基于TMS320F2812的永磁同步电动机SVPWM空间矢量控制算法实现的源代码资料.doc

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1、Good is good, but better carries it.精益求精，善益求善。基于TMS320F2812的永磁同步电动机SVPWM空间矢量控制算法实现的源代码-/*=SystemName:PMSM34FileName:PMSM3_4.CDescription:PrimarysystemfilefortheRealImplementationofPositionControlBasedSensoredFieldOrientationControlforaThreePhasePermanent-MagnetSynchronousMotor(PMSM)usingQEPsensorOri

2、ginator:DigitalcontrolsystemsGroup-TexasInstrumentsNote:Inthissoftware,thedefaultinverterissupposedtobeDMC550board.=History:-04-15-2005Version3.20:SupportbothF280xandF281xtargets04-25-2005Version3.21:MoveEINTandERTMdowntoensurethatallinitializationiscompletedbeforeinterruptsareallowed.=*/Includehead

3、erfilesusedinthemainfunction#includetarget.h#includeDSP281x_Device.h#includeIQmathLib.h#includepmsm3_4.h#includeparameter.h#includebuild.h#include/Prototypestatementsforfunctionsfoundwithinthisfile.interruptvoidMainISR(void);interruptvoidQepISR(void);interruptvoidPDPINTAISR(void);/Globalvariablesuse

4、dinthissystemfloat32VdTesting=0;/Vdtesting(pu)float32VqTesting=0.25;/Vqtesting(pu)float32IdRef=0;/Idreference(pu)float32IqRef=0.2;/Iqreference(pu)float32SpeedRef=0.1;/Speedreference(pu)float32PositionRef=0.5;/Positionreference(MechanicalrotorAnglele(pu)float32T=0.001/ISR_FREQUENCY;/Sampingperiod(sec

5、),seeparameter.hUint16IsrTicker=0;Uint16BackTicker=0;volatileUint16EnableFlag=FALSE;Uint16LockRotorFlag=FALSE;Uint16SpeedLoopPrescaler=10;/SpeedloopprescalerUint16SpeedLoopCount=1;/Speedloopcounter/InstanceafewtransformobjectsCLARKEclarke1=CLARKE_DEFAULTS;PARKpark1=PARK_DEFAULTS;IPARKipark1=IPARK_DE

6、FAULTS;/InstancePIDregulatorstoregulatethedandqsynchronousaxiscurrents,/speedandpositionPIDREG3pid1_id=PIDREG3_DEFAULTS;PIDREG3pid1_iq=PIDREG3_DEFAULTS;PIDREG3pid1_pos=PIDREG3_DEFAULTS;PIDREG3pid1_spd=PIDREG3_DEFAULTS;/InstanceaPWMdriverinstancePWMGENpwm1=PWMGEN_DEFAULTS;/InstanceaSpaceVectorPWMmodu

7、lator.Thismodulatorgeneratesa,bandc/phasesbasedonthedandqstationeryreferenceframeinputsSVGENDQsvgen_dq1=SVGENDQ_DEFAULTS;/InstanceaQEPinterfacedriverQEPqep1=QEP_DEFAULTS;/InstanceaspeedcalculatorbasedonQEPSPEED_MEAS_QEPspeed1=SPEED_MEAS_QEP_DEFAULTS;/Instancearampcontrollertosmoothlyrampthefrequency

8、RMPCNTLrc1=RMPCNTL_DEFAULTS;/InstancearampgeneratortosimulateanAngleleRAMPGENrg1=RAMPGEN_DEFAULTS;/Createaninstanceofthecurrent/dc-busvoltagemeasurementdriverILEG2DCBUSMEASilg2_vdc1=ILEG2DCBUSMEAS_DEFAULTS;voidmain(void)/*/InitializationcodeforDSP_TARGET=F2812/*/InitializeSystemControlregisters,PLL,

9、WatchDog,Clockstodefaultstate:/ThisfunctionisfoundintheDSP281x_SysCtrl.cfile.InitSysCtrl();/HISPCPprescaleregistersettings,normallyitwillbesettodefaultvaluesEALLOW;/ThisisneededtowritetoEALLOWprotectedregistersSysCtrlRegs.HISPCP.all=0x0000;/SYSCLKOUT/1EDIS;/ThisisneededtodisablewritetoEALLOWprotecte

