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第7章 基于TMS320F2812的永磁同步电动机控制
例1、空间矢量算法实现
SVGEN_DQ对象结构体定义
typedef struct {
_iq Ualpha; // 输入：  轴参考电压
_iq Ubeta; // 输入：  轴参考电压
_iq Ta; // 输出：参考相位a开关函数
_iq Tb; // 输出：参考相位b开关函数
_iq Tc; // 输出：参考相位c开关函数
void (*calc)(); // 函数指针
} SVGENDQ;
typedef SVGENDQ *SVGENDQ_handle;
SVGEN_DQ模块调用方法：
main()
{
}
void interrupt periodic_interrupt_isr()
{
svgen_dq1.Ualpha = Ualpha1; // 提供输入参数：svgen_dq1
svgen_dq1.Ubeta = Ubeta1; // 提供输入参数：svgen_dq1
svgen_dq2.Ualpha = Ualpha2; // 提供输入参数：vgen_dq2
svgen_dq2.Ubeta = Ubeta2; // 提供输入参数：svgen_dq2
svgen_dq1.calc(&svgen_dq1); // 调用函数模块svgen_dq1
svgen_dq2.calc(&svgen_dq2); // 调用函数模块svgen_dq2
Ta1 = svgen_dq1.Ta; // 访问运算结果svgen_dq1
Tb1 = svgen_dq1.Tb; // 访问运算结果svgen_dq1
Tc1 = svgen_dq1.Tc; // 访问运算结果svgen_dq1
Ta2 = svgen_dq2.Ta; // 访问运算结果svgen_dq2
Tb2 = svgen_dq2.Tb; // 访问运算结果 svgen_dq2
Tc2 = svgen_dq2.Tc; // 访问运算结果svgen_dq2
}
为进一步了解空间矢量算法的基本原理，下面给出空间矢量模块的源代码：
void svgendq_calc(SVGENDQ *v)
{
_iq Va,Vb,Vc,t1,t2;
_iq sector = 0; /*设相位置（sector）等于Q0 */
/*逆clarke变换 */
Va = v->Ubeta;
Vb = _IQmpy(_IQ(-0.5),v->Ubeta) + _IQmpy(_IQ(0.8660254),v->Ualfa); /* 0.8660254 = sqrt(3)/2 */
Vc = _IQmpy(_IQ(-0.5),v->Ubeta) - _IQmpy(_IQ(0.8660254),v->Ualfa); /* 0.8660254 = sqrt(3)/2 */
/* 60度sector的确定*/
if (Va>_IQ(0))
sector = 1;
if (Vb>_IQ(0))
sector = sector + 2;
if (Vc>_IQ(0))
sector = sector + 4;
/* X,Y,Z (Va,Vb,Vc)的计算 */
Va = v->Ubeta; /* X = Va */
Vb = _IQmpy(_IQ(0.5),v->Ubeta) + _IQmpy(_IQ(0.8660254),v->Ualfa); /* Y = Vb */
Vc = _IQmpy(_IQ(0.5),v->Ubeta) - _IQmpy(_IQ(0.8660254),v->Ualfa); /* Z = Vc */
if (sector==1) /* sector 1: t1=Z and t2=Y (abc ---> Tb,Ta,Tc) */
{
t1 = Vc;
t2 = Vb;
v->Tb = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); /* tbon = (1-t1-t2)/2 */
v->Ta = v->Tb+t1; /* taon = tbon+t1 */
v->Tc = v->Ta+t2; /* tcon = taon+t2 */
}
else if (sector==2) /* sector 2: t1=Y and t2=-X (abc ---> Ta,Tc,Tb) */
{
t1 = Vb;
t2 = -Va;
v->Ta = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); /* taon = (1-t1-t2)/2 */
v->Tc = v->Ta+t1; /* tcon = taon+t1 */
v->Tb = v->Tc+t2; /* tbon = tcon+t2 */
}
else if (sector==3) /* sector 3: t1=-Z and t2=X (abc ---> Ta,Tb,Tc) */
{
t1 = -Vc;
t2 = Va;
v->Ta = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); /* taon = (1-t1-t2)/2 */
