,#9 _Error: bra _Error RETFIE _DefaultInterrupt: bclr PTCON,#15 setm PORTD bclr TRISE,#8 bclr TRISA,#10 bset PORTA,#10 _Error1:bra _Error1 RETFIE _sys_init:bset CORCON,#0 bclr CORCON,#SATDWbset INTCON1, #NSTDIS mov #0x40

8、00,W0 mov W0,IPC2 mov #0x5000,W0 mov W0,IPC9 mov #0x6000,W0 mov W0,IPC10 bclr IFS2,#PWMIF bclr IFS0,#ADIF bclr IFS2,#FLTAIF bset IEC0,#ADIE bset IEC2,#PWMIE bset IEC2,#FLTAIEbclr TRISD, #11 mov #0x0300,W0 mov W0,TRISE mov #0x03FF,W0 mov W0,PORTE mov #0x008f,W0 mov W0,FLTACONbtst _sign, #0bra NZ, _pw

9、m_countclockmov #0x0330, W0 mov W0,PWMCON1 mov #0x0A0A,W0 mov W0,OVDCON bra _pwm_next _pwm_countclock:mov #0x0303,W0 mov W0,PWMCON1 mov #0x0505,W0 mov W0,OVDCON _pwm_next:clr W0mov W0,PWMCON2 mov #0x0002,W0 mov W0,PTCON mov #0x0001,W0 mov W0,SEVTCMP mov #_Tpwm,W0 mov W0,PTPER mov #_Deadtime ,W0 mov

10、W0,DTCON1 clr W0 mov W0,DTCON2 clr.w PDC1 clr.w PDC2 clr.w PDC3 clr.w PDC4 mov W0,FLTBCONmov #0x0404,W0 mov W0,ADCON2 mov #0x0003,W0 mov W0,ADCON3 clr ADCHS ; clr ADPCFG clr ADCSSL bset ADCSSL,#7 bset ADCSSL,#12 mov #0x8166,W0 mov W0,ADCON1 RETURNCLR W0MOV W0, W14REPEAT #12MOV W0, +W14CLR W14RETURN_

11、var_init:mov #SPEED_B0, W1 mov.w W1, _speedPI mov #SPEED_B1, W1 mov.w W1, _speedPI+2mov #CURR_MAX, W1 mov.w W1, _currLim mov #CURR_MIN, W1 mov.w W1, _currLim+2 mov #CURR_B0, W1 mov.w W1, _currPI mov #CURR_B1, W1 mov.w W1, _currPI+2 mov #VOLT_MAX, W1 mov.w W1, _voltLim mov #VOLT_MIN, W1 mov.w W1, _vo

12、ltLim+2 clr.w _speed+4 clr.w _curr clr.w _curr+4 clr.w _sign clr.w _sysTimer clr.w _currTimer clr.w _speedTimer clr.w _volt RETURN_setup:clr PORTDbset PTCON, #PTEN RETURN_SpeedCtrl:mov.w _speed, W4mov.w _speed+2, W2 sub W4, W2, W4mov.w _speedPI, W5 mpy W4*W5, Amov.w _speed+4, W2sub W4, W2, W4 mov.w

13、W4, _speed+4mov.w _speedPI+2, W5 mpy W4*W5, Badd Asac A,#-4,W0mov.w _curr, W2 add W2, W0, W0mov.w _currLim, W2 cpsgt W0, W2 bra _LowLim1 mov W2, W0 bra _SpeedCtrl_end _LowLim1:mov.w _currLim+2, W2 cpsgt W0, W2 mov W0, W2 _SpeedCtrl_end:mov.w W0, _curr RETURN_CurrCtrl:mov.w _curr, W4 mov.w _curr+2, W2 sub W4, W2, W4mov.w _currPI, W5 mpy W4*W5, Amov.w _curr+4, W2 sub W4, W2, W4 mov.w W4, _curr+4mov.w _currPI+2, W5 mpy W4*W5, Badd Asac A,W0mov _volt, W2 add W2, W0, W0mov.w _voltLim, W2cpsgt W0, W2 bra _LowLim mov W0, W2 bra _CurrCtrl_end_LowLim: mov.w _voltLim+2, W2 cpsgt