10、dregisters/DisableandclearallCPUinterrupts:DINT;IER=0x0000;IFR=0x0000;/InitializePieControlRegistersToDefaultState:/ThisfunctionisfoundintheDSP281x_PieCtrl.cfile.InitPieCtrl();/InitializethePIEVectorTableToaKnownState:/ThisfunctionisfoundinDSP281x_PieVect.c./ThisfunctionpopulatesthePIEvectortablewit

11、hpointers/totheshellISRfunctionsfoundinDSP281x_DefaultIsr.c.InitPieVectTable();/InitializeGPIO；MUX为0，表示IO；MUX为1表示外围；/DIR为0，表示输入；DIR为1表示输出EALLOW;GpioMuxRegs.GPAMUX.all=0X073F;GpioMuxRegs.GPADIR.all=0XC0C0;GpioMuxRegs.GPBMUX.all=0X0000;GpioMuxRegs.GPBDIR.all=0X0000;GpioMuxRegs.GPDMUX.bit.T1CTRIP_PDPA_

12、GPIOD0=1;/功能PDPINTAGpioMuxRegs.GPDMUX.bit.T2CTRIP_SOCA_GPIOD1=0;/INPUTGpioMuxRegs.GPDDIR.bit.GPIOD1=0;GpioMuxRegs.GPDMUX.bit.T3CTRIP_PDPB_GPIOD5=0;GpioMuxRegs.GPDDIR.bit.GPIOD5=0;GpioMuxRegs.GPDMUX.bit.T4CTRIP_SOCB_GPIOD6=0;GpioMuxRegs.GPDDIR.bit.GPIOD6=0;GpioMuxRegs.GPEMUX.bit.XINT1_XBIO_GPIOE0=0;G

13、pioMuxRegs.GPEMUX.bit.XINT2_ADCSOC_GPIOE1=0;GpioMuxRegs.GPEMUX.bit.XNMI_XINT13_GPIOE2=0;GpioMuxRegs.GPEDIR.bit.GPIOE0=0;GpioMuxRegs.GPEDIR.bit.GPIOE1=0;GpioMuxRegs.GPEDIR.bit.GPIOE2=0;GpioMuxRegs.GPFMUX.all=0X4037;GpioMuxRegs.GPFDIR.all=0X01C8;GpioMuxRegs.GPGMUX.bit.SCITXDB_GPIOG4=0;GpioMuxRegs.GPGM

14、UX.bit.SCIRXDB_GPIOG5=0;GpioMuxRegs.GPGDIR.bit.GPIOG4=1;GpioMuxRegs.GPGDIR.bit.GPIOG5=1;EDIS;/Userspecificfunctions,Reassignvectors(optional),EnableInterrupts:/InitializeEVATimer1:/SetupTimer1Registers(EVA)EvaRegs.GPTCONA.all=0;/Waitingforenableflagsetwhile(EnableFlag=FALSE)BackTicker+;/EnableUnderf

15、lowinterruptbitsforGPtimer1EvaRegs.EVAIMRA.bit.T1UFINT=1;EvaRegs.EVAIFRA.bit.T1UFINT=1;/EnableCAP3interruptbitsforGPtimer2EvaRegs.EVAIMRC.bit.CAP3INT=1;EvaRegs.EVAIFRC.bit.CAP3INT=1;/ReassignISRs./ReassignthePIEvectorforT1UFINTandCAP3INTtopointtoadifferent/ISRthentheshellroutinefoundinDSP281x_Defaul

16、tIsr.c./ThisisdoneiftheuserdoesnotwanttousetheshellISRroutine/butinsteadwantstousetheirownISR.EALLOW;/ThisisneededtowritetoEALLOWprotectedregistersPieVectTable.T1UFINT=&MainISR;PieVectTable.CAPINT3=&QepISR;PieVectTable.PDPINTA=&PDPINTAISR;EDIS;/ThisisneededtodisablewritetoEALLOWprotectedregisters/En

17、ablePIEgroup2interrupt6forT1UFINTPieCtrlRegs.PIEIER2.all=M_INT6;/EnablePIEgroup3interrupt7forCAP3INTPieCtrlRegs.PIEIER3.all=M_INT7;/EnablePIEgroup1interrupt1forPDPINTAPieCtrlRegs.PIEIER1.all=M_INT1;/EnableCPUINT2forT1UFINTandINT3forCAP3INT:IER|=(M_INT2|M_INT3|M_INT1);/InitializePWMmodulepwm1.PeriodM