v->Tb = v->Ta+t1; /* tbon = taon+t1 */
v->Tc = v->Tb+t2; /* tcon = tbon+t2 */
}
else if (sector==4) /* sector 4: t1=-X and t2=Z (abc ---> Tc,Tb,Ta) */
{
t1 = -Va;
t2 = Vc;
v->Tc = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); /* tcon = (1-t1-t2)/2 */
v->Tb = v->Tc+t1; /* tbon = tcon+t1 */
v->Ta = v->Tb+t2; /* taon = tbon+t2 */
}
else if (sector==5) /* sector 5: t1=X and t2=-Y (abc ---> Tb,Tc,Ta) */
{
t1 = Va;
t2 = -Vb;
v->Tb = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); /* tbon = (1-t1-t2)/2 */
v->Tc = v->Tb+t1; /* tcon = tbon+t1 */
v->Ta = v->Tc+t2; /* taon = tcon+t2 */
}
else if (sector==6) /* sector 6: t1=-Y and t2=-Z (abc ---> Tc,Ta,Tb) */
{
t1 = -Vb;
t2 = -Vc;
v->Tc = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); /* tcon = (1-t1-t2)/2 */
v->Ta = v->Tc+t1; /* taon = tcon+t1 */
v->Tb = v->Ta+t2; /* tbon = taon+t2 */
}
v->Ta = _IQmpy(_IQ(2),(v->Ta-_IQ(0.5)));
v->Tb = _IQmpy(_IQ(2),(v->Tb-_IQ(0.5)));
v->Tc = _IQmpy(_IQ(2),(v->Tc-_IQ(0.5)));
}
在相位置(sector)3中的一个矢量的例子：
图 相位置(sector)PWM 实例及其占空比
例2、事件管理器配置
EvaRegs.T1PR = p->n_period; /* SYSTEM_FREQUENCY*1000000*T/2 */
/*初始化Timer 1周期寄存器 */
/* 预定标器X1 (T1)，ISR周期= T x 1 */
EvaRegs.T1CON.all = PWM_INIT_STATE; /* 对称操作模式 */
EvaRegs.DBTCONA.all = DBTCON_INIT_STATE;
EvaRegs.ACTRA.all = ACTR_INIT_STATE;
EvaRegs.COMCONA.all = 0xA200;
EvaRegs.CMPR1 = p->n_period;
EvaRegs.CMPR2 = p->n_period;
EvaRegs.CMPR3 = p->n_period;
EALLOW;
GpioMuxRegs.GPAMUX.all |= 0x003F;
例3、TMS320F2812电流及DC母线电压检测
//******************************************************************************
// TMS320F2812电流及DC母线电压检测
// 文件名称：F28XILEG_VDC.C
//******************************************************************************
#include "DSP28_Device.h"
#include "f28xileg_vdc.h"
#include "f28xbmsk.h"
#define CPU_CLOCK_SPEED 6.6667L // CPU时钟速度150MHz
#define ADC_usDELAY 5000L
#define DELAY_US(A) DSP28x_usDelay(((((long double) A * 1000.0L)
/ (long double)CPU_CLOCK_SPEED) - 9.0L) / 5.0L)
extern void DSP28x_usDelay(unsigned long Count);
void F28X_ileg2_dcbus_drv_init(ILEG2DCBUSMEAS *p)
{
DELAY_US(ADC_usDELAY);
AdcRegs.ADCTRL1.all = ADC_RESET_FLAG; /*复位ADC模块 */
asm(" NOP ");
asm(" NOP ");
AdcRegs.ADCTRL3.bit.ADCBGRFDN = 0x3; /* 为bandgap和参考电路供电*/
DELAY_US(ADC_usDELAY); /*为ADC其他单元上电前延时 */
