cIQmath.rar_dsp电机控制_三 闭环控制 电机_三闭环_永磁电机

/* ============================================================================== System Name: PMSM33 File Name: PMSM3_3.C Description: Primary system file for the Real Implementation of Sensored Field Orientation Control for a Three Phase Permanent-Magnet Synchronous Motor (PMSM) using Resolver sensor Originator: Digital control systems Group - Texas Instruments Note: In this software, the default inverter is supposed to be DMC1500 board. ===================================================================================== History: ------------------------------------------------------------------------------------- 04-15-2005 Version 3.20: Support both F280x and F281x targets 04-25-2005 Version 3.21: Move EINT and ERTM down to ensure that all initialization is completed before interrupts are allowed. ================================================================================= */ // Include header files used in the main function #include "target.h" #if (DSP_TARGET==F2808) #include "DSP280x_Device.h" #endif #if (DSP_TARGET==F2812) #include "DSP281x_Device.h" #endif #include "IQmathLib.h" #include "pmsm3_3.h" #include "parameter.h" #include "build.h" #include <math.h> // Prototype statements for functions found within this file. interrupt void MainISR(void); // Global variables used in this system float32 VdTesting = 0; // Vd testing (pu) float32 VqTesting = 0.25; // Vq testing (pu) float32 IdRef = 0; // Id reference (pu) float32 IqRef = 0.2; // Iq reference (pu) float32 SpeedRef = 0.2; // Speed reference (pu) float32 T = 0.001/ISR_FREQUENCY; // Samping period (sec), see parameter.h float32 Ts = 0.001/RESOLVER_PWM_FREQUENCY; // PWM frequency, see parameter.h float32 FreqExcitation = RESOLVER_EXCITATION_FREQUENCY*1000; // Excitation frequency (Hz) float32 Amplitude = 1.0; // Peak value of excitation signal (pu) float32 AngleExcitation = 0; _iq SineRefSignal = 0; // Excitation signal (pu) Uint16 IsrTicker = 0; Uint16 BackTicker = 0; int16 DlogCh1 = 0; int16 DlogCh2 = 0; int16 DlogCh3 = 0; int16 DlogCh4 = 0; volatile Uint16 EnableFlag = FALSE; Uint16 SpeedLoopPrescaler = 10; // Speed loop prescaler Uint16 SpeedLoopCount = 1; // Speed loop counter // Instance a few transform objects CLARKE clarke1 = CLARKE_DEFAULTS; PARK park1 = PARK_DEFAULTS; IPARK ipark1 = IPARK_DEFAULTS; // Instance PID regulators to regulate the d and q synchronous axis currents, // and speed PIDREG3 pid1_id = PIDREG3_DEFAULTS; PIDREG3 pid1_iq = PIDREG3_DEFAULTS; PIDREG3 pid1_spd = PIDREG3_DEFAULTS; // Instance a PWM driver instance PWMGEN pwm1 = PWMGEN_DEFAULTS; // Instance a Space Vector PWM modulator. This modulator generates a, b and c // phases based on the d and q stationery reference frame inputs SVGENDQ svgen_dq1 = SVGENDQ_DEFAULTS; // Instance a enable PWM drive driver (only for DMC1500) DRIVE drv1 = DRIVE_DEFAULTS; // Instance a ramp controller to smoothly ramp the frequency RMPCNTL rc1 = RMPCNTL_DEFAULTS; // Instance a ramp generator to simulate an Anglele RAMPGEN rg1 = RAMPGEN_DEFAULTS; // Create an instance of resolver Module RESOLVER speed1 = RESOLVER_DEFAULTS; // Create an instance of bipolar ADC driver Module ADCVALSB adc1 = ADCVALSB_DEFAULTS; // Create an instance of resolver PWM driver Module RESOLVER_PWM res_pwm1 = RESOLVER_PWM_DEFAULTS; // Create an instance of DATALOG Module DLOG_4CH dlog = DLOG_4CH_DEFAULTS; void main(void) { // ****************************************** // Initialization code for DSP_TARGET = F2808 // ****************************************** #if (DSP_TARGET==F2808) // Initialize System Control