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精编版.docx
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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精编版
/*==============================================================================
SystemName:
PMSM34
FileName:
PMSM3_4.C
Description:
PrimarysystemfilefortheRealImplementationofPositionControl
BasedSensoredFieldOrientationControlforaThreePhasePermanent-
MagnetSynchronousMotor（PMSM）usingQEPsensor
Originator:
DigitalcontrolsystemsGroup-TexasInstruments
Note:
Inthissoftware,thedefaultinverterissupposedtobeDMC550board.
=====================================================================================
History:
-------------------------------------------------------------------------------------
04-15-2005Version3.20:
SupportbothF280xandF281xtargets
04-25-2005Version3.21:
MoveEINTandERTMdowntoensurethatallinitialization
iscompletedbeforeinterruptsareallowed.
=================================================================================*/
//Includeheaderfilesusedinthemainfunction
#include"target.h"
#include"DSP281x_Device.h"
#include"IQmathLib.h"
#include"pmsm3_4.h"
#include"parameter.h"
#include"build.h"
#include
//Prototypestatementsforfunctionsfoundwithinthisfile.
interruptvoidMainISR（void）;
interruptvoidQepISR（void）;
interruptvoidPDPINTAISR（void）;
//Globalvariablesusedinthissystem
float32VdTesting=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）,seeparameter.h
Uint16IsrTicker=0;
Uint16BackTicker=0;
volatileUint16EnableFlag=FALSE;
Uint16LockRotorFlag=FALSE;
Uint16SpeedLoopPrescaler=10;//Speedloopprescaler
Uint16SpeedLoopCount=1;//Speedloopcounter
//Instanceafewtransformobjects
CLARKEclarke1=CLARKE_DEFAULTS;
PARKpark1=PARK_DEFAULTS;
IPARKipark1=IPARK_DEFAULTS;
//InstancePIDregulatorstoregulatethedandqsynchronousaxiscurrents,
//speedandposition
PIDREG3pid1_id=PIDREG3_DEFAULTS;
PIDREG3pid1_iq=PIDREG3_DEFAULTS;
PIDREG3pid1_pos=PIDREG3_DEFAULTS;
PIDREG3pid1_spd=PIDREG3_DEFAULTS;
//InstanceaPWMdriverinstance
PWMGENpwm1=PWMGEN_DEFAULTS;
//InstanceaSpaceVectorPWMmodulator.Thismodulatorgeneratesa,bandc
//phasesbasedonthedandqstationeryreferenceframeinputs
SVGENDQsvgen_dq1=SVGENDQ_DEFAULTS;
//InstanceaQEPinterfacedriver
QEPqep1=QEP_DEFAULTS;
//InstanceaspeedcalculatorbasedonQEP
SPEED_MEAS_QEPspeed1=SPEED_MEAS_QEP_DEFAULTS;
//Instancearampcontrollertosmoothlyrampthefrequency
RMPCNTLrc1=RMPCNTL_DEFAULTS;
//InstancearampgeneratortosimulateanAnglele
RAMPGENrg1=RAMPGEN_DEFAULTS;
//Createaninstanceofthecurrent/dc-busvoltagemeasurementdriver
ILEG2DCBUSMEASilg2_vdc1=ILEG2DCBUSMEAS_DEFAULTS;
voidmain（void）
{
//******************************************
//InitializationcodeforDSP_TARGET=F2812
//******************************************
//InitializeSystemControlregisters,PLL,WatchDog,Clockstodefaultstate:
//ThisfunctionisfoundintheDSP281x_SysCtrl.cfile.
InitSysCtrl（）;
//HISPCPprescaleregistersettings,normallyitwillbesettodefaultvalues
EALLOW;//ThisisneededtowritetoEALLOWprotectedregisters
SysCtrlRegs.HISPCP.all=0x0000;//SYSCLKOUT/1
EDIS;//ThisisneededtodisablewritetoEALLOWprotectedregisters
//DisableandclearallCPUinterrupts:
DINT;
IER=0x0000;
IFR=0x0000;
//InitializePieControlRegistersToDefaultState:
//ThisfunctionisfoundintheDSP281x_PieCtrl.cfile.
InitPieCtrl（）;
//InitializethePIEVectorTableToaKnownState:
//ThisfunctionisfoundinDSP281x_PieVect.c.
//ThisfunctionpopulatesthePIEvectortablewithpointers
//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_GPIOD0=1;//功能PDPINTA
GpioMuxRegs.GPDMUX.bit.T2CTRIP_SOCA_GPIOD1=0;//INPUT
GpioMuxRegs.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;
GpioMuxRegs.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.GPGMUX.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;
//Waitingforenableflagset
while（EnableFlag==FALSE）
{
BackTicker++;
}
//EnableUnderflowinterruptbitsforGPtimer1
EvaRegs.EVAIMRA.bit.T1UFINT=1;
EvaRegs.EVAIFRA.bit.T1UFINT=1;
//EnableCAP3interruptbitsforGPtimer2
EvaRegs.EVAIMRC.bit.CAP3INT=1;
EvaRegs.EVAIFRC.bit.CAP3INT=1;
//ReassignISRs.
