PMSM.rar_PMSM 控制_foc_him8bc_pmsm control_pmsm foc

/************** GLOBAL DEFINITIONS ***********/ #define INITIALIZE #include "general.h" #include "Parms.h" #include "SVGen.h" #include "ReadADC.h" #include "MeasCurr.h" #include "Control.h" #include "PI.h" #include "Park.h" #include "UserParms.h" #include "smcpos.h" #include "FdWeak.h" // DSPIC33FJ32MC202 Configuration Bit Settings // 'C' source line config statements #include <xc.h> // FBS #pragma config BWRP = WRPROTECT_OFF // Boot Segment Write Protect (Boot Segment may be written) #pragma config BSS = NO_FLASH // Boot Segment Program Flash Code Protection (No Boot program Flash segment) // FGS #pragma config GWRP = OFF // General Code Segment Write Protect (User program memory is not write-protected) #pragma config GSS = OFF // General Segment Code Protection (User program memory is not code-protected) // FOSCSEL #pragma config FNOSC = FRCPLL // Oscillator Mode (Internal Fast RC (FRC) w/ PLL) #pragma config IESO = OFF // Internal External Switch Over Mode (Start-up device with user-selected oscillator source) // FOSC #pragma config POSCMD = NONE // Primary Oscillator Source (Primary Oscillator Disabled) #pragma config OSCIOFNC = OFF // OSC2 Pin Function (OSC2 pin has clock out function) #pragma config IOL1WAY = ON // Peripheral Pin Select Configuration (Allow Only One Re-configuration) #pragma config FCKSM = CSECMD // Clock Switching and Monitor (Clock switching is enabled, Fail-Safe Clock Monitor is disabled) // FWDT #pragma config WDTPOST = PS32768 // Watchdog Timer Postscaler (1:32,768) #pragma config WDTPRE = PR128 // WDT Prescaler (1:128) #pragma config WINDIS = OFF // Watchdog Timer Window (Watchdog Timer in Non-Window mode) #pragma config FWDTEN = OFF // Watchdog Timer Enable (Watchdog timer enabled/disabled by user software) // FPOR #pragma config FPWRT = PWR128 // POR Timer Value (128ms) #pragma config ALTI2C = OFF // Alternate I2C pins (I2C mapped to SDA1/SCL1 pins) #pragma config LPOL = ON // Motor Control PWM Low Side Polarity bit (PWM module low side output pins have active-high output polarity) #pragma config HPOL = OFF // Motor Control PWM High Side Polarity bit (PWM module high side output pins have active-high output polarity) #pragma config PWMPIN = ON // Motor Control PWM Module Pin Mode bit (PWM module pins controlled by PORT register at device Reset) // FICD #pragma config ICS = PGD3 // Comm Channel Select (Communicate on PGC3/EMUC3 and PGD3/EMUD3) #pragma config JTAGEN = OFF // JTAG Port Enable (JTAG is Disabled) /************** END OF GLOBAL DEFINITIONS ***********/ SMC smc1 = SMC_DEFAULTS; // Variable structure used for slide mode observer. unsigned long Startup_Ramp = 0; // Start up ramp in open loop. unsigned int Startup_Lock = 0; // LOCK_TIME counter unsigned char OpenLoop_Flag; // Indicates if motor is running in open or closed loop unsigned char RunMotor_Flag; // If motor is running, or stopped. unsigned char ChangeMode_Flag; // Change mode flag unsigned char EnVoltRipCo_Flag; // voltage ripple compensation tPIParm PIParmD; // Structure definition for Flux component of current, or Id tPIParm PIParmQ; // Structure definition for Torque component of current, or Iq tPIParm PIParmW; // Structure definition for Speed, or Omega tReadADCParm ReadADCParm; // Struct used to read ADC values. // Speed Calculation Variables