电机的PID控制

#include"DSP28_Device.h"#include"pmsm3_1.h"#include"parameter.h"#include"build.h"//  函 关于工期滞后的函关于工程严重滞后的函关于工程进度滞后的回复函关于征求同志党风廉政意见的函关于征求廉洁自律情况的复函 数声明interruptvoidEvaTimer1(void);interruptvoidEvaTimer2(void);//全局变量定义floatVd_testing=0;        /*Vdtesting(pu)*/floatVq_testing=0.25;      /*Vqtesting(pu)*/floatId_ref=0;          /*Idreference(pu)*/floatIq_ref=0.4;         /*Iqreference(pu)*/floatspeed_ref=0.2;       /*Speedreference(pu)*/floatT=0.001/ISR_FREQUENCY;   /*Sampingperiod(sec),seeparameter.h*/intisr_ticker=0;intpwmdac_ch1=0;intpwmdac_ch2=0;intpwmdac_ch3=0;volatileintenable_flg=0;intlockrtr_flg=1;intspeed_loop_ps=10;    //速度环定标器intspeed_loop_count=1;    //速度环计数器CLARKEclarke1=CLARKE_DEFAULTS;PARKpark1=PARK_DEFAULTS;IPARKipark1=IPARK_DEFAULTS;PIDREG3pid1_id=PIDREG3_DEFAULTS;PIDREG3pid1_iq=PIDREG3_DEFAULTS;PIDREG3pid1_spd=PIDREG3_DEFAULTS;PWMGENpwm1=PWMGEN_DEFAULTS;PWMDACpwmdac1=PWMDAC_DEFAULTS;SVGENDQsvgen_dq1=SVGENDQ_DEFAULTS;QEPqep1=QEP_DEFAULTS;SPEED_MEAS_QEPspeed1=SPEED_MEAS_QEP_DEFAULTS;DRIVEdrv1=DRIVE_DEFAULTS;RMPCNTLrc1=RMPCNTL_DEFAULTS;RAMPGENrg1=RAMPGEN_DEFAULTS;ILEG2DCBUSMEASilg2_vdc1=ILEG2DCBUSMEAS_DEFAULTS;// 主函数voidmain(void){// 系统初始化InitSysCtrl();// HISPCP设置EALLOW; SysCtrlRegs.HISPCP.all=0x0000;  /*SYSCLKOUT/1 */EDIS; //禁止并清除所有CPU中断:DINT;IER=0x0000;IFR=0x0000;//初始化Pie到默认状态InitPieCtrl();//初始化PIE相量表InitPieVectTable();  //初始化EVA 定时器1：//设置定时器1寄存器(EVA)EvaRegs.GPTCONA.all=0;//等待使能标志位while(enable_flg==0){//使能定时器1的下溢中断EvaRegs.EVAIMRA.bit.T1UFINT=1;EvaRegs.EVAIFRA.bit.T1UFINT=1;//使能CAP3中断（定时器2）EvaRegs.EVAIMRC.bit.CAP3INT=1;EvaRegs.EVAIMRC.bit.CAP3INT=1;};//重新分配中断向量EALLOW;  PieVectTable.T1UFINT=&EvaTimer1;PieVectTable.CAPINT3=&EvaTimer2;EDIS; //使能PIE组2的中断6（T1UFINT）PieCtrlRegs.PIEIER2.all=M_INT6;//使能PIE组3的中断7（CAPINT3）PieCtrlRegs.PIEIER3.all=M_INT7;//使能CPUINT2（T1UFINT）和INT3（CAPINT3）：IER|=(M_INT2|M_INT3);//使能全局中断和最高优先级适时调试事件管理器功能：EINT;   //使能全局中断INTMERTM;  //使能适时调试中断DBGM/*  模块初始化  */pwm1.n_period=SYSTEM_FREQUENCY*1000000*T/2; /*预定标器X1(T1),ISR周期=Tx1*/pwm1.init(&pwm1);pwmdac1.pwmdac_period=2500; /*PWM频率=30kHz*/pwmdac1.PWM_DAC_IPTR0=&pwmdac_ch1;pwmdac1.PWM_DAC_IPTR1=&pwmdac_ch2;pwmdac1.PWM_DAC_IPTR2=&pwmdac_ch3;pwmdac1.init(&pwmdac1);qep1.init(&qep1);drv1.init(&drv1);ilg2_vdc1.init(&ilg2_vdc1);/*初始化SPEED_FRQ模块*/speed1.K1=_IQ21(1/(BASE_FREQ*T));speed1.K2=_IQ(1/(1T*2*PI*30)); /*低通截至频率=30Hz*/speed1.K3=_IQ(1)-speed1.K2;speed1.rpm_max=120*BASE_FREQ/P;/*初始化RAMPGEN模块*/rg1.step_angle_max=_IQ(BASE_FREQ*T);/*初始化PID_REG3 Id调节模块*/pid1_id.Kp_reg3=_IQ(0.75); pid1_id.Ki_reg3=_IQ(T/0.0005);          pid1_id.Kd_reg3=_IQ(0/T);            pid1_id.Kc_reg3=_IQ(0.2);pid1_id.pid_out_max=_IQ(0.30);pid1_id.pid_out_min=_IQ(-0.30);  /*初始化PID_REG3 Iq调节模块*/pid1_iq.Kp_reg3=_IQ(0.75);pid1_iq.Ki_reg3=_IQ(T/0.0005);  