dsPIC3EP256MC506的AN1160用择多函数实现饭电动势滤波的无传感器BLDC控制 -

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#include "defs.h" //defines, function headers, pi, etc
#ifdef RTDM_DEMO
#include "debug.h" //RTDM/DMCI functionality
#endif
int main(void)
{
Init_Ports(); // Clock ( Fcy 70MHz ) , port configuration, etc
#ifdef RTDM_DEMO
DBG_Init(); // RTDM ( Debugger ) Initialization
#endif
//defaults: CLKW rotation, motor stopped
Flags.RunMotor = 0;
Flags.Startup = 0;
Flags.CLKW = 1;
Flags.newCLKW = 1;
Flags.DMCI_Control_SW = 0; //default potentiometer read
Timer2Average = TMR2_MAX;
trigger_count = 1;
Flags.nb_delay_on = 0;
#ifdef OPEN_LOOP_CONTROL
DesiredDuty = MIN_DUTY_CYCLE;
#else
DesiredRPM = STARTUP_RPM;
#endif
Flags.current_state = STATE_STOPPED;
while(1) {
if(S2) { //CLKW/CCLKW switch
while(S2) //debounce
Delay_100uSec(DEBOUNCE_DELAY*10);
Flags.newCLKW = !Flags.CLKW;
}
if(S3) { //start/stop switch
while(S3) //debounce
Delay_100uSec(DEBOUNCE_DELAY*10);
if(Flags.current_state == STATE_STOPPED)
Flags.current_state = STATE_STARTING;
else
Flags.current_state = STATE_STOPPING;
}
switch(Flags.current_state) {
case STATE_STOPPING:
Stop_Motor();
Flags.current_state = STATE_STOPPED;
break;
case STATE_STARTING:
//startup done on MCPWM ISR
break;
case STATE_FAULT:
Stop_Motor();
Flags.current_state = STATE_STOPPED;
break;
case STATE_STARTED:
if(Flags.newCLKW != Flags.CLKW) {
Stop_Motor();
Flags.CLKW = Flags.newCLKW;
Delay_100uSec(5000); //delay 500 ms for motor to actually stop
Flags.current_state = STATE_STARTING;
}
break;
case STATE_STOPPED:
if(Flags.newCLKW != Flags.CLKW)
Flags.CLKW = Flags.newCLKW;
break;
}
#ifdef RTDM_DEMO
DBG_SyncComm(); //assure RTDM communication
#endif
}
return 0;
}
/*******************************************************************
Init_Motor()
Procedure used to initialize all params for the motor and
for the AN1160 algorithm.
Also rotor alignment is done here.
*******************************************************************/
void Init_Motor()
{
int i; //auxiliary counter
if(Flags.nb_delay_on == 0) {
T1CONbits.TON = 0;
T2CONbits.TON = 0;
TMR1 = 0;
TMR2 = 0;
Flags.TrainPI = 0;
//setting direction CLKW or CCLKW
if(Flags.CLKW == 1) {
for(i=0;i<6;i++) {
PWM_STATE1[i] = PWM_STATE1_CLKW[i];
PWM_STATE2[i] = PWM_STATE2_CLKW[i];
PWM_STATE3[i] = PWM_STATE3_CLKW[i];
MotorPhaseAState[i] = MotorPhaseAState_CLKW[i];
MotorPhaseBState[i] = MotorPhaseBState_CLKW[i];
MotorPhaseCState[i] = MotorPhaseCState_CLKW[i];
ADC_CHANNEL[i] = ADC_CHANNEL_CLKW[i];
ADC_MASK[i] = ADC_MASK_CLKW[i];
ADC_XOR[i] = ADC_XOR_CLKW[5-i];
}
for(i=0;i<64;i++)
ADC_BEMF_FILTER[i] = ADC_BEMF_FILTER_CLKW[63-i];
} else {
for(i=0;i<6;i++) {
PWM_STATE1[i] = PWM_STATE1_CLKW[5-i];
PWM_STATE2[i] = PWM_STATE2_CLKW[5-i];
PWM_STATE3[i] = PWM_STATE3_CLKW[5-i];
MotorPhaseAState[i] = MotorPhaseAState_CLKW[5-i];
MotorPhaseBState[i] = MotorPhaseBState_CLKW[5-i];
MotorPhaseCState[i] = MotorPhaseCState_CLKW[5-i];
ADC_CHANNEL[i] = ADC_CHANNEL_CLKW[5-i];
ADC_MASK[i] = ADC_MASK_CLKW[5-i];
ADC_XOR[i] = ADC_XOR_CLKW[5-i];
}
for(i=0;i<64;i++)
ADC_BEMF_FILTER[i] = ADC_BEMF_FILTER_CLKW[63-i];
}
stallCount = 0;
PIDStructure.qInMeas = STARTUP_RPM;
PIDStructure.qInRef = STARTUP_RPM;
InitPI(&PIDStructure,SpeedControl_P,SpeedControl_I,PI_ANTI_WINDUP,MAX_DUTY_CYCLE,MIN_DUTY_CYCLE,0);
TMR2 = TMR2_MAX; //initialize TMR2 and TMR2 average with the value corresponding to the minimum motor speed
Timer2Value = TMR2;
Timer2Average = TMR2;
Timer1Value = 0;
Flags.RunMotor = 1; // turn the motor ON
Flags.Startup = 1; // motor initialized, go to starting sequence
ADCCommState = 5; //always start with sector 6 forced
//set pwm overdrive to the according PWM channel
IOCON1 = PWM_STATE1[ADCCommState];
IOCON2 = PWM_STATE2[ADCCommState];
IOCON3 = PWM_STATE3[ADCCommState];
CurrentDuty = STARTUP_DUTY; //Init PWM duty cycle value to minimum duty allowed
PDC1 = CurrentDuty;
PDC2 = CurrentDuty;
PDC3 = CurrentDuty;
nb_delay = ROTOR_ALIGN_T*PWM_100us_FACTOR*10;
delay_counter = 0;
Flags.nb_delay_on = 1;
t_current = STARTUP_START_T*10; //in ms
t_sector = 0;
}
}
/**********************************************************************
Start_Motor()
Procedure for starting the motor according to the implemented
startup ramp. After the ramp, PI loop training will begin.
**********************************************************************/
void Start_Motor()
{
if(Flags.nb_delay_on == 0) { //this is just to test if we're not in a non-blocking delay actually
if(++ADCCommState>5) // Change The Six-Step Commutation Sector
ADCCommState = 0;
AD1CHS0 = ADC_CHANNEL[ADCCommState]; //Change ADC Channel AN Selection
if(t_current < (unsigned long int)STARTUP_T_RAMP*10) {
t_sector = STARTUP_SEC_C/t_current; //calculates T for 1 sector, in 100s of uS.
if(t_sector <= 0) t_sector = 1;
} else
if (t_current < ((unsigned int)STARTUP_T_RAMP*10 + STARTUP_T_SUST*10)) {
Flags.TrainPI = 1;
AD1CON1bits.SSRC = 3;
}
else
Flags.TrainPI = 0;
//overdrive and output next motor sector
IOCON1 = PWM_STATE1[ADCCommState];
IOCON2 = PWM_STATE2[ADCCommState];
IOCON3 = PWM_STATE3[ADCCommState];
//here we want a non-blocking delay for the startup to execute
nb_delay = t_sector * PWM_100us_FACTOR;
delay_counter = 0;
Flags.nb_delay_on = 1;
t_current += t_sector;
adcBackEMFFilter = 0; //clear the BEMF filter
}
}
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