交流感应电机（ACIM）的foc算法

/********************************************************************** * * * Software License Agreement * * * * The software supplied herewith by Microchip Technology * * Incorporated (the "Company") for its dsPIC controller * * is intended and supplied to you, the Company's customer, * * for use solely and exclusively on Microchip dsPIC * * products. The software is owned by the Company and/or its * * supplier, and is protected under applicable copyright laws. All * * rights are reserved. Any use in violation of the foregoing * * restrictions may subject the user to criminal sanctions under * * applicable laws, as well as to civil liability for the breach of * * the terms and conditions of this license. * * * * THIS SOFTWARE IS PROVIDED IN AN "AS IS" CONDITION. NO * * WARRANTIES, WHETHER EXPRESS, IMPLIED OR STATUTORY, INCLUDING, * * BUT NOT LIMITED TO, IMPLIED WARRANTIES OF MERCHANTABILITY AND * * FITNESS FOR A PARTICULAR PURPOSE APPLY TO THIS SOFTWARE. THE * * COMPANY SHALL NOT, IN ANY CIRCUMSTANCES, BE LIABLE FOR SPECIAL, * * INCIDENTAL OR CONSEQUENTIAL DAMAGES, FOR ANY REASON WHATSOEVER. * * * **********************************************************************/ /********************************************************************** * * * Author: John Theys/Dave Ross * * * * Filename: ACIM.c * * Date: 11/03/05 * * File Version: 4.00 * * * * Tools used: MPLAB GL -> 6.30.0.0 * * Compiler -> 1.22.3.0 * * Assembler -> 1.22.3.0 * * Linker -> 1.22.3.0 * * * * Linker File: p30f6010.gld * * * * * *********************************************************************** *10/31/03 2.00 Released Motor runs fine, still some loose ends * *12/19/03 2.01 Cleaned up structure, created UserParms.h for all * user defines. * *02/12/04 3.00 -Removed unnecessary files from project. -Changed iRPM to int to correct floating point calc * problems. * -CalcVel() and velocity control loop only execute * after number of loop periods specified by * iIrpPerCalc. * -Added iDispLoopCount variable to schedule * execution of display and button routines * -trig.s file changed to use program space for * storage of sine data. * -Added DiagnosticsOutput() function that uses * output compare channels to output control variable * information. * -Added TORQUE_MODE definition to bypass velocity * control loop. * -Turned off SATDW bit in curmodel.s file. The * automatic saturation feature prevents slip * angle calculation from wrapping properly. * * 11/03/05 4.00 -Added support to software for MPLAB tuning * interface. This includes the snapshot code. * Also modified code so that user parameters * only get initialized at user startup. * ************************************************************************ * Code Description * * This file demonstrates Vector Control of a 3 phase ACIM using the * dsPIC30F. SVM is used as the modulation strategy. ********************************************************************** * Extention for sensorless control: * Author: Dr.-Ing. Hafedh Sammoud APPCON Technologies SUARL * * Linker File: p30f6010A.gld * 12 Feb. 2007 -FOC Control is extendet to work sensorless: Speed estimation * module is calculated in "estim.c". * - Switching between sensored control and sensorless control * by toggeling S7 * - Start up strategie and low speed limitation when sensorless * control is selected * - Offset compensation is disactivated for SL-Control * - Display indicates wich mode is selected */ /************** GLOBAL DEFINITIONS ***********/ #define INITIALIZE #include "Motor.h" #include "Parms.h" #include "Encoder.h" #include "SVGen.h" #include "ReadADC.h" #include "MeasCurr.h" #include "CurModel.h" #include "FdWeak.h" #include "Control.h" #include "Controldef.h" #include "PI.h" #include "Park.h" #include "ParkDef.h" #include "OpenLoop.h" #include "LCD.h" #include "bin2dec.h" #include "UserParms.h" #include "Estim.h" /*****************Config bit settings****************/ _FOSC(CSW_FSCM_OFF & XT_PLL16); //_FOSC(CSW_FSCM_OFF & XT_PLL8); //_FOSC(CSW_FSCM_OFF & XT_PLL4); _FWDT(WDT_OFF); _FBORPOR(PBOR_ON & BORV_20 & PWRT_64 & MCLR_EN); /************** END OF GLOBAL DEFINITIONS ***********/ //#define TORQUE_MODE //#define DIAGNOSTICS //#define SNAPSHOT #ifdef SNAPSHOT #define SNAPSIZE 900 #define SNAP_DELAY SNAPSIZE/4 #define SNAP1 ParkParm.qIq #define SNAP2 ParkParm.qId #define SNAP3 EncoderParm.qVelMech int SnapBuf1[SNAPSIZE]; int SnapBuf2[SNAPSIZE]; int SnapBuf3[SNAPSIZE]; int SnapCount; #endif unsigned short uWork; short iCntsPerRev; short iDeltaPos; union { struct { unsigned DoLoop :1; unsigned BeginStop :1; unsigned DoSnap :1; unsigned SnapDone :1; unsigned OpenLoop :1; unsigned RunMotor :1; unsigned RunningUpload :1; unsigned Btn1Pressed :1; unsigned Btn2Pressed :1; unsigned Btn3Pressed :1; unsigned Btn4Pressed :1; unsigned UploadToMonitor:1; unsigned ChangeMode :1; unsigned ChangeSpeed :1; unsigned Sensorless :1; unsigned :1; }bit; WORD Word; } uGF; // general flags union { long Long; WORD Word[2]; short Short[2]; BYTE Byte[4]; } DataUnion; tPIParm PIParmQ; tPIParm PIParmQref; tPIParm PIParmD; tReadADCParm ReadADCParm; int iRPM,iRPM_old; WORD iMaxLoopCnt; WORD iLoopCnt; WORD iDispLoopCnt; extern tEstimParm EstimParm; extern tStartupParm StartupParm; /******************************************************/ void __attribute__((__interrupt__)) _ADCInterrupt(void); void SetupBoard( void ); bool SetupPeripherals(void); void InitUserParms(void); void DoControl( void ); void Dis_RPM( BYTE bChrPosC, BYTE bChrPosR ); void DiagnosticsOutput(void); /************* START OF MAIN FUNCTION ***************/ int main ( void ) { // InitEstimParmLeeson(); InitEstimParm0(); SetupPorts(); InitLCD(); InitUserParms(); w