18、ax=SYSTEM_FREQUENCY*1000000*T/2;/PerscalerX1(T1),ISRperiod=Tx1pwm1.init(&pwm1);/InitializeQEPmoduleqep1.LineEncoder=2000;qep1.MechScaler=_IQ30(0.25/qep1.LineEncoder);qep1.PolePairs=P/2;qep1.CalibratedAngle=-1250;qep1.init(&qep1);/InitializetheSpeedmoduleforQEPbasedspeedcalculationspeed1.K1=_IQ21(1/(

19、BASE_FREQ*T);speed1.K2=_IQ(1/(1+T*2*PI*30);/Low-passcut-offfrequencyspeed1.K3=_IQ(1)-speed1.K2;speed1.BaseRpm=120*(BASE_FREQ/P);/InitializeADCmodule/NoteforDMC550:/-At24dc-busvolt,theADCinputformeasuredVdc_busrangeis24*1/(24.9+1)=0.927volt/-Then,Vdc_busgain=3.0/0.927=3.2375(or0x675CinQ13)ilg2_vdc1.V

20、dcMeasGain=0x675C;ilg2_vdc1.ChSelect=0x0610;ilg2_vdc1.init(&ilg2_vdc1);/InitializetheRAMPGENmodulerg1.StepAngleMax=_IQ(BASE_FREQ*T);/InitializetheRAMPGENmodulerc1.RampDelayMax=5;/InitializethePID_REG3moduleforIdpid1_id.Kp=_IQ(0.1);pid1_id.Ki=_IQ(T/0.02);pid1_id.Kd=_IQ(0/T);pid1_id.Kc=_IQ(0.5);pid1_i

21、d.OutMax=_IQ(0.30);pid1_id.OutMin=_IQ(-0.30);/InitializethePID_REG3moduleforIqpid1_iq.Kp=_IQ(0.1);pid1_iq.Ki=_IQ(T/0.02);pid1_iq.Kd=_IQ(0/T);pid1_iq.Kc=_IQ(0.5);pid1_iq.OutMax=_IQ(0.95);pid1_iq.OutMin=_IQ(-0.95);/InitializethePID_REG3moduleforspeedcontrolpid1_spd.Kp=_IQ(1);pid1_spd.Ki=_IQ(T*SpeedLoo

22、pPrescaler/0.3);pid1_spd.Kd=_IQ(0/(T*SpeedLoopPrescaler);pid1_spd.Kc=_IQ(0.2);pid1_spd.OutMax=_IQ(1);pid1_spd.OutMin=_IQ(-1);/InitializethePID_REG3moduleforpositioncontrolpid1_pos.Kp=_IQ(28.2);pid1_pos.Ki=_IQ(0);/Integraltermisnotusedpid1_pos.Kd=_IQ(0);/Derivativetermisnotusedpid1_pos.Kc=_IQ(0);pid1

23、_pos.OutMax=_IQ(1);pid1_pos.OutMin=_IQ(-1);/EnableglobalInterruptsandhigherpriorityreal-timedebugevents:EINT;/EnableGlobalinterruptINTMERTM;/EnableGlobalrealtimeinterruptDBGM/IDLEloop.Justsitandloopforever:for(;)BackTicker+;interruptvoidMainISR(void)/VerifyingtheISRIsrTicker+;/*LEVEL1*#if(BUILDLEVEL

24、=LEVEL1)/-/ConnectinputsoftheRMPmoduleandcalltheRampcontrol/calculationfunction./-rc1.TargetValue=_IQ(SpeedRef);rc1.calc(&rc1);/-/ConnectinputsoftheRAMPGENmoduleandcalltheRampgenerator/calculationfunction./-rg1.Freq=rc1.SetpointValue;rg1.calc(&rg1);/-/ConnectinputsoftheINV_PARKmoduleandcalltheinvers

25、eparktransformation/calculationfunction./-ipark1.Ds=_IQ(VdTesting);ipark1.Qs=_IQ(VqTesting);ipark1.Angle=rg1.Out;ipark1.calc(&ipark1);/-/ConnectinputsoftheSVGEN_DQmoduleandcallthespace-vectorgen./calculationfunction./-svgen_dq1.Ualpha=ipark1.Alpha;svgen_dq1.Ubeta=ipark1.Beta;svgen_dq1.calc(&svgen_dq