registers, PLL, WatchDog, Clocks to default state: // This function is found in the DSP280x_SysCtrl.c file. InitSysCtrl(); // Globally synchronize all ePWM modules to the time base clock (TBCLK) EALLOW; SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1; EDIS; // HISPCP prescale register settings, normally it will be set to default values EALLOW; // This is needed to write to EALLOW protected registers SysCtrlRegs.HISPCP.all = 0x0000; // SYSCLKOUT/1 EDIS; // This is needed to disable write to EALLOW protected registers // Disable and clear all CPU interrupts: DINT; IER = 0x0000; IFR = 0x0000; // Initialize Pie Control Registers To Default State: // This function is found in the DSP280x_PieCtrl.c file. InitPieCtrl(); // Initialize the PIE Vector Table To a Known State: // This function is found in DSP280x_PieVect.c. // This function populates the PIE vector table with pointers // to the shell ISR functions found in DSP280x_DefaultIsr.c. InitPieVectTable(); // User specific functions, Reassign vectors (optional), Enable Interrupts: // Waiting for enable flag set while (EnableFlag==FALSE) { BackTicker++; } // Enable CNT_zero interrupt using EPWM1 Time-base EPwm1Regs.ETSEL.bit.INTEN = 1; // Enable EPWM1INT generation EPwm1Regs.ETSEL.bit.INTSEL = 1; // Enable interrupt CNT_zero event EPwm1Regs.ETPS.bit.INTPRD = 1; // Generate interrupt on the 1st event EPwm1Regs.ETCLR.bit.INT = 1; // Enable more interrupts // Reassign ISRs. // Reassign the PIE vector for EPWM1_INT to point to a different // ISR then the shell routine found in DSP280x_DefaultIsr.c. // This is done if the user does not want to use the shell ISR routine // but instead wants to use their own ISR. EALLOW; // This is needed to write to EALLOW protected registers PieVectTable.EPWM1_INT = &MainISR; EDIS; // This is needed to disable write to EALLOW protected registers // Enable PIE group 3 interrupt 1 for EPWM1_INT PieCtrlRegs.PIEIER3.all = M_INT1; // Enable CPU INT3 for EPWM1_INT: IER |= M_INT3; #endif // ****************************************** // Initialization code for DSP_TARGET = F2812 // ****************************************** #if (DSP_TARGET==F2812) // Initialize System Control registers, PLL, WatchDog, Clocks to default state: // This function is found in the DSP281x_SysCtrl.c file. InitSysCtrl(); // HISPCP prescale register settings, normally it will be set to default values EALLOW; // This is needed to write to EALLOW protected registers SysCtrlRegs.HISPCP.all = 0x0000; // SYSCLKOUT/1 EDIS; // This is needed to disable write to EALLOW protected registers // Disable and clear all CPU interrupts: DINT; IER = 0x0000; IFR = 0x0000; // Initialize Pie Control Registers To Default State: // This function is found in the DSP281x_PieCtrl.c file. InitPieCtrl(); // Initialize the PIE Vector Table To a Known State: // This function is found in DSP281x_PieVect.c. // This function populates the PIE vector table with pointers // to the shell ISR functions found in DSP281x_DefaultIsr.c. InitPieVectTable(); // User specific functions, Reassign vectors (optional), Enable Interrupts: // Initialize EVA Timer 1: // Setup Timer 1 Registers (EV A) EvaRegs.GPTCONA.all = 0; // Waiting for enable flag set while (EnableFlag==FALSE) { BackTicker++; } // Enable Underflow interrupt bits for GP timer 1 EvaRegs.EVAIMRA.bit.T1UFINT = 1; EvaRegs.EVAIFRA.bit.T1UFINT = 1; // Reassign ISRs. // Reassign the PIE vector for T1UFINT to point to a different // ISR then the shell routine found in DSP281x_DefaultIsr.c. // This is done if the user does not want to use the shell ISR routine // but instead wants to use their own ISR. EALLOW; // T