PMSM电机无传感器FOC矢量控制图文文档格式.docx

PMSM电机无传感器FOC矢量控制图文文档格式.docx

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//@Returnvalue（ib*16,"

（ia*16"

//----------------------------------------------------------------------------//@Parameters

//----------------------------------------------------------------------------//@Date09.01.2005

//Conditionoptimizationoff/one

//****************************************************************************inlineintclarke_trans（intPhase_s,intPhase_t,int*ia

{

intretvalue;

__asm（

"

movr12,MCW\n"

movMCW,#0200h;

setsaturation\n"

shl%2,#1;

（2*Phase_t\n"

add%2,%1;

+Phase_s\n"

movr13,#37837\n"

CoMULsu%2,r13;

*1/sqrt（3\n"

CoSHL#4;

default2*4\n"

CoSTORE%0,MAS;

ib=result\n"

shl%1,#2\n"

mov[%3],%1;

ia=Phase_s*4\n"

movMCW,r12\n"

:

"

=&

w"

（retvalue/*outputregisters*/

（Phase_s,"

（Phase_t,"

（ia/*inputregisters*/

r13"

"

r12"

/*scratchregisters*/

;

returnretvalue;

}

//****************************************************************************//@Functionintpark_trans（inte_a,inte_b,intphi,int*a_b

//----------------------------------------------------------------------------//@Descriptionparktransformation

//----------------------------------------------------------------------------//@ReturnvalueId_comp,Iq_comp

inlineintpark_trans（inti_a,inti_b,intphi,int*o_q

__asm（"

\n"

movr13,MCW\n"

movMCW,#0600h\n"

shr%3,#6\n"

shl%3,#1\n"

EXTS#SEG（_sincostab,#2\n"

movr11,[%3+#SOF（_sincostab+512]\n"

movr12,[%3+#SOF（_sincostab]\n"

CoMUL%2,r12\n"

CoMAC%1,r11\n"

CoSTORE%0,MAS\n"

CoMUL%2,r11\n"

CoMAC-%1,r12\n"

CoSTORE[%4],MAS\n"

movMCW,r13\n"

（i_a,"

（i_b,"

（phi,"

（o_q/*inputregisters*/

r11"

/****************************************************************************

****************************************************************************///****************************************************************************//@Functionintinv_park_trans（inte_a,inte_b,intphi,int*a_b

//----------------------------------------------------------------------------//@Descriptioninverseparktransformation

//----------------------------------------------------------------------------//@ReturnvalueI_alpha,I_beta

//****************************************************************************inlineintinv_park_trans（inti_d,inti_q,intphi,int*o_b

movr12,[%3+#SOF（_sincostab+512]\n"

movr11,[%3+#SOF（_sincostab]\n"

CoMUL%1,r12\n"

CoMAC-%2,r11\n"

CoASHR#2\n"

CoMUL%1,r11\n"

CoMAC%2,r12\n"

（i_d,"

（i_q,"

（o_b/*inputregisters*/:

//****************************************************************************//@Functionintcart_polar_conv（intx,inty,int*angle;

//----------------------------------------------------------------------------//@Description

//----------------------------------------------------------------------------//@Returnvalue

//****************************************************************************unsignedintcart_polar_conv（intx,inty,int*angle

unsignedintretvalue;

enablesaturationto+/-0x7fff\n"

movr13,%1;

r13=x\n"

jmprcc_nn,kpw1co;

if（x>

=0gotokpw1co\n"

negr13;

elser13=-r13\n"

kpw1co:

;

r13=|x|\n"

movr12,%2;

r12=y\n"

jmprcc_nn,kpw2co;

if（y>

=0gotokpw2co\n"

negr12;

r12=-r12\n"

kpw2co:

r12=|y|\n"

movr9,#1024\n"

cmpr13,r12\n"

jmprcc_c,kpw3co;

if（x<

ygotokpw3co\n"

mulur12,r9;

MD=y*1024\n"

divlur13;

MDL=MD/x\n"

movr9,MDL;

r9=MDL=（y/x*1024\n"

shlr9,#1;

prepareforwordaddress\n"

EXTS#SEG（_betab,#1\n"

movr10,[r9+#SOF（_betab];

r10=sqrt（1+（r9^2\n"

CoMULur13,r10;

CoACC=x*sqrt（1+（y/x^2\n"

CoSHL#1;

unsigned->

signed\n"

%0=CoACC\n"

EXTS#SEG（_phitab,#1\n"

movr10,[r9+#SOF（_phitab];

r10=arctan（y/x\n"

cmp%1,#0;

\n"

jmprcc_n,kpw4co;

if（x<

0gotokpw4co\n"

cmp%2,#0\n"

jmprcc_n,kpw5co;

if（y<

0gotokpw5co\n"

mov[%3],r10;

angle=arctan（y/x\n"

jmprcc_uc,endco\n"

kpw5co:

x>

0andy<

0\n"

negr10\n"

angle=-arctan（y/x\n"

kpw4co:

x<

cmp%2,#0;

jmprcc_n,kpw6co;

0gotokpw6co\n"

movr9,#8000h\n"

subr9,r10\n"

mov[%3],r9;

angle=180�-arctan（y/x\n"

kpw6co:

addr10,#8000h\n"

angle=-180�+arctan（y/x\n"

kpw3co:

|x|<

|y|\n"

mulur13,r9;

MD=|x|*1024\n"

divlur12;

MDL=MD/|y|\n"

CoMULur12,r10;

cmp%1,#0\n"

jmprcc_n,kpw7co;

0gotokpw7co\n"

jmprcc_n,kpw8co;

0gotokpw8co\n"

movr9,#4000h\n"

angle=90�-arctan（x/y=90�-arccot（y/x=arctan（y/x\n"

kpw8co:

addr10,#0C000h\n"

angle=-90�+arctan（x/y=-（90�-arccot（y/x=-arctan（y/x\n"

kpw7co:

jmprcc_n,kpw9co;

0gotokpw9co\n"

addr10,#4000h\n"

angle=90�+arctan（x/y=180�-（90�-arccot（y/x=180�-arctan（y/x\n"

kpw9co:

movr9,#0C000h\n"

subr9,r10;

angle=-90�-arctan（x/y=-180�+（90�-arccot（y/x=-180�+arctan（y/x\n"

mov[%3],r9\n"

endco:

（x,"

（y,"

（angle/*inputregisters*/

r10"

r9"

//****************************************************************************//@Function:

alowpassfilter2012-9-1317:

58:

43

//Ccallingformat:

//intinlineintpt1_controller32（int*pt1_parameter,intX

//PT1-Controller

//derivedfromtransferfunction

//Y_（k=Y_（k-1+Z1_（k*X_（k-Z2_（k*Y_（k-1

//----------------------------------------------------------------------------//Computingtime42CPU-cycle

//int"

@3"

Outputofpt1_controller

//----------------------------------------------------------------------------//Conditionoptimizationoff/one

//****************************************************************************

inlineintpt1_controller32（PT1_array*pt1_parameter,intX

//inlineintpt1_controller32（int*pt1_parameter,intX

movr10,MCW;

SaveMCWregister\n"

movMCW,#0400h;

Setshiftleft\n"

mov%0,[%1+]\n"

CoLOAD%0,[%1];

LoadY（k-1inaccumulator\n"

Saveparametersaddresin%1\n"

addr13,#2\n"