电机的PID控制.docVIP

#include DSP28_Device.h #include pmsm3_1.h #include parameter.h #include build.h // 函数声明 interrupt void EvaTimer1(void); interrupt void EvaTimer2(void); // 全局变量定义 float Vd_testing = 0; /* Vd testing (pu) */ float Vq_testing = 0.25; /* Vq testing (pu) */ float Id_ref = 0; /* Id reference (pu) */ float Iq_ref = 0.4; /* Iq reference (pu) */ float speed_ref = 0.2; /* Speed reference (pu) */ float T = 0.001/ISR_FREQUENCY; /* Samping period (sec), see parameter.h */ int isr_ticker = 0; int pwmdac_ch1=0; int pwmdac_ch2=0; int pwmdac_ch3=0; volatile int enable_flg=0; int lockrtr_flg=1; int speed_loop_ps = 10; // 速度环定标器 int speed_loop_count = 1; // 速度环计数器 CLARKE clarke1 = CLARKE_DEFAULTS; PARK park1 = PARK_DEFAULTS; IPARK ipark1 = IPARK_DEFAULTS; PIDREG3 pid1_id = PIDREG3_DEFAULTS; PIDREG3 pid1_iq = PIDREG3_DEFAULTS; PIDREG3 pid1_spd = PIDREG3_DEFAULTS; PWMGEN pwm1 = PWMGEN_DEFAULTS; PWMDAC pwmdac1 = PWMDAC_DEFAULTS; SVGENDQ svgen_dq1 = SVGENDQ_DEFAULTS; QEP qep1 = QEP_DEFAULTS; SPEED_MEAS_QEP speed1 = SPEED_MEAS_QEP_DEFAULTS; DRIVE drv1 = DRIVE_DEFAULTS; RMPCNTL rc1 = RMPCNTL_DEFAULTS; RAMPGEN rg1 = RAMPGEN_DEFAULTS; ILEG2DCBUSMEAS ilg2_vdc1 = ILEG2DCBUSMEAS_DEFAULTS; // 主函数 void main(void) { // 系统初始化 InitSysCtrl(); // HISPCP 设置 EALLOW; SysCtrlRegs.HISPCP.all = 0x0000; /* SYSCLKOUT/1 */ EDIS; // 禁止并清除所有CPU中断: DINT; IER = 0x0000; IFR = 0x0000; // 初始化Pie到默认状态 InitPieCtrl(); // 初始化PIE相量表 InitPieVectTable(); // 初始化EVA 定时器1： //设置定时器1寄存器 (EV A) EvaRegs.GPTCONA.all = 0; //等待使能标志位 while (enable_flg==0) { // 使能定时器1的下溢中断 EvaRegs.EVAIMRA.bit.T1UFINT = 1; EvaRegs.EVAIFRA.bit.T1UFINT = 1; // 使能CAP3中断（定时器2） EvaRegs.EVAIMRC.bit.CAP3INT = 1; EvaRegs.EVAIMRC.bit.CAP3INT = 1; }; // 重新分配中断向量 EALLOW; PieVectTable.T1UFINT = EvaTimer1; PieVectTable.CAPINT3 = EvaTimer2; EDIS; // 使能PIE组2的中断6（T1UFINT） PieCtrlRegs.PIEIER2.all = M_INT6; //