26、1);/-/ConnectinputsofthePWM_DRVmoduleandcallthePWMsignalgeneration/updatefunction./-pwm1.MfuncC1=(int16)_IQtoIQ15(svgen_dq1.Ta);/MfuncC1isinQ15pwm1.MfuncC2=(int16)_IQtoIQ15(svgen_dq1.Tb);/MfuncC2isinQ15pwm1.MfuncC3=(int16)_IQtoIQ15(svgen_dq1.Tc);/MfuncC3isinQ15pwm1.update(&pwm1);#endif/(BUILDLEVEL=L

27、EVEL1)/*LEVEL2*#if(BUILDLEVEL=LEVEL2)/-/ConnectinputsoftheRMPmoduleandcalltheRampcontrol/calculationfunction./-rc1.TargetValue=_IQ(SpeedRef);rc1.calc(&rc1);/-/ConnectinputsoftheRAMPGENmoduleandcalltheRampgenerator/calculationfunction./-rg1.Freq=rc1.SetpointValue;rg1.calc(&rg1);/-/CalltheILEG2_VDCrea

28、dfunction./-ilg2_vdc1.read(&ilg2_vdc1);/-/ConnectinputsoftheCLARKEmoduleandcalltheclarketransformation/calculationfunction./-clarke1.As=_IQ15toIQ(int32)ilg2_vdc1.ImeasA);clarke1.Bs=_IQ15toIQ(int32)ilg2_vdc1.ImeasB);clarke1.calc(&clarke1);/-/ConnectinputsofthePARKmoduleandcalltheparktransformation/ca

29、lculationfunction./-park1.Alpha=clarke1.Alpha;park1.Beta=clarke1.Beta;park1.Angle=rg1.Out;park1.calc(&park1);/-/ConnectinputsoftheINV_PARKmoduleandcalltheinverseparktransformation/calculationfunction./-ipark1.Ds=_IQ(VdTesting);ipark1.Qs=_IQ(VqTesting);ipark1.Angle=rg1.Out;ipark1.calc(&ipark1);/-/Con

30、nectinputsoftheSVGEN_DQmoduleandcallthespace-vectorgen./calculationfunction./-svgen_dq1.Ualpha=ipark1.Alpha;svgen_dq1.Ubeta=ipark1.Beta;svgen_dq1.calc(&svgen_dq1);/-/ConnectinputsofthePWM_DRVmoduleandcallthePWMsignalgeneration/updatefunction./-pwm1.MfuncC1=(int16)_IQtoIQ15(svgen_dq1.Ta);/MfuncC1isin

31、Q15pwm1.MfuncC2=(int16)_IQtoIQ15(svgen_dq1.Tb);/MfuncC2isinQ15pwm1.MfuncC3=(int16)_IQtoIQ15(svgen_dq1.Tc);/MfuncC3isinQ15pwm1.update(&pwm1);#endif/(BUILDLEVEL=LEVEL2)/*LEVEL3*#if(BUILDLEVEL=LEVEL3)/-/ConnectinputsoftheRMPmoduleandcalltheRampcontrol/calculationfunction./-rc1.TargetValue=_IQ(SpeedRef)

32、;rc1.calc(&rc1);/-/ConnectinputsoftheRAMPGENmoduleandcalltheRampgenerator/calculationfunction./-rg1.Freq=rc1.SetpointValue;rg1.calc(&rg1);/-/CalltheILEG2_VDCreadfunction./-ilg2_vdc1.read(&ilg2_vdc1);/-/ConnectinputsoftheCLARKEmoduleandcalltheclarketransformation/calculationfunction./-clarke1.As=_IQ1

33、5toIQ(int32)ilg2_vdc1.ImeasA);clarke1.Bs=_IQ15toIQ(int32)ilg2_vdc1.ImeasB);clarke1.calc(&clarke1);/-/ConnectinputsofthePARKmoduleandcalltheparktransformation/calculationfunction./-park1.Alpha=clarke1.Alpha;park1.Beta=clarke1.Beta;park1.Angle=rg1.Out;park1.calc(&park1);/-/ConnectinputsofthePID_REG3mo

34、duleandcallthePIDIQcontroller/calculationfunction./-pid1_iq.Ref=_IQ(IqRef);pid1_iq.Fdb=park1.Qs;pid1_iq.calc(&pid1_iq);/-/ConnectinputsofthePID_REG3moduleandcallthePIDIDcontroller/calculationfunction./-pid1_id.Ref=_IQ(IdRef);pid1_id.Fdb=park1.Ds;pid1_id.calc(&pid1_id);/-/ConnectinputsoftheINV_PARKmoduleandcalltheinverseparktransformation/calculationfunction./-