AdcRegs.ADCTRL3.bit.ADCPWDN = 1; /*为ADC其他单元上电 */
AdcRegs.ADCTRL3.bit.ADCCLKPS = 3; /* 设置ADCTRL3寄存器 */
DELAY_US(ADC_usDELAY);
AdcRegs.ADCTRL1.all = ADCTRL1_INIT_STATE; /*设置ADCTRL1寄存器 */
AdcRegs.ADCTRL2.all = ADCTRL2_INIT_STATE; /*设置ADCTRL2寄存器 */
AdcRegs.ADCMAXCONV.bit.MAX_CONV = 2; /* 确定3个转换 */
AdcRegs.ADCCHSELSEQ1.all = p->Ch_sel; /* 配置通道选择 */
EvaRegs.GPTCONA.bit.T1TOADC = 1; /*设置采用Timer1 UF触发ADC转换 */
}
void F28X_ileg2_dcbus_drv_read(ILEG2DCBUSMEAS *p)
{
int dat_q15;
long tmp;
/* 等待ADC转换结束*/
while (AdcRegs.ADCST.bit.SEQ1_BSY == 1)
{};
dat_q15 = AdcRegs.ADCRESULT0^0x8000; /*将转换结果变成Q15格式双极性数据*/
tmp = (long)(p->Imeas_a_gain*dat_q15);
p->Imeas_a = (int)(tmp>>13);
p->Imeas_a += p->Imeas_a_offset;
p->Imeas_a *= -1; /*正向，电流流向电动机*/
dat_q15 = AdcRegs.ADCRESULT1^0x8000; /*将转换结果变成Q15格式双极性数据*/
tmp = (long)(p->Imeas_b_gain*dat_q15);
p->Imeas_b = (int)(tmp>>13);
p->Imeas_b += p->Imeas_b_offset;
p->Imeas_b *= -1; /*正向，电流流向电动机*/
dat_q15 = (AdcRegs.ADCRESULT2>>1)&0x7FFF; /*将转换结果变成Q15格式双极性数据*/
tmp = (long)(p->Vdc_meas_gain*dat_q15);
p->Vdc_meas = (int)(tmp>>13);
p->Vdc_meas += p->Vdc_meas_offset;
p->Imeas_c = -(p->Imeas_a + p->Imeas_b);
AdcRegs.ADCTRL2.all |= 0x4040; /* 复位排序器 */
}
例4、电动机位置检测
/******************************************************************************
// TMS320F2812电动机位置检测 QEP电路初始化及应用
// 文件名称：F28XQEP.C
//******************************************************************************
#include "DSP28_Device.h"
#include "f28xqep.h"
#include "f28xbmsk.h"
void F28X_EV1_QEP_Init(QEP *p)
{
EvaRegs.CAPCON.all = QEP_CAP_INIT_STATE; /*设置捕捉单元 */
EvaRegs.T2CON.all = QEP_TIMER_INIT_STATE; /*设置捕捉定时器*/
EvaRegs.T2PR = 0xFFFF;
EvaRegs.EVAIFRC.bit.CAP3INT = 1; /*清除CAP3标志*/
EvaRegs.EVAIMRC.bit.CAP3INT = 1; /*使能CAP3中断*/
GpioMuxRegs.GPAMUX.all |= 0x0700; /*配置捕捉单元的引脚*/
}
void F28X_EV1_QEP_Calc(QEP *p)
{
long tmp;
p->dir_QEP = 0x4000&EvaRegs.GPTCONA.all;
p->dir_QEP = p->dir_QEP>>14;
p->theta_raw = EvaRegs.T2CNT + p->cal_angle;
tmp = (long)(p->theta_raw*p->mech_scaler); /* Q0*Q26 = Q26 */
tmp &= 0x03FFF000;
p->theta_mech = (int)(tmp>>11); /* Q26 -> Q15 */
p->theta_mech &= 0x7FFF;
p->theta_elec = p->pole_pairs*p->theta_mech; /* Q0*Q15 = Q15 */
p->theta_elec &= 0x7FFF;
}
void F28X_EV1_QEP_Isr(QEP *p)
{
p->QEP_cnt_idx = EvaRegs.T2CNT;
EvaRegs.T2CNT = 0;
