很详细的dspic逆变svpwm程序.docx

1、很详细的dspic逆变svpwm程序F:dspicCE003_Sinusoidal_BLDC_010908CE003_Sinusoidal_BLDCsourceSinusoidalBLDC v1.1.c/* SOFTWARE LICENSE AGREEMENT:* Microchip Technology Incorporated (Microchip) retains all ownership and* intellectual property rights in the code accompanying this message and in all* derivatives her

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7、ode.* REVISION HISTORY:*/-/ File: sinusoidalBLDC v1.1.c/ Written By: Jorge Zambada, Microchip Technology/ The following files should be included in the MPLAB project:/ sinusoidalBLDC v1.1.c - Main source code file/ SVM.c - Space Vector Modulation file/ SVM.h/ p30f4012.gld - Linker script file/-/ Rev

8、ision History/ July/5/2005 - first version/-#include p30f4012.h#include svm.h/-Device Configuration-_FOSC(CSW_FSCM_OFF & XT_PLL16);_FWDT(WDT_OFF);_FBORPOR(PBOR_ON & BORV_20 & PWRT_64 & MCLR_EN);/-/ Hurst Motor Terminals | MC LV PICDEM Board Connection/ -|-/ Ground Phase -|- G/ Phase Red -|- M1/ Phas

9、e Black -|- M2/ Phase White -|- M3/ Hall White -|- HA/ Hall Brown -|- HB/ Hall Green -|- HCtypedef signed int SFRAC16;#define CLOSED_LOOP / if defined the speed controller will be enabled#define PHASE_ADVANCE / for extended speed ranges this should be defined#define FCY 20000000 / xtal = 5Mhz; PLLx1

10、6 - 20 MIPS#define FPWM 20000 / 20 kHz, so that no audible noise is present.#define _10MILLISEC 10 / Used as a timeout with no hall effect sensors/ transitions and Forcing steps according to the/ actual position of the motor#define _100MILLISEC 100 / after this time has elapsed, the motor is/ consid

11、er stalled and its stopped1F:dspicCE003_Sinusoidal_BLDC_010908CE003_Sinusoidal_BLDCsourceSinusoidalBLDC v1.1.c#define _1000MILLISEC 1000/ These Phase values represent the base Phase value of the sinewave for each/ one of the sectors (each sector is a translation of the hall effect sensors/ reading#d

12、efine PHASE_ZERO 57344#define PHASE_ONE (PHASE_ZERO + 65536/6) % 65536)#define PHASE_TWO (PHASE_ONE + 65536/6) % 65536)#define PHASE_THREE (PHASE_TWO + 65536/6) % 65536)#define PHASE_FOUR (PHASE_THREE + 65536/6) % 65536)#define PHASE_FIVE (PHASE_FOUR + 65536/6) % 65536)#define MAX_PH_ADV_DEG 40 / Th

13、is value represents the maximum allowed phase/ advance in electrical degrees. Set a value from/ 0 to 60. This value will be used to calculate/ phase advance only if PHASE_ADVANCE is defined/ This is the calculation from the required phase advance to the actual/ value to be multiplied by the speed of

14、 the motor. So, if PHASE_ADVANCE is/ enabled, a certain amount of shit angle will be added to the generated/ sine wave, up to a maximum of the specified value on MAX_PH_ADV_DEG. This/ maximum phase shift will be present when the MeasuredSpeed variable is a/ fractional 1.0 (for CW) or -1.0 (for CCW).

15、#define MAX_PH_ADV (int)(float)MAX_PH_ADV_DEG / 360.0) * 65536.0)#define HALLA 1 / Connected to RB3#define HALLB 2 / Connected to RB4#define HALLC 4 / Connected to RB5#define CW 0 / Counter Clock Wise direction#define CCW 1 / Clock Wise direction#define SWITCH_S2 (!PORTCbits.RC14) / Push button S2/

16、Period Calculation/ Period = (TMRClock * 60) / (RPM * Motor_Poles)/ For example/ Motor_Poles = 10/ RPM = 6000 (Max Speed)/ Period = (20,000,000 / 64) * 60) / (6000 * 10) = 312.5/ RPM = 60 (Min Speed)/ Period = (20,000,000 / 64) * 60) / (60 * 10) = 31250#define MINPERIOD 313 / For 6000 max rpm and 10

