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发表于 2018-10-28 10:12:12
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#include "svm.h"
//-------------------------------------------------------------------------------------
//空间矢量区间
#define VECTOR1 0x0000 // 0 degrees
#define VECTOR2 0x2aaa // 60 degrees
#define VECTOR3 0x5555 // 120 degrees
#define VECTOR4 0x8000 // 180 degrees
#define VECTOR5 0xaaaa // 240 degrees
#define VECTOR6 0xd555 // 300 degrees
#define SIXTY_DEG 0x2aaa
//最大电压值
#define VOLTS_LIMIT 28300
//正弦波表60度171点
const int sinetable[] =
{
0, 201, 401, 602, 803, 1003, 1204, 1404, 1605, 1805, 2005, 2206, 2406,
2606, 2806, 3006, 3205, 3405, 3605, 3804, 4003, 4202, 4401, 4600, 4799, 4997,
5195, 5393, 5591, 5789, 5986, 6183, 6380, 6577, 6773, 6970, 7166, 7361, 7557,
7752, 7947, 8141, 8335, 8529, 8723, 8916, 9109, 9302, 9494, 9686, 9877,10068,
10259,10449,10639,10829,11018,11207,11395,11583,11771,11958,12144,12331,12516,
12701,12886,13070,13254,13437,13620,13802,13984,14165,14346,14526,14706,14885,
15063,15241,15419,15595,15772,15947,16122,16297,16470,16643,16816,16988,17159,
17330,17500,17669,17838,18006,18173,18340,18506,18671,18835,18999,19162,19325,
19487,19647,19808,19967,20126,20284,20441,20598,20753,20908,21062,21216,21368,
21520,21671,21821,21970,22119,22266,22413,22559,22704,22848,22992,23134,23276,
23417,23557,23696,23834,23971,24107,24243,24377,24511,24644,24776,24906,25036,
25165,25293,25420,25547,25672,25796,25919,26042,26163,26283,26403,26521,26638,
26755,26870,26984,27098,27210,27321,27431,27541,27649,27756,27862,27967,28071,
28174,28276,28377
};
//-------------------------------------------------------------------------------------
//描述: SVPWM发生器
//参数: volts:电压向量 angle:角度(0-0xFFFF)
//返回: 无
//-------------------------------------------------------------------------------------
void SVM(int16_t volts, uint16_t angle)
{
// These variables hold the normalized sector angles used to find
// t1, t2.
uint16_t angle1, angle2;
// These variables hold the space vector times.
uint16_t half_t0,t1,t2,tpwm;
// Calculate the total PWM count period, which is twice the value
// in the PTPER register.
tpwm = PTPER << 1;
// Limit volts input to avoid overmodulation.
if(volts > VOLTS_LIMIT) volts = VOLTS_LIMIT;
if(angle < VECTOR2)
{
angle2 = angle - VECTOR1; // Reference SVM angle to the current
// sector
angle1 = SIXTY_DEG - angle2; // Calculate second angle referenced to
// sector
t1 = sinetable[(uint8_t)(angle1 >> 6)]; // Look up values from
// table.
t2 = sinetable[(uint8_t)(angle2 >> 6)];
// Scale t1 to by the volts variable.
t1 = ((int32_t)t1*(int32_t)volts) >> 15;
// Scale t1 for the duty cycle range.
t1 = ((int32_t)t1*(int32_t)tpwm) >> 15;
// Scale t2 time
t2 = ((int32_t)t2*(int32_t)volts) >> 15;
t2 = ((int32_t)t2*(int32_t)tpwm) >> 15;
half_t0 = (tpwm - t1 - t2) >> 1; // Calculate half_t0 null time from
// period and t1,t2
// Calculate duty cycles for Sector 1 (0 - 59 degrees)
PDC1 = t1 + t2 + half_t0;
PDC2 = t2 + half_t0;
PDC3 = half_t0;
}
else if(angle < VECTOR3)
{
angle2 = angle - VECTOR2; // Reference SVM angle to the current
// sector
angle1 = SIXTY_DEG - angle2; // Calculate second angle referenced to
// sector
t1 = sinetable[(uint8_t)(angle1 >> 6)]; // Look up values from
// table.
t2 = sinetable[(uint8_t)(angle2 >> 6)];
// Scale t1 to by the volts variable.
t1 = ((int32_t)t1*(int32_t)volts) >> 15;
// Scale t1 for the duty cycle range.
