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PMSM磁场定向控制程序笔记（二）——Clark，Park及反变换_foc sdk2.0

作者：你好赵伟 | 2024-03-16 07:32:03

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foc sdk2.0

程序来源：FOC SDK2.0

说明：在FOC SDK2.0的基础上稍稍修改，并做了一些注释，主要是为了记录总结收获。删掉或者注释了一些暂时用不到的功能。

下面是MC_Clarke_Park.c文件部分程序：

  1. #ifdef MAX_MODULATION_100_PER_CENT    //100%占空比
  2. #define START_INDEX     63
  3.  
  4. const u16 circle_limit_table[65]=     
  5. {
  6. 32767,32390,32146,31907,31673,31444,31220,31001,30787,30577,30371,
  7. 30169,29971,29777,29587,29400,29217,29037,28861,28687,28517,
  8. 28350,28185,28024,27865,27709,27555,27404,27256,27110,26966,
  9. 26824,26685,26548,26413,26280,26149,26019,25892,25767,25643,
  10. 25521,25401,25283,25166,25051,24937,24825,24715,24606,24498,
  11. 24392,24287,24183,24081,23980,23880,23782,23684,23588,23493,
  12. 23400,23307,23215,23125
  13. };
  14. #endif
  15.  
  16. #define SIN_MASK 0x0300
  17. #define U0_90     0x0200
  18. #define U90_180   0x0300
  19. #define U180_270  0x0000
  20. #define U270_360  0x0100
  21.  
  22. static Trig_Components Vector_Components;
  23. const s16 hSin_Cos_Table[256] = SIN_COS_TABLE; //正弦、余弦查表法
  24.  
  25. /*******************************************************************************
  26. * Function Name  : Clarke Transformation
  27. * Description    : This function transforms stator currents qIas and  
  28. *                  qIbs (which are directed along axes each displaced by  
  29. *                  120 degrees) into currents qIalpha and qIbeta in a 
  30. *                  stationary qd reference frame.
  31. *                  qIalpha = qIas
  32. *                  qIbeta = -(2*qIbs+qIas)/sqrt(3)
  33. * Input          : Stat_Curr_a_b
  34. * Output         : Stat_Curr_alfa_beta
  35. * Return         : none.
  36. *******************************************************************************/
  37.  
  38. Curr_Components Clarke(Curr_Components Curr_Input)
  39. {
  40.   Curr_Components Curr_Output;
  41.   
  42.   s32 qIa_divSQRT3_tmp;
  43.   s32 qIb_divSQRT3_tmp ;
  44.   
  45.   s16 qIa_divSQRT3;
  46.   s16 qIb_divSQRT3 ;
  47.  
  48.   // qIalpha = qIas
  49.   Curr_Output.qI_Component1= Curr_Input.qI_Component1;
  50.  
  51.   qIa_divSQRT3_tmp = divSQRT_3 * Curr_Input.qI_Component1; 
  52.   qIa_divSQRT3_tmp /=32768;   //相当于10*divsqrt(3)*Curr_Input.qI_Component1
  53.     
  54.   qIb_divSQRT3_tmp = divSQRT_3 * Curr_Input.qI_Component2;
  55.   qIb_divSQRT3_tmp /=32768;   //相当于10*divsqrt(3)*Curr_Input.qI_Component2
  56.   
  57.   qIa_divSQRT3=((s16)(qIa_divSQRT3_tmp));		
  58.   qIb_divSQRT3=((s16)(qIb_divSQRT3_tmp));				
  59.     
  60.   //qIbeta = -(2*qIbs+qIas)/sqrt(3) beta轴滞后alpha轴，与常规不一样
  61.   Curr_Output.qI_Component2=(-(qIa_divSQRT3)-(qIb_divSQRT3)-(qIb_divSQRT3));
  62.   
  63.   return(Curr_Output); 
  64. }
  65.  
  66. /*******************************************************************************
  67. * Function Name  : Park Transformation
  68. * Description    : This function transforms stator currents qIalpha and qIbeta,
  69. *                  which belong to a stationary qd reference frame, to a rotor 
  70. *                  flux synchronous reference frame (properly oriented), so as 
  71. *                  to obtain qIq and qIds.每转65535个脉冲
  72. *                  qId=qIalpha_tmp*sin(theta)+qIbeta_tmp*cos(Theta)
  73. *                  qIq=qIalpha_tmp*cos(Theta)-qIbeta_tmp*sin(Theta) 与常规不一样           
  74. * Input          : Stat_Curr_alfa_beta                Theta是d与Beta之间的夹角                