pid1_iq.Kd_reg3=_IQ(0/T);pid1_iq.Kc_reg3=_IQ(0.2);pid1_iq.pid_out_max=_IQ(0.95);pid1_iq.pid_out_min=_IQ(-0.95);/*初始化PID_REG3 速度调节模块*/pid1_spd.Kp_reg3=_IQ(1);pid1_spd.Ki_reg3=_IQ(T*speed_loop_ps/0.1);pid1_spd.Kd_reg3=_IQ(0/(T*speed_loop_ps));  pid1_spd.Kc_reg3=_IQ(0.2);pid1_spd.pid_out_max=_IQ(1);pid1_spd.pid_out_min=_IQ(-1);//循环等待for(;;);}  interruptvoidEvaTimer1(void){isr_ticker;if(speed_loop_count==speed_loop_ps){pid1_spd.pid_ref_reg3=_IQ(speed_ref);pid1_spd.pid_fdb_reg3=speed1.speed_frq;pid1_spd.calc(&pid1_spd);speed_loop_count=1;}elsespeed_loop_count;pid1_iq.pid_ref_reg3=pid1_spd.pid_out_reg3;pid1_iq.pid_fdb_reg3=park1.qe;pid1_iq.calc(&pid1_iq);pid1_id.pid_ref_reg3=_IQ(Id_ref);pid1_id.pid_fdb_reg3=park1.de;pid1_id.calc(&pid1_id);ipark1.de=pid1_id.pid_out_reg3;ipark1.qe=pid1_iq.pid_out_reg3;  ipark1.ang=speed1.theta_elec;ipark1.calc(&ipark1);svgen_dq1.Ualfa=ipark1.ds;svgen_dq1.Ubeta=ipark1.qs;svgen_dq1.calc(&svgen_dq1);pwm1.Mfunc_c1=(int)_IQtoIQ15(svgen_dq1.Ta);/*Mfunc_c1isinQ15*/pwm1.Mfunc_c2=(int)_IQtoIQ15(svgen_dq1.Tb);/*Mfunc_c2isinQ15*/pwm1.Mfunc_c3=(int)_IQtoIQ15(svgen_dq1.Tc);/*Mfunc_c3isinQ15*/pwm1.update(&pwm1);ilg2_vdc1.read(&ilg2_vdc1);clarke1.as=_IQ15toIQ((long)ilg2_vdc1.Imeas_a);clarke1.bs=_IQ15toIQ((long)ilg2_vdc1.Imeas_b);clarke1.calc(&clarke1);park1.ds=clarke1.ds;park1.qs=clarke1.qs;park1.ang=speed1.theta_elec;park1.calc(&park1);qep1.calc(&qep1);speed1.theta_elec=_IQ15toIQ((long)qep1.theta_elec);speed1.dir_QEP=(long)(qep1.dir_QEP);speed1.calc(&speed1);pwmdac_ch1=(int)_IQtoIQ15(svgen_dq1.Ta);pwmdac_ch2=(int)_IQtoIQ15(clarke1.as);  pwmdac_ch3=(int)_IQtoIQ15(speed1.theta_elec);  drv1.enable_flg=enable_flg;drv1.update(&drv1);pwmdac1.update(&pwmdac1); //使能定时器中断EvaRegs.EVAIMRA.bit.T1UFINT=1;EvaRegs.EVAIFRA.all=BIT9;PieCtrlRegs.PIEACK.all|=PIEACK_GROUP2;}interruptvoidEvaTimer2(void){qep1.isr(&qep1);EvaRegs.EVAIMRC.bit.CAP3INT=1;EvaRegs.EVAIFRC.all=BIT2;PieCtrlRegs.PIEACK.all|=PIEACK_GROUP3;}voidInitEv(void){EvaRegs．TIPR=OxFFFF；Tl周期EvaRegs．TICNT=0；EvaRegs．TlCON．All=0；EvaRegs．TICON．bit．TMODE=2：／，逢续增计数模式EvaRegs．T1CON．bit．TPS=4；H150MHz的32分频(HSP．CLK已2分频。故TPS---．4。即16分频)EvaRegs．TICON．bit．TENABLE=l;／／使能Tl定时器EvaRegs．CAPCONA．all观／／捕捉控制寄存器EvaRegs．CAPCONA．bit．CAPl2EN=1;／使能捕捉EvaRegs．CAPCONA．bit．CAPIEDGE=l;， 检测 工程第三方检测合同工程防雷检测合同植筋拉拔检测方案传感器技术课后答案检测机构通用要求培训 上升沿EvaRegs．CAPCONA．bit．CAPl2TSEL=1;／／CAPI选定时器TIEvaRegs．CAPFIFOA．bit．CAPlFIFO=0；f|CAPIFIFO塑EvaRegs．EVAIFRC．bit．CAPIINT=I∥清CAPI中断标志位EvaRegs．EVAIMRC．bit．CAPIINT=1；／，CAPI中断使能}unsignedintcapKl；unsignedintcapK2；floatSpeed；interruptvoidCAPINTI—ISR(void)／／EV．A摘获中断子程序{unsignedintK；EvaRegs．EVAIFRC．bit．CAPlINT=I；／／清捕获中断1标志位capKl=EvaRegs．CAPIFIFO；capK2=EvaRegs．CAPlFIFO；／／读新旧两次计数值if(capK2>capKllK=capK2一capKl；elseK=capK2(OxFFFF-capKl)；Speed=1768867．925／(float)K；／／计算转速PieCtrl．PIEACK．bit．ACK3=1；，／开外设中断应答l