TE code.zip_CDJ_zip_无刷电机驱动_无刷直流

/******************************************************************** ** File: SensoredBLDC.c ** Written By:MikeDu ** ** The following files should be included in the MPLAB project: ** SensoredBLDC.c -- Main source code file ** Interrupts.c ** Init.c ** SensoredBLDC.h -- Header file ** p33FJ32MC204.gld -- Linker script file ** ** Revision History ** ********************************************************************/ #include "p33fxxxx.h" #include "SensoredBLDC.h" unsigned int StateTableFwd[] = {0x0000, 0x0810, 0x0204, 0x0210, 0x2001, 0x0801, 0x2004, 0x0000}; /******************************************************************************/ /* Configuration bits */ /******************************************************************************/ _FOSCSEL(FNOSC_FRC); _FOSC(FCKSM_CSECMD & POSCMD_XT); _FBS (BSS_NO_FLASH & BWRP_WRPROTECT_OFF); _FWDT (FWDTEN_OFF & WDTPOST_PS1024 & WDTPRE_PR32); _FGS (GSS_OFF & GCP_OFF & GWRP_OFF); _FPOR (PWMPIN_ON & HPOL_ON & LPOL_ON & FPWRT_PWR128); _FICD (ICS_PGD1 & JTAGEN_OFF); char FlagHalfSec = 0,FlagHallErr = 0,FlagPowerErr = 0,FlagAnalogLowStop = 0,FlagLowSpeedCheck = 0,FlagOverTemp = 0; char FlagLowSpeed = 0,FlagOverSpeed = 0; char FlagLowSpeedStop = 0,FlagOverSpeedStop = 0,FlagOverCurStop = 0,SpeedErrStopNum = 0,CurErrStopNum = 0; char OverSpeedTime = 0,LowSpeedTime = 0; char FlagSpeedErr = 0,FlagCheckCur = 0; char HalErr = 0; char LowSpeedErrStopNum = 0,OverSpeedErrStopNum = 0; int FlagSpeedStop = 0,HalNum = 0; unsigned int HallValue; unsigned int HallNum[6]={2,3,1,5,4,6}; unsigned int BldcCur[3]; int DutyNum = STARTDUTYNUM; int LastCur,NewCur,LastTime,NewTime; unsigned long AverageSpeed = 0; unsigned long CurrAverNum; char LowSpeedCheckTime = 0; char HallErrNum = 0; extern char FlagStop; extern int ActualSpeed; extern int MsCountNum; extern long SpeedIntegral; extern long SpeedIntegral_n_1; extern unsigned int timer3value; /*********************************************** 重新打开电机并开启PID运算， 缓启动结束后检测失速异常 ************************************************/ void MotorReset(void) { PDC1 = STARTDUTYNUM; PDC2 = STARTDUTYNUM; PDC3 = STARTDUTYNUM; PidDesiredSpeed = 0; timer3value = 0; SpeedIntegral = 0; SpeedIntegral_n_1 = 0; FlagStop = 0; FlagLowSpeedCheck = 0; LowSpeedCheckTime = 22; MotorStart(); SlowStart(); } /******************************************** 霍尔异常检测 *********************************************/ #if 0 void HallErrCheck(void) { if((HallValue == 0) || (HallValue == 7)) HalErr++; else HalErr = 0; if(HalErr >= 10) { MotorStop(); HalErr = 10; } } #endif void HallErrCheck(void) { char i=0,UpahTotal=0,VpahTotal=0,WpahTotal=0; for(i=0;i<6;i++) { UpahTotal += (HallNum[i] & 0x01); VpahTotal += ((HallNum[i]>>1) & 0x01); WpahTotal += ((HallNum[i]>>2) & 0x01); } if(((UpahTotal == 0) || (UpahTotal == 6)) || \ ((VpahTotal == 0) || (VpahTotal == 6)) || \ ((WpahTotal == 0) || (WpahTotal == 6))) { HallErrNum++; } else { HallErrNum = 0; } if(HallErrNum == 10) { HallErrNum = 0; MotorStop(); } } /******************************************** 过速异常检测 *********************************************/ void OverSpeedErrCheck(void) { int num = OVERSPEEDTIME; while(ActualSpeed > OVERSPEEDNUM) { num--; DelayNmSec(1); if(num == 0) { MotorStop(); ActualSpeed = 0; FlagOverSpeedStop = 1; FlagSpeedErr = 1; OverSpeedErrStopNum = 20; break; } } } /******************************************** 失速异常检测 *********************************************/ void LowSpeedErrCheck(void) { int num = LOWSPEEDTIME; while((ActualSpeed < LOWSPEEDNUM) && (FlagStop == 0)) { num--; DelayNmSec(1); if(num == 0) { MotorStop(); FlagLowSpeedStop = 1; FlagLowSpeedCheck = 0; FlagSpeedErr = 1; LowSpeedErrStopNum = 20; break; } } } int main(void) { /* Pll + Osc Configuration */ PllOscConfig(); /* Pin Configuration */ PortConfig(); /* AN0:Vcc Input Channel0 AN1:Temperature Input Channel0 AN4:Vanalog Input Channel2 AN5:Current Input Channel3 */ InitADC10(); /* 每隔1ms读取一次转速，并执行PID运算 */ InitTMR1(); /* 打开看门狗*/ RCONbits.SWDTEN = 1; /* 用于计算电机转速 */ InitTMR3(); /* Freq:39kHz,三相独立输出*/ InitMCPWM(); /* 捕获配置，用于检测霍尔信号 */ InitIC(); DelayNmSec(100); /* 检测电源电压 */ PowerOnCheck(); /* 打开TIM3 */ T3CONbits.TON = 1; /* 读取当前霍尔信号，打开PWM输出 */ while(1) { /* 根据模拟输入电压设定转速 */ VanalogConSpeed(); if(DesiredSpeed >= MINSPEED1000RPM) { MotorStart(); break; } } /*缓启动*/ SlowStart(); while(1) { PidDesiredSpeed = DesiredSpeed; /* 模拟电压调速*/ VanalogConSpeed(); /* 过流检测 */ OverCurCheck(); /* 电源电压检测*/ PowerCheck(); /* 200ms检测一次hall信号，连续两次出错认为异常 */ if((MsCountNum % 200) == 0) { HallErrCheck(); } /* 每隔10ms检测一次温度 */ if((MsCountNum % 10) == 0) { TempCheck(); } /*过/失速异常检测*/ if(FlagLowSpeedCheck == 1) { LowSpeedErrCheck(); } OverSpeedErrCheck(); /* 检测到失速异常后10秒，重新打开点击 */ if((LowSpeedErrStopNum == 0) && (FlagLowSpeedStop == 1)) { FlagLowSpeedStop = 0; MotorReset(); } /* 检测到过速异常后10秒，重新打开点击 */ if((OverSpeedErrStopNum == 0) && (FlagOverSpeedStop == 1)) { FlagOverSpeedStop = 0; MotorReset(); } /* 检测到过流异常后10秒，重新打开电机 */ if((CurErrStopNum == 0) && (FlagOverCurStop == 1)) { FlagOverCurStop = 0; MotorReset(); } } return 0; } void DelayNmSec(unsigned int N) { unsigned int j; while(N--) for(j=0;j < 1000;j++); } /*********************************************************************************** * Function: lockIO * Overview: This executes the necessary process to set the IOLOCK bit to lock * I/O mapping from being modified. *****************************************************************************/ void lockIO(void) { asm volatile ("mov #OSCCON,w1 \n" "mov #0x46, w2 \n" "mov #0x57, w3 \n" "mov.b w2,[w1] \n" "mov.b w3,[w1] \n" "bset OSCCON, #6"); } /***************************************************************************** * Function: unlockIO * Overview: This executes the necessary process to clear the IOLOCK bit to * allow I/O mapping to be modified. *****************************************************************************/ void unlockIO(void) { asm volatile ("mov #OSCCON,w1 \n" "mov #0x46, w2 \n" "mov #0x57, w3 \n" "mov.b w2,[w1] \n" "mov.b w3,[w1] \n" "bclr OSCCON, #6"); } /***************************************************************** Fosc=Fin * M/(N1*N2) M:PLL 反馈倍频比(28+2) N1:预分频因子(2) N2:后分频因子(2) 控制板使用的是8M晶振，因此Fosc = 8M*30/(2*2)=60M 器件工作频率Fcy=Fosc/2=30M ******************************************************************/ void PllOscConfig(void) { PLLFBD = 28; CLKDIVbits.PLLPOST = 0; CLKDIVbits.PLLPRE = 0; __builtin_write_OSCCONH(0x03); __builtin_write_OSCCONL(0x01); while(OSCCONbits.COSC != 0b011); /* Wait for PLL to lock */ while(OSCCONbits.LOCK != 1); } void PortConfig(void) { /*控制15V电源输出*/ LATBbits.LATB4 = 0; TRI