  75. * Output         : Stat_Curr_q_d.
  76. * Return         : Curr_Output.
  77. *******************************************************************************/
  78.  
  79. Curr_Components Park(Curr_Components Curr_Input, s16 Theta)
  80. {
  81.   Curr_Components Curr_Output;
  82.   s32 qId_tmp_1, qId_tmp_2;
  83.   s32 qIq_tmp_1, qIq_tmp_2;     
  84.   s16 qId_1, qId_2;  
  85.   s16 qIq_1, qIq_2;  
  86.   
  87.   Vector_Components = Trig_Functions(Theta);
  88.   
  89.   //No overflow guaranteed
  90.   qIq_tmp_1 = Curr_Input.qI_Component1 * Vector_Components.hCos;  	
  91.   qIq_tmp_1 /= 32768;
  92.   
  93.   //No overflow guaranteed
  94.   qIq_tmp_2 = Curr_Input.qI_Component2 *Vector_Components.hSin;
  95.   qIq_tmp_2 /= 32768;
  96.  
  97.   qIq_1 = ((s16)(qIq_tmp_1));
  98.   qIq_2 = ((s16)(qIq_tmp_2));
  99.  
  100.   //Iq component in Q1.15 Format 
  101.   Curr_Output.qI_Component1 = ((qIq_1)-(qIq_2));	
  102.   
  103.   //No overflow guaranteed
  104.   qId_tmp_1 = Curr_Input.qI_Component1 * Vector_Components.hSin;
  105.   qId_tmp_1 /= 32768;
  106.   
  107.   //No overflow guaranteed
  108.   qId_tmp_2 = Curr_Input.qI_Component2 * Vector_Components.hCos;
  109.   qId_tmp_2 /= 32768;
  110.   
  111.   qId_1 = (s16)(qId_tmp_1);		 
  112.   qId_2 = (s16)(qId_tmp_2);					
  113.  
  114.    //Id component in Q1.15 Format   
  115.   Curr_Output.qI_Component2 = ((qId_1)+(qId_2));  
  116.   
  117.   return (Curr_Output);
  118.   
  119. }
  120.  
  121.  
  122. /*******************************************************************************
  123. * Function Name  : RevPark_Circle_Limitation
  124. * Description    : Check if
  125. *       Stat_Volt_q_d.qV_Component1^2 + Stat_Volt_q_d.qV_Component2^2 <= 32767^2
  126. *                  Apply limitation if previous condition is not met,
  127. *                  by keeping a constant ratio 
  128. *                  Stat_Volt_q_d.qV_Component1/Stat_Volt_q_d.qV_Component2
  129. *                 将经过PID调节后的Vd，Vq映射到0-32767，对应的占空比位0-100%
  130. *                 这就设计到合成矢量取模运算，即sqrt(Vd^2+Vq^2)；
  131. *                 运算量比较大，查表法
  132. * Input          : None
  133. * Output         : None
  134. * Return         : None
  135. *******************************************************************************/
  136.  
  137. void RevPark_Circle_Limitation(void)
  138. {
  139. s32 temp;
  140.              
  141. temp = Stat_Volt_q_d.qV_Component1 * Stat_Volt_q_d.qV_Component1 
  142.              + Stat_Volt_q_d.qV_Component2 * Stat_Volt_q_d.qV_Component2;  // min value 0, max value 2*32767*32767
  143.               
  144. if ( temp > (u32)(( MAX_MODULE * MAX_MODULE) ) ) // (Vd^2+Vq^2) > MAX_MODULE^2 ´大于最大调制比
  145.    {
  146.    u16 index;
  147.               
  148.    temp /= (u32)(512*32768);  // min value START_INDEX, max value 127
  149.    temp -= START_INDEX ;      // min value 0, max value 127 - START_INDEX
  150. 		              //减去一个索引值，是因为前面的值都是32768，没有意义，存了浪费时间
  151.    index = circle_limit_table[(u8)temp];                   //index = MMI*S16_Max^2/V_magnitude_index
  152.               
  153.    temp = (s16)Stat_Volt_q_d.qV_Component1 * (u16)(index); //(Vq1)*MMI*S16_Max/V_mag
  154.    Stat_Volt_q_d.qV_Component1 = (s16)(temp/32768);        //Vq=(Vq1)*MMI*S16_Max/(32768*V_mag) 
  155.               
  156.    temp = (s16)Stat_Volt_q_d.qV_Component2 * (u16)(index); //(Vd1)*MMI*S16_Max^2/V_mag
  157.    Stat_Volt_q_d.qV_Component2 = (s16)(temp/32768);        //Vd=(Vd1)*MMI*S16_Max/(32768*V_mag)
  158.    }
  159.  
  160. } 
  161.  
