SensoredPMSMfield-orientedcontrolsoftwarelibraryV1.0资源-CSDN文库

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February 2007 Rev 1 1/84

UM0312

User manual

STR750

Sensored PMSM field-oriented control software library V1.0

Introduction

The STR750 microcontroller comes with a dedicated set of peripherals designed for field

oriented control (FOC) of both permanent magnet DC/AC motors (PMDC/PMAC also called

BLDC) and AC induction motors. It is delivered with two software libraries that allow you to

develop applications to control these motors.

■ The PMSM software library

■ The AC induction motor software library

The complete library source files are delivered with the STR750-MCKIT, and are also

available for free on the ST website www.stmcu.com, in the Support section. Check this site

for the latest version of the library.

This user manual describes the PMSM software library required to control a permanent

magnet synchronous motor with an encoder and a sinewave drive, open or closed loop. The

AC induction motor software library designed to control an AC induction motor in sinewave

mode with sensors is described in the UM0324 User Manual.

The PMSM software library is composed of several C modules, compatible with the IAR

EWARM toolchain. The functions are grouped into several families, making this library an

easy way to go through any PM sensored motor project development. Used in conjunction

with the STR750-MCKIT starter kit, evaluation can be achieved in a very short time,

because the software library spares you the trouble of studying the MCU in detail.

Overall software architecture

The figure below shows the architecture of the firmware. It uses the STR750 Standard

Library extensively but it also acts directly on hardware peripherals when optimizations in

terms of execution speed or code size are required.

STR750

Std

Library

APPLICATION LAYER

Peripherals

PWMDMAADCTIMGPIO TB

Motor Control Library

Speed, Flux and

Torque PIDs

PM Motor Drive

Speed

feedback

Current

feedback

SVPWM

User

Interface

STR750

Std

Library

APPLICATION LAYER

Peripherals

PWMDMAADCTIMGPIO TB

Motor Control Library

Speed, Flux and

Torque PIDs

PM Motor Drive

Speed

feedback

Current

feedback

SVPWM

User

Interface

www.st.com

UM0312 Contents

3/84

Contents

1 Getting started with tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.1 Working environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.2 Software tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

1.3 Library source code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.3.1 Download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.3.2 File structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.3.3 Starting the IAR toolchain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

1.4 Customizing the workspace for your STR75x device . . . . . . . . . . . . . . . . 12

1.4.1 Inkarm_xxx.xcl file (internal/external flash or RAM based project) . . . . 12

1.4.2 Extended linker file setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2 Getting started with the library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.1 PMSM FOC drive quick introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2.2 Pre-checks and library configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

2.2.1 Library configuration file: 75x_MCconf.h file . . . . . . . . . . . . . . . . . . . . 16

2.2.2 Permanent magnet motor parameters: MC_PMSM_motor_param.h

file . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2.2.3 Encoder parameters: MC_ENCODER_param.h file . . . . . . . . . . . . . . . . 18

2.2.4 Drive control parameters: MC_Control_Param.h file . . . . . . . . . . . . . 18

Maximum modulation index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

Power device control parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

Flux and torque PID regulators sampling rate . . . . . . . . . . . . . . . . . . . . . . . . . . .19

Speed regulation loop frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

Speed controller setpoint and PID constants (initial values) . . . . . . . . . . . . . . . .20

Torque and flux controller setpoints and PID constants: . . . . . . . . . . . . . . . . . . .20

Linear variation of PID constants according to mechanical speed . . . . . . . . . . . .21

2.3 Running your own motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

2.4 Closed loop operation and PID settings . . . . . . . . . . . . . . . . . . . . . . . . . . 22

2.5 How to define and add a module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

3 Running the demo program . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

3.1 LCD display in OPEN loop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

3.2 LCD display in CLOSED loop mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

3.3 Setting up the system when using ICS sensors . . . . . . . . . . . . . . . . . . . . 27

Contents UM0312

4/84

3.3.1 Connecting the two ICS sensors to the motor and to STR750 . . . . . . . 27

3.3.2 Selecting PHASE_A_CHANNEL and PHASE_B_CHANNEL . . . . . . . . 28

3.4 Managing the incremental encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

3.5 Fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3.6 Note on debugging tools . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

4 Motor control library routines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4.1 Library reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4.2 Motor control software layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

4.2.1 75x_svpwm_3shunt module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

SVPWM_3ShuntInit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

SVPWM_3ShuntCurrentReadingCalibration . . . . . . . . . . . . . . . . . . . . . . .33

