|
|
发表于 2006-3-12 13:35:46
|
显示全部楼层
这是ST 三相BLDC的变频控制PI算法;
/**************** (c) 2005 STMicroelectronics **********************
PROJECT : ST7MC demokit
COMPILER : ST7 METROWERKS C (HIWARE) / COSMIC
MODULE : regul.c
LIBRARY VERSION : 2.0
CREATION DATE : 07.2003
AUTHOR : Florent COSTE / Microcontroller Application Lab / ST Hong Kong
-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-
DESCRIPTION : routine for closed LOOP operation
-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-
******************************************************************************
THE SOFTWARE INCLUDED IN THIS FILE IS FOR GUIDANCE ONLY. ST MICROELECTRONICS
SHALL NOT BE HELD LIABLE FOR ANY DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES
WITH RESPECT TO ANY CLAIMS ARISING FROM USE OF THIS SOFTWARE.
******************************************************************************
-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-*-
******************************************************************************/
#include "version.h"
#include "lib.h"
#include "mtc.h"
#include "regul.h"
#include "ST7MC_hr.h"
#include "it_ST7MC.h"
#include "LinSCI.h"
#include "MTC_Settings_Sensorless.h"
#define Error_slip_MAX (s16)2048
#define Error_slip_MIN (s16)-2048
#define MTIM_MAX_FREQ MTC_CLOCK/8 // 16Mhz/8 -> 2Mhz
//--------------------------------------
// Variables
//--------------------------------------
static s32 VoltageIntegralTerm;
static BOOL MaxPiOut,MinPiOut;
volatile Step_s Step_Z[STEP_Z_BUFFER_SIZE]; // buffer filled with the last 12 Z step times
/*-------------------Main program-------------------- */
/*-----------------------------------------------------------------------------
ROUTINE Name : Period_To_Frequency
Description: Convert Step_Z buffer information (electrical period) into
electrical frequency.
Input/Output: none/u16 (electrical frequency, 0.1 Hz resolution)
Comments: None
-----------------------------------------------------------------------------*/
u16 Period_To_Frequency(void)
{
u32 result;
u16 MZ_Temp;
u8 Ratio_Min, i;
/********************** Compute average Motor Z Step Period ********************************/
// F = Fmtc/(MZREG.2^ratio) T = (MZREG.2^ratio)/Fmtc
Ratio_Min = RATIO_MAX; // init Ratio_Min with max ratio
MZ_Temp = 0;
for (i=0;i<=STEP_Z_BUFFER_SIZE-1;i++) // check max ratio of buffer
{
if (Step_Z.Ratio < Ratio_Min) Ratio_Min = Step_Z.Ratio;
}
// Ratio_Min contains now the min ratio of stored values in Step_Z buffer
for (i=0;i<=STEP_Z_BUFFER_SIZE-1;i++) // Compute average period
{
if (Step_Z.Ratio == Ratio_Min) MZ_Temp += (u8)(Step_Z.StepTime);
else MZ_Temp += ((Step_Z.StepTime)<<((u8)(Step_Z.Ratio-Ratio_Min)));
}
/***** Convert period to frequency *****/
result = (10*MTIM_MAX_FREQ)/MZ_Temp;
result >>= (u8)(Ratio_Min); //divide by 2^ratio
return((u16)(result));
}
/*Initialisation of Integral term of PI*/
void Init_PI(void)
{
#if (DRIVING_MODE == VOLTAGE_MODE)
VoltageIntegralTerm = (((ramp_MCPUH<<8) + ramp_MCPUL)>>3)*65536;
VoltageIntegralTerm /= PWM_FREQUENCY;
#else
VoltageIntegralTerm = (((ramp_MCPVH<<8) + ramp_MCPVL)>>3)*65536;
VoltageIntegralTerm /= PWM_FREQUENCY;
#endif
}
/*-----------------------------------------------------------------------------
ROUTINE Name : regul_PI
Description: Compute PI output (0 (PI min) to 1023 (PI max)) according to Ki,
Kp, sampling time, and target electrical frequency.