t1 = ((int32_t)t1*(int32_t)tpwm) >> 15;
// Scale t2 time
t2 = ((int32_t)t2*(int32_t)volts) >> 15;
t2 = ((int32_t)t2*(int32_t)tpwm) >> 15;
half_t0 = (tpwm - t1 - t2) >> 1; // Calculate half_t0 null time from
// period and t1,t2
// Calculate duty cycles for Sector 2 (60 - 119 degrees)
PDC1 = t1 + half_t0;
PDC2 = t1 + t2 + half_t0;
PDC3 = half_t0;
}
else if(angle < VECTOR4)
{
angle2 = angle - VECTOR3; // Reference SVM angle to the current
// sector
angle1 = SIXTY_DEG - angle2; // Calculate second angle referenced to
// sector
t1 = sinetable[(uint8_t)(angle1 >> 6)]; // Look up values from
// table.
t2 = sinetable[(uint8_t)(angle2 >> 6)];
// Scale t1 to by the volts variable.
t1 = ((int32_t)t1*(int32_t)volts) >> 15;
// Scale t1 for the duty cycle range.
t1 = ((int32_t)t1*(int32_t)tpwm) >> 15;
// Scale t2 time
t2 = ((int32_t)t2*(int32_t)volts) >> 15;
t2 = ((int32_t)t2*(int32_t)tpwm) >> 15;
half_t0 = (tpwm - t1 - t2) >> 1; // Calculate half_t0 null time from
// period and t1,t2
// Calculate duty cycles for Sector 3 (120 - 179 degrees)
PDC1 = half_t0;
PDC2 = t1 + t2 + half_t0;
PDC3 = t2 + half_t0;
}
else if(angle < VECTOR5)
{
angle2 = angle - VECTOR4; // Reference SVM angle to the current
// sector
angle1 = SIXTY_DEG - angle2; // Calculate second angle referenced to
// sector
t1 = sinetable[(uint8_t)(angle1 >> 6)]; // Look up values from
// table.
t2 = sinetable[(uint8_t)(angle2 >> 6)];
// Scale t1 to by the volts variable.
t1 = ((int32_t)t1*(int32_t)volts) >> 15;
// Scale t1 for the duty cycle range.
t1 = ((int32_t)t1*(int32_t)tpwm) >> 15;
// Scale t2 time
t2 = ((int32_t)t2*(int32_t)volts) >> 15;
t2 = ((int32_t)t2*(int32_t)tpwm) >> 15;
half_t0 = (tpwm - t1 - t2) >> 1; // Calculate half_t0 null time from
// period and t1,t2
// Calculate duty cycles for Sector 4 (180 - 239 degrees)
PDC1 = half_t0;
PDC2 = t1 + half_t0;
PDC3 = t1 + t2 + half_t0;
}
else if(angle < VECTOR6)
{
angle2 = angle - VECTOR5; // Reference SVM angle to the current
// sector
angle1 = SIXTY_DEG - angle2; // Calculate second angle referenced to
// sector
t1 = sinetable[(uint8_t)(angle1 >> 6)]; // Look up values from
// table.
t2 = sinetable[(uint8_t)(angle2 >> 6)];
// Scale t1 to by the volts variable.
t1 = ((int32_t)t1*(int32_t)volts) >> 15;
// Scale t1 for the duty cycle range.
t1 = ((int32_t)t1*(int32_t)tpwm) >> 15;
// Scale t2 time
t2 = ((int32_t)t2*(int32_t)volts) >> 15;
t2 = ((int32_t)t2*(int32_t)tpwm) >> 15;
half_t0 = (tpwm - t1 - t2) >> 1; // Calculate half_t0 null time from
// period and t1,t2
// Calculate duty cycles for Sector 5 (240 - 299 degrees)
PDC1 = t2 + half_t0;
PDC2 = half_t0;
PDC3 = t1 + t2 + half_t0;
}
else
{
angle2 = angle - VECTOR6; // Reference SVM angle to the current
// sector
angle1 = SIXTY_DEG - angle2; // Calculate second angle referenced to
// sector
t1 = sinetable[(uint8_t)(angle1 >> 6)]; // Look up values from
// table.
t2 = sinetable[(uint8_t)(angle2 >> 6)];
// Scale t1 to by the volts variable.
t1 = ((int32_t)t1*(int32_t)volts) >> 15;
// Scale t1 for the duty cycle range.
t1 = ((int32_t)t1*(int32_t)tpwm) >> 15;
// Scale t2 time
t2 = ((int32_t)t2*(int32_t)volts) >> 15;
t2 = ((int32_t)t2*(int32_t)tpwm) >> 15;
half_t0 = (tpwm - t1 - t2) >> 1; // Calculate half_t0 null time from
// period and t1,t2
// Calculate duty cycles for Sector 6 ( 300 - 359 degrees )
PDC1 = t1 + t2 + half_t0;
PDC2 = half_t0;
PDC3 = t1 + half_t0;
}
} |
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