//ReassignthePIEvectorforT1UFINTandCAP3INTtopointtoadifferent
//ISRthentheshellroutinefoundinDSP281x_DefaultIsr.c.
//ThisisdoneiftheuserdoesnotwanttousetheshellISRroutine
//butinsteadwantstousetheirownISR.
EALLOW;//ThisisneededtowritetoEALLOWprotectedregisters
PieVectTable.T1UFINT=&MainISR;
PieVectTable.CAPINT3=&QepISR;
PieVectTable.PDPINTA=&PDPINTAISR;
EDIS;//ThisisneededtodisablewritetoEALLOWprotectedregisters
//EnablePIEgroup2interrupt6forT1UFINT
PieCtrlRegs.PIEIER2.all=M_INT6;
//EnablePIEgroup3interrupt7forCAP3INT
PieCtrlRegs.PIEIER3.all=M_INT7;
//EnablePIEgroup1interrupt1forPDPINTA
PieCtrlRegs.PIEIER1.all=M_INT1;
//EnableCPUINT2forT1UFINTandINT3forCAP3INT:
IER|=（M_INT2|M_INT3|M_INT1）;
//InitializePWMmodule
pwm1.PeriodMax=SYSTEM_FREQUENCY*1000000*T/2;//PerscalerX1（T1）,ISRperiod=Tx1
pwm1.init（&pwm1）;
//InitializeQEPmodule
qep1.LineEncoder=2000;
qep1.MechScaler=_IQ30（0.25/qep1.LineEncoder）;
qep1.PolePairs=P/2;
qep1.CalibratedAngle=-1250;
qep1.init（&qep1）;
//InitializetheSpeedmoduleforQEPbasedspeedcalculation
speed1.K1=_IQ21（1/（BASE_FREQ*T））;
speed1.K2=_IQ（1/（1+T*2*PI*30））;//Low-passcut-offfrequency
speed1.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.VdcMeasGain=0x675C;
ilg2_vdc1.ChSelect=0x0610;
ilg2_vdc1.init（&ilg2_vdc1）;
//InitializetheRAMPGENmodule
rg1.StepAngleMax=_IQ（BASE_FREQ*T）;
//InitializetheRAMPGENmodule
rc1.RampDelayMax=5;
//InitializethePID_REG3moduleforId
pid1_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_id.OutMax=_IQ（0.30）;
pid1_id.OutMin=_IQ（-0.30）;
//InitializethePID_REG3moduleforIq
pid1_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_REG3moduleforspeedcontrol
pid1_spd.Kp=_IQ
（1）;
pid1_spd.Ki=_IQ（T*SpeedLoopPrescaler/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_REG3moduleforpositioncontrol
pid1_pos.Kp=_IQ（28.2）;
pid1_pos.Ki=_IQ（0）;//Integraltermisnotused
pid1_pos.Kd=_IQ（0）;//Derivativetermisnotused
pid1_pos.Kc=_IQ（0）;
pid1_pos.OutMax=_IQ
（1）;
pid1_pos.OutMin=_IQ（-1）;
//EnableglobalInterruptsandhigherpriorityreal-timedebugevents:
EINT;//EnableGlobalinterruptINTM
ERTM;//EnableGlobalrealtimeinterruptDBGM
//IDLEloop.Justsitandloopforever:
for（;;）BackTicker++;
}
interruptvoidMainISR（void）
{
//VerifyingtheISR
IsrTicker++;
//*****************LEVEL1*****************
#if（BUILDLEVEL==LEVEL1）
//------------------------------------------------------------------------------
//ConnectinputsoftheRMPmoduleandcalltheRampcontrol
//calculationfunction.
//------------------------------------------------------------------------------
rc1.TargetValue=_IQ（SpeedRef）;
rc1.calc（&rc1）;
//------------------------------------------------------------------------------
//ConnectinputsoftheRAMPGENmoduleandcalltheRampgenerator
//calculationfunction.
//------------------------------------------------------------------------------
rg1.Freq=rc1.SetpointValue;
rg1.calc（&rg1）;
//------------------------------------------------------------------------------
//ConnectinputsoftheINV_PARKmoduleandcalltheinverseparktransformation
//calculationfunction.
//------------------------------------------------------------------------------
ipark1.Ds=_IQ（VdTesting）;
ipark1.Qs=_IQ（VqTesting）;
ipark1.Angle=rg1.Out;
ipark1.calc（&ipark1）;
//------------------------------------------------------------------------------
//Connectin
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