17、 poles motor#define MAXPERIOD 31250 / For 60 min rpm and 10 poles motor/ Use this MACRO when using floats to initialize signed 16-bit fractional/ variables#define SFloat_To_SFrac16(Float_Value) (Float_Value 0.0) ? (SFRAC16)(32768 * (Float_Value) - 0.5) : (SFRAC16)(32767 * (Float_Value) + 0.5)void In

18、itADC10(void); / Initialization of ADC used for Speed Commandvoid InitMCPWM(void); / Initialization for PWM at 20kHz, Center aligned,/ Complementary mode with 1 us of deadtimevoid InitTMR1(void); / Initialization for TIMER1 used for speed control/ and motor stalled protectionvoid InitTMR3(void); / I

19、nitialization for TIMER3 used as a timebase/ for the two input capture channelsvoid InitUserInt(void); / This function initializes all ports/ (inputs and outputs) for the applicationvoid InitICandCN(void); / Initializes input captures and change notification,/ used for the hall sensor inputsvoid Run

20、Motor(void); / This function initializes all variables/ and interrupts used for starting and running/ the motorvoid StopMotor(void); / This function clears all flags, and stops anything/ related to motor control, and also disables PWMsvoid SpeedControl(void); / This function contains all ASM and C o

21、perations/ for doing the PID Control loop for the speedvoid ForceCommutation(void); / When motor is to slow to generate interrupts/ on halls, this function forces a commutationvoid ChargeBootstraps(void); / At the begining of the motor operation, the/ bootstrap caps are charged with this function/ C

22、onstants used for properly energizing the motor depending on the/ rotors positionint PhaseValues6 _attribute_(far,section(.const,r)=PHASE_ZERO, PHASE_ONE, PHASE_TWO, PHASE_THREE, PHASE_FOUR, PHASE_FIVE;/ In the sinewave generation algorithm we need an offset to be added to the/ pointer when energizi

23、ng the motor in CCW. This is done to compensate an2F:dspicCE003_Sinusoidal_BLDC_010908CE003_Sinusoidal_BLDCsourceSinusoidalBLDC v1.1.c/ asymetry of the sinewaveint PhaseOffset = 4100;/ Flags used for the applicationstructunsigned MotorRunning :1; / This bit is 1 if motor runningunsigned unused :15;F

24、lags;unsigned int Phase; / This variable is incremented by the PWM interrupt/ in order to generate a proper sinewave. Its value/ is incremented by a value of PhaseInc, which/ represents the frequency of the generated sinewavesigned int PhaseInc; / Delta increments of the Phase variable, calculated/

25、in the TIMER1 interrupt (each 1 ms) and used in/ the PWM interrupt (each 50 us)signed int PhaseAdvance; / Used for extending motor speed range. This value/ is added directly to the parameters passed to the/ SVM function (the sine wave generation subroutine)unsigned int HallValue; / This variable hol

26、ds the hall sensor input readingsunsigned int Sector; / This variables holds present sector value, which is/ the rotor positionunsigned int LastSector; / This variable holds the last sector value. This/ is critical to filter slow slew rate on the Hall/ effect sensors hardwareunsigned int MotorStalle

27、dCounter = 0; / This variable gets incremented each/ 1 ms, and is cleared everytime a new/ sector is detected. Used for/ ForceCommutation and MotorStalled/ protection functions/ This array translates the hall state value read from the digital I/O to the/ proper sector. Hall values of 0 or 7 represen

28、t illegal values and therefore/ return -1.char SectorTable = -1,4,2,3,0,5,1,-1;unsigned char Current_Direction; / Current mechanical motor direction of/ rotation Calculated in halls interruptsunsigned char Required_Direction; / Required mechanical motor direction of/ rotation, will have the same sig

29、n as the/ ControlOutput variable from the Speed/ Controller/ Variables containing the Period of half an electrical cycle, which is an/ interrupt each edge of one of the hall sensor inputunsigned int PastCapture, ActualCapture, Period;/ Used as a temporal variable to perform a fractional divide operation in/ assemblySFRAC16 _MINPERIOD = MINPERIOD - 1;SFRAC16 MeasuredSpeed, RefSpeed; / Actual and Desired speeds for the PID/ controller, that will generate the errorSFRAC16 ControlOutput = 0; / Controller output, used as a voltage output,/ use its sig