PMSM电机无传感器FOC矢量控制图文文档格式.docx

1、/ Returnvalue （ib * 16 , （ia * 16/-/ Parameters/-/ Date 09.01.2005/ Condition optimization off / one/* inline int clarke_trans（int Phase_s, int Phase_t, int *iaint retvalue;_asm（ mov r12,MCW n mov MCW,#0200h ; set saturation n shl %2,#1 ; （ 2*Phase_t n add %2,%1 ; + Phase_s n mov r13,#37837 n CoMULs

2、u %2,r13 ;* 1/sqrt（3 n CoSHL #4 ; default 2 * 4 n CoSTORE %0,MAS ; ib = result n shl %1,#2 n mov %3,%1 ; ia = Phase_s * 4 n mov MCW,r12 n: =&w（retvalue /* output registers */（Phase_s,（Phase_t,（ia /* input registers */r13,r12/*scratch registers */;return retvalue;/* / Function int park_trans（int e_a,

3、int e_b,int phi,int *a_b/-/ Description park transformation/-/ Returnvalue Id_comp , Iq_compinline int park_trans（int i_a,int i_b,int phi,int *o_q_asm（ n mov r13,MCW n mov MCW,#0600h n shr %3,#6 n shl %3,#1 n EXTS #SEG （_sincostab,#2 n mov r11,%3 + #SOF（_sincostab+512 n mov r12,%3 + #SOF（_sincostab

4、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 mov MCW,r13 n（i_a,（i_b,（phi,（o_q /* input registers */r11/*/ /* / Function int inv_park_trans（int e_a,int e_b,int phi,int *a_b/-/ Description inverse park transformation/-/ Returnvalue I_alpha , I_beta/*

5、 inline int inv_park_trans（int i_d,int i_q,int phi,int *o_b mov r12,%3 + #SOF（_sincostab+512 n mov r11,%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 /* input registers */ :/* / Function int cart_polar_conv（int x,int y, int *angle;/-/ De

6、scription/-/ Returnvalue/* unsigned int cart_polar_conv（int x,int y, int *angleunsigned int retvalue; enable saturation to +/-0x7fff n mov r13,%1 ; r13 = x n jmpr cc_nn,kpw1co ; if （x = 0 goto kpw1co n neg r13 ; else r13 = -r13 nkpw1co: ; r13 = |x| n mov r12,%2 ; r12 = y n jmpr cc_nn,kpw2co ; if （y

7、= 0 goto kpw2co n neg r12 ; r12 = -r12 nkpw2co: r12 = |y| n mov r9,#1024 n cmp r13,r12 n jmpr cc_c,kpw3co ; if（ x signed n %0 = CoACC n EXTS #SEG （_phitab,#1 n mov r10,r9+#SOF（_phitab ; r10 = arctan（ y/x n cmp %1,#0 ; n jmpr cc_n,kpw4co ; if （ x 0 goto kpw4co n cmp %2,#0 n jmpr cc_n,kpw5co ; if （ y

8、0 and y 0 n neg r10 n angle = -arctan（ y/x nkpw4co: x cmp %2,#0 ; jmpr cc_n,kpw6co ; 0 goto kpw6co n mov r9,#8000h n sub r9,r10 n mov %3,r9 ; angle = 180- arctan（ y/x nkpw6co: add r10,#8000h n angle = -180+ arctan（ y/x nkpw3co: |x| |y| n mulu r13,r9 ; MD = |x| * 1024 n divlu r12 ; MDL = MD / |y| n C

9、oMULu r12,r10 ; cmp %1,#0 n jmpr cc_n,kpw7co ; 0 goto kpw7co n jmpr cc_n,kpw8co ; 0 goto kpw8co n mov r9,#4000h n angle = 90- arctan（ x/y = 90- arccot（ y/x = arctan（ y/x nkpw8co: add r10,#0C000h n angle = -90+ arctan（ x/y = -（90- arccot（ y/x = -arctan（ y/x nkpw7co: jmpr cc_n,kpw9co ; 0 goto kpw9co n

10、 add r10,#4000h n angle = 90+ arctan（ x/y = 180- （90- arccot（ y/x = 180- arctan（ y/x nkpw9co: mov r9,#0C000h n sub r9,r10 ; angle = -90- arctan（ x/y = -180+ （90- arccot（ y/x = -180+ arctan（ y/x n mov %3,r9 nendco:（x,（y,（angle /* input registers */r10r9/* / Function: a low pass filter 2012-9-13 17:58

11、:43/ C calling format:/ int inline int pt1_controller32（ int *pt1_parameter, int X/ PT1-Controller/ derived from transfer function/ Y_（k = Y_（k-1 + Z1_（k * X_（k - Z2_（k * Y_（k-1/-/ Computing time 42 CPU-cycle/ int 3 Output of pt1_controller/-/ Condition optimization off / one/*inline int pt1_controller32（ PT1_array *pt1_parameter, int X/inline int pt1_controller32（ int *pt1_parameter, int X mov r10,MCW ;Save MCW register n mov MCW,#0400h ;Set shift left n mov %0,%1+ n CoLOAD %0,%1 ;Load Y（k-1 in accumulator nSave parameters addres in %1 n add r13,#2 n