int16 PrevTheta = 0; // Previous theta int16 AccumTheta = 0; // Accumulates delta theta over a number of times WORD AccumThetaCnt = 0; // Counter used to calculate motor speed. // Vd and Vq vector limitation variables int16 qVdSquared = 0; int16 DCbus = 0; // DC Bus measured continuously int16 TargetDCbus = 0; // DC Bus is measured before running motor int16 Theta_error = 0; // This value is used to transition from open loop to closed loop. // Single shunt three phase reconstruction algorithm variables int16 SEVTCMP_First = 0; // This variable holds the first trigger int16 SEVTCMP_Second = 0; // Variable holding the second trigger value int16 Sector = 0; // Variable indicating the active sector int16 Ia = 0; // Reconstructed value for Ia int16 Ib = 0; // Reconstructed value for Ib int16 Ic = 0; // Reconstructed value for Ic int16 Ibus = 0; // Measured value through single shunt resistor int16 tcrit = 0; // variable used to create minimum window int16 deadtime = 0; int16 T1 = 0; int16 T2 = 0; int16 Ta = 0; int16 Tb = 0; int16 Tc = 0; int16 T1Comp = 0; int16 T2Comp = 0; float InitialTorque = 0; signed int g_for_debug1; short g_for_debug2; int16 HighPeriod = 0; //low period of InputPwm int16 LowPeriod = 0; //high period of InputPwm int16 DutycycleFinal = 0; //InputPwm dutycycle int16 SpeedRef = 0; //speed reference int16 DutycycleFilter = 0; int16 PeriodCounter; // counter for InputPwm period in PWMInterrupt() uint16 CounterFor100ms; // counter for 100ms in PWMInterrupt() uint16 Velocity_Ref; // used in PwmCurveCalculate() uint8 PwminHighFlag; uint8 PwminLowFlag; uint8 StartWaitCounter; // wait for sometime before start uint8 StopWaitCounter; // wait for sometime before stop uint8 PwminRecoverCounter; // Pwmin recover counter /*********************** main Routine ***********************/ int main (void) { /*********************************************************** * set up the oscillator and PLL for 40 MIPS * Fosc = Fin*(M/(N1*N2)) = (7.37*43)/(2*2) = 80MHz * Fcy = Fosc / 2 = 40MIPS ***********************************************************/ PLLFBD = 41; //PLL倍频比M = 41+2 CLKDIVbits.PLLPOST = 0; //N1=2 CLKDIVbits.PLLPRE = 0; //N2=2 OSCTUN = 0; //7.37MHz __builtin_write_OSCCONH(0x01); //带PLL的FRC __builtin_write_OSCCONL(0x01); //振荡器切换时 while(OSCCONbits.COSC != 0b001); //等待当前振荡器切换至"带PLL的FRC振荡器" while(OSCCONbits.LOCK != 1); //Wait for PLL to lock /***********************************************************/ SMCInit(&smc1); SetupPorts(); SetupControlParameters(); FWInit(); while(1) { Nop(); // Make sure ADC does not generate interrupts while parameters are being initialized IEC0bits.AD1IE = 0; // zero out i sums PIParmD.qdSum = 0; PIParmQ.qdSum = 0; PIParmW.qdSum = 0; InitialTorque = 0; SetupParm(); // Init user parameters OpenLoop_Flag = 1; ChangeMode_Flag = 1; RunMotor_Flag = 0; PORTAbits.RA2 = 1; // Enable TLE7184F IEC0bits.AD1IE = 1; // Enable adc Interrupt while(1) { Nop(); if(CounterFor100ms >= 4000) //(Per 100ms) { //PORTAbits.RA4= !PORTAbits.RA4; CounterFor100ms = 0; if(StartWaitCounter <= 12) //First Start,wait for pwmin filter StartWaitCounter++; if((PeriodCounter > 10000) && (PwminHighFlag == 0)) { PwminHighFlag = 1; PwminRecoverCounter = 0; PeriodCounter = 0; } DutycycleFinal = FracDiv(HighPeriod, HighPeriod + LowPeriod + 1);// (0-100%) --> (0-32768) if(PwminHighFlag) SpeedRef = 16000;