SVPWM_3ShuntGetPhaseCurrentValues . . . . . . . . . . . . . . . . . . . . . . . . . . .33

SVPWM_3ShuntCalcDutyCycles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34

SVPWM_3ShuntGPADCConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34

4.2.2 Space vector PWM implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

4.2.3 Current sampling in three shunt topology and general purpose A/D

conversions 37

4.2.4 Tuning delay parameters and sampling stator currents in three-shunt

resistor topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Case 1: Duty cycle applied to Phase A low side switch is larger than

DT+TN+ 2TS + TH + TDMA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40

Case 2: DT+TN+TS < Phase A duty cycle < DT+TN+ 2TS + TH + TDMA. . . . . .42

Case 3: Phase A pulse width < DT+TN+TS . . . . . . . . . . . . . . . . . . . . . . . . . . . . .44

4.2.5 75x_svpwm_ICS module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

SVPWM_IcsInit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48

SVPWM_IcsCurrentReadingCalibration . . . . . . . . . . . . . . . . . . . . . . . . . .49

SVPWM_IcsGetPhaseCurrentValues . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .49

SVPWM_IcsCalcDutyCycles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50

4.2.6 Isolated current sensor topology current sampling and general purpose

(GP) A/D conversions integration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

4.2.7 MC_Clarke_Park.h module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Clarke. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52

Park . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53

Rev_Park . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .53

Rev_Park_Circle_Limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .54

4.2.8 Detailed explanation about reference frame transformations . . . . . . . . 54

4.2.9 Circle limitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Example: max modulation index of 95%. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .58

4.2.10 75x_encoder.c module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

UM0312 Contents

5/84

ENC_Init . . . . . . . . . . . . . . . . . . . . . . . . . 59

ENC_GetPosition . . . . . . . . . . . . . . . . . . . . . 59

ENC_Get_Electrical_Angle . . . . . . . . . . . . . . . . . 59

ENC_Get_Mechanical_Angle . . . . . . . . . . . . . . . . . 60

ENC_ResetEncoder . . . . . . . . . . . . . . . . . . . . . 60

ENC_Clear_Speed_Buffer . . . . . . . . . . . . . . . . . . 60

ENC_Get_Speed . . . . . . . . . . . . . . . . . . . . . . 61

ENC_Get_Average_Speed . . . . . . . . . . . . . . . . . . 61

TIMx_UP_IRQHandler - interrupt routine . . . . . . . . . . 61

4.2.11 75x_TBTimer.c module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

TB_Timebase_Timer_Init . . . . . . . . . . . . . . . . . . 62

TB_Wait . . . . . . . . . . . . . . . . . . . . . . . . . 62

TB_Set_Delay_500us . . . . . . . . . . . . . . . . . . . . 62

TB_Delay_IsElapsed . . . . . . . . . . . . . . . . . . . . 63

TB_Set_DisplayDelay_500us . . . . . . . . . . . . . . . . 63

TB_Set_DebounceDelay_500us . . . . . . . . . . . . . . . . 63

TB_DebounceDelay_IsElapsed . . . . . . . . . . . . . . . . 63

TB_IRQHandler . . . . . . . . . . . . . . . . . . . . . . 64

4.2.12 75x_it.c module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

PWM_EM_IRQHandler . . . . . . . . . . . . . . . . . . . . 65

ADC_IRQHandler . . . . . . . . . . . . . . . . . . . . . . 65

4.2.13 MC_PID_regulators.c module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

PID_Init . . . . . . . . . . . . . . . . . . . . . . . . . 66

PID_Flux_Regulator . . . . . . . . . . . . . . . . . . . . 67

PID_Torque_Regulator . . . . . . . . . . . . . . . . . . . 67

PID_Speed_Regulator . . . . . . . . . . . . . . . . . . . 68

PID_Reset_Integral_terms . . . . . . . . . . . . . . . . . 68

PID_Speed_Coefficients_update . . . . . . . . . . . . . . 68

PID_Integral_Speed_update . . . . . . . . . . . . . . . . 68

4.3 Application layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.3.1 main.c module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.3.2 MC_Keys.c module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.3.3 MC_Display.c module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.3.4 75x_LCD.c module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.3.5 MC_dac.c module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

4.3.6 MC_misc.c module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

5 PID regulator implementation and tuning . . . . . . . . . . . . . . . . . . . . . . . 70

5.1 Theoretical background . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

5.2 Regulation sampling time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

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