p->index_sync_flag = 0x00F0;
}
//******************************************************************************
// TMS320F2812电动机位置检测 QEP电路初始化参数及函数定义
// 文件名称：F28XQEP.H
//******************************************************************************
#ifndef __F28X_QEP_H__
#define __F28X_QEP_H__
#include "f28xbmsk.h"
/* 初始化T2CON和CAPCON */
#define QEP_CAP_INIT_STATE 0x9004
#define QEP_TIMER_INIT_STATE (FREE_RUN_FLAG + \
TIMER_DIR_UPDN + \
TIMER_CLK_PRESCALE_X_1 + \
TIMER_ENABLE_BY_OWN + \
TIMER_ENABLE + \
TIMER_CLOCK_SRC_QEP + \
TIMER_COMPARE_LD_ON_ZERO)
/* 定义QEP (正交编码电路) 驱动的对象 */
typedef struct {int theta_elec; /* 输出: 电动机电角度(Q15) */
int theta_mech; /* 输出: 电动机机械角度(Q15) */
int dir_QEP; /* 输出: 电动机转动方向 (Q0) */
int QEP_cnt_idx; /* 变量: 编码器计数(Q0) */
int theta_raw; /* 变量: 定时器2得出的角度(Q0) */
int mech_scaler; /* 参数: 0.9999/计数最大值，计数最大值 = 4000 (Q26) */
int pole_pairs; /* 参数: 极对数(Q0) */
int cal_angle; /* 参数: 编码器和相之间的角度偏移量 (Q0) */
int index_sync_flag; /* 输出: Index sync status (Q0) */
void (*init)(); /* 初始化函数指针 */
void (*calc)(); /* 计算函数指针 */
void (*isr)(); /* 中断程序指针 */
} QEP;
/* 定义一个QEP_handle */
typedef QEP *QEP_handle;
#define QEP_DEFAULTS { 0x0, 0x0,0x0,0x0,0x0,16776,2,-2365,0x0, \
(void (*)(long))F28X_EV1_QEP_Init, \
(void (*)(long))F28X_EV1_QEP_Calc, \
(void (*)(long))F28X_EV1_QEP_Isr }
void F28X_EV1_QEP_Init(QEP_handle);
void F28X_EV1_QEP_Calc(QEP_handle);
void F28X_EV1_QEP_Isr(QEP_handle);
#endif /* __F28X_QEP_H__ */
例5、TMS320F2812实现三相永磁同步电动机的磁场定向控制
//******************************************************************************
// 采用TMS320F2812实现三相永磁同步电动机的磁场定向控制
// 文件名称：PMSM3_1.C
//******************************************************************************
#include "IQmathLib.h" /* 包含IQmath库函数的头文件 */
#include "DSP28_Device.h"
#include "pmsm3_1.h"
#include "parameter.h"
#include "build.h"
// 函数声明
interrupt void EvaTimer1(void);
interrupt void EvaTimer2(void);
// 全局变量定义
float Vd_testing = 0; /* Vd testing (pu) */
float Vq_testing = 0.25; /* Vq testing (pu) */
float Id_ref = 0; /* Id reference (pu) */
float Iq_ref = 0.4; /* Iq reference (pu) */
float speed_ref = 0.2; /* Speed reference (pu) */
float T = 0.001/ISR_FREQUENCY; /* Samping period (sec), see parameter.h */
int isr_ticker = 0;
int pwmdac_ch1=0;
int pwmdac_ch2=0;
int pwmdac_ch3=0;
