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FOC电流环

news 2025/6/27 16:14:57

interrupt void ISRTimer0(void)
{

IQ_Ref=2.2;//在电流环下给负电流电机反转
IQ_Fdb=iq;

IQ_Error=IQ_Ref-IQ_Fdb;

IQ_Up=IQ_Kp*IQ_Error;
IQ_Ui=IQ_Ui + IQ_Ki*IQ_Up + IQ_Kc*IQ_SatError;

IQ_OutPreSat=IQ_Up+IQ_Ui;

                   if(IQ_OutPreSat>IQ_OutMax)
                       IQ_Out=IQ_OutMax;
                   else if(IQ_OutPreSat<IQ_OutMin)
                      IQ_Out=IQ_OutMin;
                   else
                       IQ_Out=IQ_OutPreSat;

IQ_SatError=IQ_Out-IQ_OutPreSat;

Uq=IQ_Out;

ID_Ref=0;
ID_Fdb=id;

ID_Error=ID_Ref-ID_Fdb;

ID_Up=ID_Kp*ID_Error;
ID_Ui=ID_Ui+ID_Ki*ID_Up+ID_Kc*ID_SatError;

ID_OutPreSat=ID_Up+ID_Ui;

                   if(ID_OutPreSat>ID_OutMax)
                       ID_Out=ID_OutMax;
                   else if(ID_OutPreSat<ID_OutMin)
                      ID_Out=ID_OutMin;
                   else
                       ID_Out=ID_OutPreSat;

ID_SatError=ID_Out-ID_OutPreSat;

Ud=ID_Out;

Ualfa = Ud*Cosine - Uq*Sine;
Ubeta = Uq*Cosine + Ud*Sine;

                   B0=Ubeta;
                           B1=0.8660254*Ualfa - 0.5*Ubeta;
                           B2=-0.8660254*Ualfa- 0.5*Ubeta;
                           Sector=0;
                           if(B0>0) Sector =1;
                           if(B1>0) Sector =Sector +2;
                           if(B2>0) Sector =Sector +4;

                           X=Ubeta;
                           Y=0.8660254*Ualfa + 0.5*Ubeta;
                           Z=-0.8660254*Ualfa+ 0.5*Ubeta;

                       if (Sector==0)
                       {
                       Ta = 0.5;
                       Tb = 0.5;
                       Tc = 0.5;
                       }

                       if (Sector==1)
                       {
                       t1 = Z;
                       t2 = Y;

                       Tb = 0.5*(1-t1-t2);
                       if(Tb<0)
                       {
                           Tb=0;
                       }
                       Ta = Tb+t1;
                       Tc = Ta+t2;
                       }

                       else if (Sector==2)
                       {
                       t1 = Y;
                       t2 = -X;

                       Ta = 0.5*(1-t1-t2);
                       if(Ta<0)
                       {
                           Ta=0;
                       }
                       Tc = Ta+t1;
                       Tb = Tc+t2;
                       }

                       else if (Sector==3)
                       {
                       t1 = -Z;
                       t2 = X;

                       Ta = 0.5*(1-t1-t2);
                       if(Ta<0)
                       {
                           Ta=0;
                       }
                       Tb = Ta+t1;
                       Tc = Tb+t2;
                       }

                       else if (Sector==4)
                       {
                       t1 = -X;
                       t2 = Z;

                       Tc = 0.5*(1-t1-t2);
                       if(Tc<0)
                       {
                           Tc=0;
                       }
                       Tb = Tc+t1;
                       Ta = Tb+t2;
                       }

                       else if (Sector==5)
                       {
                       t1 = X;
                       t2 = -Y;

                       Tb = 0.5*(1-t1-t2);
                       if(Tb<0)
                       {
                           Tb=0;
                       }
                       Tc = Tb+t1;
                       Ta = Tc+t2;
                       }

                       else if (Sector==6)
                       {
                       t1 = -Y;
                       t2 = -Z;

                       Tc = 0.5*(1-t1-t2);
                       if(Tc<0)
                       {
                           Tc=0;
                       }
                       Ta = Tc+t1;
                       Tb = Ta+t2;
                           }

EPwm1Regs.CMPA.half.CMPA=Ta*3750;
                       EPwm2Regs.CMPA.half.CMPA=Tb*3750;
                       EPwm3Regs.CMPA.half.CMPA=Tc*3750;
                       EPwm1Regs.CMPB=Ta*3750;
                       EPwm2Regs.CMPB=Tb*3750;
                       EPwm3Regs.CMPB=Tc*3750;

}

PieCtrlRegs.PIEACK.all = PIEACK_GROUP1;
CpuTimer0Regs.TCR.bit.TIF = 1;
CpuTimer0Regs.TCR.bit.TRB = 1;
}

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