很详细的dspic逆变svpwm程序.docx
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很详细的dspic逆变svpwm程序
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\dspic\CE003_Sinusoidal_BLDC_010908\CE003_Sinusoidal_BLDC\source\SinusoidalBLDCv1.1.c
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//
//---------------------------------------------------------------------
//File:
sinusoidalBLDCv1.1.c
//
//WrittenBy:
JorgeZambada,MicrochipTechnology
//
//ThefollowingfilesshouldbeincludedintheMPLABproject:
//
//sinusoidalBLDCv1.1.c--Mainsourcecodefile
//SVM.c--SpaceVectorModulationfile
//SVM.h
//p30f4012.gld--Linkerscriptfile
//---------------------------------------------------------------------
//
//RevisionHistory
//
//July/5/2005--firstversion
//----------------------------------------------------------------------
#include"p30f4012.h"
#include"svm.h"
//--------------------------DeviceConfiguration------------------------
_FOSC（CSW_FSCM_OFF&XT_PLL16）;
_FWDT（WDT_OFF）;
_FBORPOR（PBOR_ON&BORV_20&PWRT_64&MCLR_EN）;
//----------------------------------------------------------------------
//HurstMotorTerminals|MCLVPICDEMBoardConnection
//-----------------------|---------------------------------
//GroundPhase---------|--G
//PhaseRed---------|--M1
//PhaseBlack---------|--M2
//PhaseWhite---------|--M3
//HallWhite---------|--HA
//HallBrown---------|--HB
//HallGreen---------|--HC
typedefsignedintSFRAC16;
#defineCLOSED_LOOP//ifdefinedthespeedcontrollerwillbeenabled
#definePHASE_ADVANCE//forextendedspeedrangesthisshouldbedefined
#defineFCY20000000//xtal=5Mhz;PLLx16->20MIPS
#defineFPWM20000//20kHz,sothatnoaudiblenoiseispresent.
#define_10MILLISEC10//Usedasatimeoutwithnohalleffectsensors
//transitionsandForcingstepsaccordingtothe
//actualpositionofthemotor
#define_100MILLISEC100//afterthistimehaselapsed,themotoris
//considerstalledandit'sstopped
1
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\dspic\CE003_Sinusoidal_BLDC_010908\CE003_Sinusoidal_BLDC\source\SinusoidalBLDCv1.1.c
#define_1000MILLISEC1000
//ThesePhasevaluesrepresentthebasePhasevalueofthesinewaveforeach
//oneofthesectors（eachsectorisatranslationofthehalleffectsensors
//reading
#definePHASE_ZERO57344
#definePHASE_ONE（（PHASE_ZERO+65536/6）%65536）
#definePHASE_TWO（（PHASE_ONE+65536/6）%65536）
#definePHASE_THREE（（PHASE_TWO+65536/6）%65536）
#definePHASE_FOUR（（PHASE_THREE+65536/6）%65536）
#definePHASE_FIVE（（PHASE_FOUR+65536/6）%65536）
#defineMAX_PH_ADV_DEG40//Thisvaluerepresentsthemaximumallowedphase
//advanceinelectricaldegrees.Setavaluefrom
//0to60.Thisvaluewillbeusedtocalculate
//phaseadvanceonlyifPHASE_ADVANCEisdefined
//Thisisthecalculationfromtherequiredphaseadvancetotheactual
//valuetobemultipliedbythespeedofthemotor.So,ifPHASE_ADVANCEis
//enabled,acertainamountofshitanglewillbeaddedtothegenerated
//sinewave,uptoamaximumofthespecifiedvalueonMAX_PH_ADV_DEG.This
//maximumphaseshiftwillbepresentwhentheMeasuredSpeedvariableisa
//fractional1.0（forCW）or-1.0（forCCW）.
#defineMAX_PH_ADV（int）（（（float）MAX_PH_ADV_DEG/360.0）*65536.0）
#defineHALLA1//ConnectedtoRB3
#defineHALLB2//ConnectedtoRB4
#defineHALLC4//ConnectedtoRB5
#defineCW0//CounterClockWisedirection
#defineCCW1//ClockWisedirection
#defineSWITCH_S2（!
PORTCbits.RC14）//PushbuttonS2
//PeriodCalculation
//Period=（TMRClock*60）/（RPM*Motor_Poles）
//Forexample>
//Motor_Poles=10
//RPM=6000（MaxSpeed）
//Period=（（20,000,000/64）*60）/（6000*10）=312.5
//RPM=60（MinSpeed）
//Period=（（20,000,000/64）*60）/（60*10）=31250
#defineMINPERIOD313//For6000maxrpmand10polesmotor
#defineMAXPERIOD31250//For60minrpmand10polesmotor
//UsethisMACROwhenusingfloatstoinitializesigned16-bitfractional
//variables
#defineSFloat_To_SFrac16（Float_Value）\
（（Float_Value<0.0）?