volatile int enable_flg=0;
int lockrtr_flg=1;
int speed_loop_ps = 10; // 速度环定标器
int speed_loop_count = 1; // 速度环计数器
CLARKE clarke1 = CLARKE_DEFAULTS;
PARK park1 = PARK_DEFAULTS;
IPARK ipark1 = IPARK_DEFAULTS;
PIDREG3 pid1_id = PIDREG3_DEFAULTS;
PIDREG3 pid1_iq = PIDREG3_DEFAULTS;
PIDREG3 pid1_spd = PIDREG3_DEFAULTS;
PWMGEN pwm1 = PWMGEN_DEFAULTS;
PWMDAC pwmdac1 = PWMDAC_DEFAULTS;
SVGENDQ svgen_dq1 = SVGENDQ_DEFAULTS;
QEP qep1 = QEP_DEFAULTS;
SPEED_MEAS_QEP speed1 = SPEED_MEAS_QEP_DEFAULTS;
DRIVE drv1 = DRIVE_DEFAULTS;
RMPCNTL rc1 = RMPCNTL_DEFAULTS;
RAMPGEN rg1 = RAMPGEN_DEFAULTS;
ILEG2DCBUSMEAS ilg2_vdc1 = ILEG2DCBUSMEAS_DEFAULTS;
// 主函数
void main(void)
{
// 系统初始化
InitSysCtrl();
// HISPCP 设置
EALLOW;
SysCtrlRegs.HISPCP.all = 0x0000; /* SYSCLKOUT/1 */
EDIS;
// 禁止并清除所有CPU中断:
DINT;
IER = 0x0000;
IFR = 0x0000;
// 初始化Pie到默认状态
InitPieCtrl();
// 初始化PIE相量表
InitPieVectTable();
// 初始化EVA 定时器1：
//设置定时器1寄存器 (EV A)
EvaRegs.GPTCONA.all = 0;
//等待使能标志位
while (enable_flg==0)
{
// 使能定时器1的下溢中断
EvaRegs.EVAIMRA.bit.T1UFINT = 1;
EvaRegs.EVAIFRA.bit.T1UFINT = 1;
// 使能CAP3中断（定时器2）
EvaRegs.EVAIMRC.bit.CAP3INT = 1;
EvaRegs.EVAIMRC.bit.CAP3INT = 1;
};
// 重新分配中断向量
EALLOW;
PieVectTable.T1UFINT = &EvaTimer1;
PieVectTable.CAPINT3 = &EvaTimer2;
EDIS;
// 使能PIE组2的中断6（T1UFINT）
PieCtrlRegs.PIEIER2.all = M_INT6;
// 使能PIE组3的中断7（CAPINT3）
PieCtrlRegs.PIEIER3.all = M_INT7;
// 使能CPU INT2（T1UFINT）和INT3（CAPINT3）：
IER |= (M_INT2 | M_INT3);
// 使能全局中断和最高优先级适时调试事件管理器功能：
EINT; //使能全局中断INTM
ERTM; // 使能适时调试中断DBGM
/* 模块初始化 */
pwm1.n_period = SYSTEM_FREQUENCY*1000000*T/2; /* 预定标器X1 (T1), ISR周期 = T x 1 */
pwm1.init(&pwm1);
pwmdac1.pwmdac_period = 2500; /* PWM频率 = 30 kHz */
pwmdac1.PWM_DAC_IPTR0 = &pwmdac_ch1;
pwmdac1.PWM_DAC_IPTR1 = &pwmdac_ch2;
pwmdac1.PWM_DAC_IPTR2 = &pwmdac_ch3;
pwmdac1.init(&pwmdac1);
qep1.init(&qep1);
drv1.init(&drv1);
ilg2_vdc1.init(&ilg2_vdc1);
/* 初始化SPEED_FRQ模块 */
speed1.K1 = _IQ21(1/(BASE_FREQ*T));
speed1.K2 = _IQ(1/(1+T*2*PI*30)); /* 低通截至频率 = 30 Hz */
speed1.K3 = _IQ(1)-speed1.K2;
speed1.rpm_max = 120*BASE_FREQ/P;
/*初始化RAMPGEN模块 */
rg1.step_angle_max = _IQ(BASE_FREQ*T);
/* 初始化PID_REG3 Id调节模块 */
pid1_id.Kp_reg3 = _IQ(0.75);
pid1_id.Ki_reg3 = _IQ(T/0.0005);
pid1_id.Kd_reg3 = _IQ(0/T);
pid1_id.Kc_reg3 = _IQ(0.2);
pid1_id.pid_out_max = _IQ(0.30);
pid1_id.pid_out_min = _IQ(-0.30);
