IQMATH
TI
的片子很香,做的也很好,但是成本相對ST會更高,電機控制方面,TI
無疑是做的最好的方案之一,另外TI
針對沒有浮點運算器的定點DSP
推出了IQMATH
庫,在使用Q格式對數據進行分析和處理的過程中,十分方便,代碼也變得更加簡潔,本文將使用TI
的方案實現SVPWM
,在這裏感謝TI
。
測試平臺參數:
硬件:stm32f103
軟件:標準外設庫3.5
IDE:MDK-ARM
添加IQmathLib到工程中
將IQmathlib
解壓可以得到如下文件,其中包含各個平臺下的靜態庫,本文使用STM32F1
在keil
環境下進行開發,需要使用的是rvmdk-cm3
。
打開一個keil
工程,在菜單界面點擊如下圖所示的圖標進入project items
;
添加IQmath
組,並添加rvmdk-cm3
路徑下的靜態庫,和頭文件;
點擊下圖所示的圖標進入工程熟悉的設置;
添加rvmdk-cm3
靜態庫的路徑,和頭文件的包含路徑,如下圖所示;
最終,build
整個工程即可。
測試部分程序
/**
******************************************************************************
* @file Project/STM32F10x_StdPeriph_Template/main.c
* @author MCD Application Team
* @version V3.5.0
* @date 08-April-2011
* @brief Main program body
******************************************************************************
* @attention
*
* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
* TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
* DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
* FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
* CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
*
* <h2><center>© COPYRIGHT 2011 STMicroelectronics</center></h2>
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"
#include <stdio.h>
#include <stdint.h>
#include "serial_scope.h"
#include "common.h"
#include "IQmathLib.h"
#include "usart_driver.h"
#include "clarke.h"
#include "park.h"
#include "svpwm.h"
/**
* @brief Main program.
* @param None
* @retval None
*/
sv_mod_t svpwm = SVGEN_DEFAULTS;
#define CLARK 0
#define PARK 1
#define SVPWM 2
#define SVPWM_REG 3
int main(void)
{
int user_data[4] = { 0 };
static int16_t time_cnt = 0;
Trig_Components a;
Trig_Components b;
_iq final_angle;
usart_init();
while (1)
{
time_cnt-=32;
clarke_parameter.As = _IQsinPU(time_cnt);
clarke_parameter.Bs = _IQsinPU(time_cnt-0x5555);
if(clarke_parameter.As > 32767){
clarke_parameter.As = 32767;
}
if(clarke_parameter.As < -32768){
clarke_parameter.As = -32768;
}
if(clarke_parameter.Bs > 32767){
clarke_parameter.Bs = 32767;
}
if(clarke_parameter.Bs < -32768){
clarke_parameter.Bs = -32768;
}
clarke_calc(&clarke_parameter);
park_parameter.Alpha = clarke_parameter.Alpha;
park_parameter.Beta = clarke_parameter.Beta;
park_parameter.Sin = trig_functions(time_cnt).hsin;
park_parameter.Cos = trig_functions(time_cnt).hcos;
park_parameter.Angle = -time_cnt;
park_calc(&park_parameter);
svpwm.Ualpha = clarke_parameter.Alpha;
svpwm.Ubeta = clarke_parameter.Beta;
svpwm_calc(&svpwm);
#define FOC_DEBUG SVPWM_REG
#if (FOC_DEBUG == CLEAK)
user_data[0] = clarke_parameter.As;
user_data[1] = clarke_parameter.Bs;
user_data[2] = clarke_parameter.Alpha;
user_data[3] = clarke_parameter.Beta;
#elif (FOC_DEBUG == PARK)
user_data[0] = clarke_parameter.As;
user_data[1] = clarke_parameter.Bs;
user_data[2] = park_parameter.Ds;
user_data[3] = park_parameter.Qs;
#elif (FOC_DEBUG == SVPWM)
user_data[0] = (uint16_t)svpwm.Ta;
user_data[1] = (uint16_t)svpwm.Tb;
user_data[2] = (uint16_t)svpwm.Tc;
user_data[3] = svpwm.VecSector*5000;
#elif (FOC_DEBUG == SVPWM_REG)
//換算的CCRx寄存器的值
sv_regs_mod_t sv_regs = svpwm_get_regs_mod(7200,&svpwm);
user_data[0] = sv_regs.ccr1;
user_data[1] = sv_regs.ccr2;
user_data[2] = sv_regs.ccr3;
user_data[3] = svpwm.VecSector*1000;
#endif
SDS_OutPut_Data_INT(user_data);
}
return 0;
}
/**
* @}
*/
/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/