Input/Output: u16/u16 (PI output (10 bits value)/target electrical frequency, 0.1 Hz resolution)
Comments: None
-----------------------------------------------------------------------------*/
u16 regul_PI(u16 Target_Freq) // return 10 bits value
{
s32 Voltage_slip_s32,DeltaVoltage_slip_s32,Newpi_32;
s16 NewPIoutput, Error_slip,Error;
u16 output;
/********************** Compute PI output ***************************************/
Freq_Motor = (u16)Period_To_Frequency();
Error = (s16)(Target_Freq - Freq_Motor); // Freq_Motor is actually the step time between 6 Z events
if (Error > (s16)(Error_slip_MAX))
{
Error_slip = Error_slip_MAX;
}
else if (Error < (s16)(Error_slip_MIN))
{
Error_slip = Error_slip_MIN;
}
else Error_slip = (s16)Error;
/********************** Compute Proportional term ********************************/
Voltage_slip_s32 = Kp * (s32)Error_slip;
/********************** Compute Integral term ************************************/
// If modulation is maximum, integral term must be "frozen"
DeltaVoltage_slip_s32 = ( Ki * SAMPLING_TIME * (s32)Error_slip)/256;
if( ((Error_slip>0) && !MaxPiOut) || ((Error_slip<0) && !MinPiOut) )
{
if ((VoltageIntegralTerm >= 0) && (DeltaVoltage_slip_s32 >= 0))
{
if (( (u32)VoltageIntegralTerm + (u32)DeltaVoltage_slip_s32 ) > S32_MAX)
VoltageIntegralTerm = S32_MAX; // Avoid IntTerm Overflow
else VoltageIntegralTerm += DeltaVoltage_slip_s32; // "integral" output
}
else if ((VoltageIntegralTerm < 0) && (DeltaVoltage_slip_s32 < 0))
{
if (( (u32)VoltageIntegralTerm + (u32)DeltaVoltage_slip_s32 ) <= S32_MAX)
VoltageIntegralTerm = S32_MIN; // Avoid IntTerm Overflow
else VoltageIntegralTerm += DeltaVoltage_slip_s32; // "integral" output
}
else
VoltageIntegralTerm += DeltaVoltage_slip_s32; // "integral" output
}
if ((VoltageIntegralTerm >= 0) && (Voltage_slip_s32 >= 0))
{
if (( (u32)VoltageIntegralTerm + (u32)Voltage_slip_s32 ) > S32_MAX)
Newpi_32 = S32_MAX; // Avoid IntTerm Overflow
else Newpi_32 = (VoltageIntegralTerm + Voltage_slip_s32); // output
}
else if ((VoltageIntegralTerm < 0) && (Voltage_slip_s32 < 0))
{
if (( (u32)VoltageIntegralTerm + (u32)Voltage_slip_s32 ) <= S32_MAX)
Newpi_32 = S32_MIN; // Avoid IntTerm Overflow
else Newpi_32 = (VoltageIntegralTerm + Voltage_slip_s32); // output
}
else
Newpi_32 = (VoltageIntegralTerm + Voltage_slip_s32); // output
#if (DRIVING_MODE == VOLTAGE_MODE)
NewPIoutput = (s16)( Newpi_32 /64);
#else
NewPIoutput = (s16)( Newpi_32 /256);
#endif
if ( NewPIoutput < 0 )
{
output = 0;
MinPiOut = TRUE;
}
else if ( NewPIoutput > 1024 )
{
output = 1024;
MaxPiOut = TRUE; // Set ClampFlag if modulation reaches maximum value
}
else
{
output = NewPIoutput;
MinPiOut = FALSE;
MaxPiOut = FALSE;
}
return (output); // return PI output
}
/*** (c) 2005 STMicroelectronics ****************** END OF FILE ***/ |
|
楼主
留下脚印 