/* 初始化PID_REG3 Iq调节模块 */
pid1_iq.Kp_reg3 = _IQ(0.75);
pid1_iq.Ki_reg3 = _IQ(T/0.0005);
pid1_iq.Kd_reg3 = _IQ(0/T);
pid1_iq.Kc_reg3 = _IQ(0.2);
pid1_iq.pid_out_max = _IQ(0.95);
pid1_iq.pid_out_min = _IQ(-0.95);
/*初始化PID_REG3 速度调节模块 */
pid1_spd.Kp_reg3 = _IQ(1);
pid1_spd.Ki_reg3 = _IQ(T*speed_loop_ps/0.1);
pid1_spd.Kd_reg3 = _IQ(0/(T*speed_loop_ps));
pid1_spd.Kc_reg3 = _IQ(0.2);
pid1_spd.pid_out_max = _IQ(1);
pid1_spd.pid_out_min = _IQ(-1);
// 循环等待
for(;;);
}
interrupt void EvaTimer1(void)
{
isr_ticker++;
if (speed_loop_count==speed_loop_ps)
{
pid1_spd.pid_ref_reg3 = _IQ(speed_ref);
pid1_spd.pid_fdb_reg3 = speed1.speed_frq;
pid1_spd.calc(&pid1_spd);
speed_loop_count=1;
}
else speed_loop_count++;
pid1_iq.pid_ref_reg3 = pid1_spd.pid_out_reg3;
pid1_iq.pid_fdb_reg3 = park1.qe;
pid1_iq.calc(&pid1_iq);
pid1_id.pid_ref_reg3 = _IQ(Id_ref);
pid1_id.pid_fdb_reg3 = park1.de;
pid1_id.calc(&pid1_id);
ipark1.de = pid1_id.pid_out_reg3;
ipark1.qe = pid1_iq.pid_out_reg3;
ipark1.ang = speed1.theta_elec;
ipark1.calc(&ipark1);
svgen_dq1.Ualfa = ipark1.ds;
svgen_dq1.Ubeta = ipark1.qs;
svgen_dq1.calc(&svgen_dq1);
pwm1.Mfunc_c1 = (int)_IQtoIQ15(svgen_dq1.Ta); /* Mfunc_c1 is in Q15 */
pwm1.Mfunc_c2 = (int)_IQtoIQ15(svgen_dq1.Tb); /* Mfunc_c2 is in Q15 */
pwm1.Mfunc_c3 = (int)_IQtoIQ15(svgen_dq1.Tc); /* Mfunc_c3 is in Q15 */
pwm1.update(&pwm1);
ilg2_vdc1.read(&ilg2_vdc1);
clarke1.as = _IQ15toIQ((long)ilg2_vdc1.Imeas_a);
clarke1.bs = _IQ15toIQ((long)ilg2_vdc1.Imeas_b);
clarke1.calc(&clarke1);
park1.ds = clarke1.ds;
park1.qs = clarke1.qs;
park1.ang = speed1.theta_elec;
park1.calc(&park1);
qep1.calc(&qep1);
speed1.theta_elec = _IQ15toIQ((long)qep1.theta_elec);
speed1.dir_QEP = (long)(qep1.dir_QEP);
speed1.calc(&speed1);
pwmdac_ch1 = (int)_IQtoIQ15(svgen_dq1.Ta);
pwmdac_ch2 = (int)_IQtoIQ15(clarke1.as);
pwmdac_ch3 = (int)_IQtoIQ15(speed1.theta_elec);
drv1.enable_flg = enable_flg;
drv1.update(&drv1);
pwmdac1.update(&pwmdac1);
// 使能定时器中断
EvaRegs.EVAIMRA.bit.T1UFINT = 1;
EvaRegs.EVAIFRA.all = BIT9;
PieCtrlRegs.PIEACK.all |= PIEACK_GROUP2;
}
interrupt void EvaTimer2(void)
{
qep1.isr(&qep1);
EvaRegs.EVAIMRC.bit.CAP3INT = 1;
EvaRegs.EVAIFRC.all = BIT2;
PieCtrlRegs.PIEACK.all |= PIEACK_GROUP3;
}
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