  162. /*******************************************************************************
  163. * Function Name  : Rev_Park Transformation
  164. * Description    : This function transforms stator voltage qVq and qVd, that 
  165. *                  belong to a rotor flux synchronous rotating frame, to a 
  166. *                 stationary reference frame, so as to obtain qValpha and qVbeta
  167. *                  qValfa=qVq*Cos(theta)+qVd*Sin(theta)
  168. *                  qVbeta=-qVq*Sin(theta)+qVd*Cos(theta)                  
  169. * Input          : Stat_Volt_q_d.
  170. * Output         : Stat_Volt_a_b
  171. * Return         : none.
  172. *******************************************************************************/
  173.  
  174. Volt_Components Rev_Park(Volt_Components Volt_Input)
  175. { 	
  176.   s32 qValpha_tmp1,qValpha_tmp2,qVbeta_tmp1,qVbeta_tmp2;
  177.   s16 qValpha_1,qValpha_2,qVbeta_1,qVbeta_2;
  178.   Volt_Components Volt_Output;
  179.    
  180.   //No overflow guaranteed
  181.   qValpha_tmp1 = Volt_Input.qV_Component1 * Vector_Components.hCos;
  182.   qValpha_tmp1 /= 32768;
  183.   
  184.   qValpha_tmp2 = Volt_Input.qV_Component2 * Vector_Components.hSin;
  185.   qValpha_tmp2 /= 32768;
  186. 		
  187.   qValpha_1 = (s16)(qValpha_tmp1);		
  188.   qValpha_2 = (s16)(qValpha_tmp2);			
  189.  
  190.   Volt_Output.qV_Component1 = ((qValpha_1)+(qValpha_2));
  191.  
  192.   
  193.   qVbeta_tmp1 = Volt_Input.qV_Component1 * Vector_Components.hSin;
  194.   qVbeta_tmp1 /= 32768;
  195.   
  196.   qVbeta_tmp2 = Volt_Input.qV_Component2 * Vector_Components.hCos;
  197.   qVbeta_tmp2 /= 32768;
  198.  
  199.   qVbeta_1 = (s16)(qVbeta_tmp1);				
  200.   qVbeta_2 = (s16)(qVbeta_tmp2);
  201.    				
  202.   Volt_Output.qV_Component2 = -(qVbeta_1)+(qVbeta_2);
  203.  
  204.   return(Volt_Output);
  205. }
  206. /*******************************************************************************
  207. * Function Name  : Trig_Functions 
  208. * Description    : This function returns Cosine and Sine functions of the input 
  209. *                  angle
  210. *                 该函数根据输入角返回三角余弦和正弦函数值
  211. * Input          : angle in s16 format
  212. * Output         : Cosine and Sine in s16 format
  213. * Return         : none.
  214. *******************************************************************************/
  215. Trig_Components Trig_Functions(s16 hAngle)
  216. {
  217.   u16 hindex;
  218.   Trig_Components Local_Components;
  219.   
  220.   /* 10 bit index computation  */  
  221.   hindex = (u16)(hAngle + 32768);  
  222.   hindex /= 64;      
  223.   
  224.   switch (hindex & SIN_MASK) 
  225.   {
  226.   case U0_90:
  227.     Local_Components.hSin = hSin_Cos_Table[(u8)(hindex)];
  228.     Local_Components.hCos = hSin_Cos_Table[(u8)(0xFF-(u8)(hindex))];
  229.     break;
  230.   
  231.   case U90_180:  
  232.      Local_Components.hSin = hSin_Cos_Table[(u8)(0xFF-(u8)(hindex))];
  233.      Local_Components.hCos = -hSin_Cos_Table[(u8)(hindex)];
  234.     break;
  235.   
  236.   case U180_270:
  237.      Local_Components.hSin = -hSin_Cos_Table[(u8)(hindex)];
  238.      Local_Components.hCos = -hSin_Cos_Table[(u8)(0xFF-(u8)(hindex))];
  239.     break;
  240.   
  241.   case U270_360:
  242.      Local_Components.hSin =  -hSin_Cos_Table[(u8)(0xFF-(u8)(hindex))];
  243.      Local_Components.hCos =  hSin_Cos_Table[(u8)(hindex)]; 
  244.     break;
  245.   default:
  246.     break;
  247.   }
  248.   return (Local_Components);
  249. }
今天就能理解到这儿了，还有很多不理解的地方，改天继续。加油！


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