（SFRAC16）（32768*（Float_Value）-0.5）\
:
（SFRAC16）（32767*（Float_Value）+0.5））
voidInitADC10（void）;//InitializationofADCusedforSpeedCommand
voidInitMCPWM（void）;//InitializationforPWMat20kHz,Centeraligned,
//Complementarymodewith1usofdeadtime
voidInitTMR1（void）;//InitializationforTIMER1usedforspeedcontrol
//andmotorstalledprotection
voidInitTMR3（void）;//InitializationforTIMER3usedasatimebase
//forthetwoinputcapturechannels
voidInitUserInt（void）;//Thisfunctioninitializesallports
//（inputsandoutputs）fortheapplication
voidInitICandCN（void）;//Initializesinputcapturesandchangenotification,
//usedforthehallsensorinputs
voidRunMotor（void）;//Thisfunctioninitializesallvariables
//andinterruptsusedforstartingandrunning
//themotor
voidStopMotor（void）;//Thisfunctionclearsallflags,andstopsanything
//relatedtomotorcontrol,andalsodisablesPWMs
voidSpeedControl（void）;//ThisfunctioncontainsallASMandCoperations
//fordoingthePIDControlloopforthespeed
voidForceCommutation（void）;//Whenmotoristoslowtogenerateinterrupts
//onhalls,thisfunctionforcesacommutation
voidChargeBootstraps（void）;//Atthebeginingofthemotoroperation,the
//bootstrapcapsarechargedwiththisfunction
//Constantsusedforproperlyenergizingthemotordependingonthe
//rotor'sposition
intPhaseValues[6]__attribute__（（far,section（".const,r"）））=
{PHASE_ZERO,PHASE_ONE,PHASE_TWO,PHASE_THREE,PHASE_FOUR,PHASE_FIVE};
//Inthesinewavegenerationalgorithmweneedanoffsettobeaddedtothe
//pointerwhenenergizingthemotorinCCW.Thisisdonetocompensatean
2
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\dspic\CE003_Sinusoidal_BLDC_010908\CE003_Sinusoidal_BLDC\source\SinusoidalBLDCv1.1.c
//asymetryofthesinewave
intPhaseOffset=4100;
//Flagsusedfortheapplication
struct
{
unsignedMotorRunning:
1;//Thisbitis1ifmotorrunning
unsignedunused:
15;
}Flags;
unsignedintPhase;//ThisvariableisincrementedbythePWMinterrupt
//inordertogenerateapropersinewave.Itsvalue
//isincrementedbyavalueofPhaseInc,which
//representsthefrequencyofthegeneratedsinewave
signedintPhaseInc;//DeltaincrementsofthePhasevariable,calculated
//intheTIMER1interrupt（each1ms）andusedin
//thePWMinterrupt（each50us）
signedintPhaseAdvance;//Usedforextendingmotorspeedrange.Thisvalue
//isaddeddirectlytotheparameterspassedtothe
//SVMfunction（thesinewavegenerationsubroutine）
unsignedintHallValue;//Thisvariableholdsthehallsensorinputreadings
unsignedintSector;//Thisvariablesholdspresentsectorvalue,whichis
//therotorposition
unsignedintLastSector;//Thisvariableholdsthelastsectorvalue.This
//iscriticaltofilterslowslewrateontheHall
//effectsensorshardware
unsignedintMotorStalledCounter=0;//Thisvariablegetsincrementedeach
//1ms,andisclearedeverytimeanew
//sectorisdetected.Usedfor
//ForceCommutationandMotorStalled
//protectionfunctions
//ThisarraytranslatesthehallstatevaluereadfromthedigitalI/Otothe
//propersector.Hallvaluesof0or7representillegalvaluesandtherefore
//return-1.
charSectorTable[]={-1,4,2,3,0,5,1,-1};
unsignedcharCurrent_Direction;//Currentmechanicalmotordirectionof
//rotationCalculatedinhallsinterrupts
unsignedcharRequired_Direction;//Requiredmechanicalmotordirectionof
//rotation,willhavethesamesignasthe
//ControlOutputvariablefromtheSpeed
//Controller
//VariablescontainingthePeriodofhalfanelectricalcycle,whichisan
//interrupteachedgeofoneofthehallsensorinput
unsignedintPastCapture,ActualCapture,Period;
//Usedasatemporalvariabletoperformafractionaldivideoperationin
//assembly
SFRAC16_MINPERIOD=MINPERIOD-1;
SFRAC16MeasuredSpeed,RefSpeed;//ActualandDesiredspeedsforthePID
//controller,thatwillgeneratetheerror
SFRAC16ControlOutput=0;//Controlleroutput,usedasavoltageoutput,
//useitssig
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