1、ADC电流偏置读取
- void Offset_CurrentReading(void)
- {
- static uint16_t ADC_PhaseU_Curr[100];
- static uint16_t ADC_PhaseV_Curr[100];
- uint16_t temp;
- uint32_t sum_U=0;
- uint32_t sum_V=0;
- uint8_t i,k;
- for(i=0;i<100;i++){
- while(DMA_GetFlagStatus(DMA2_Stream0,DMA_FLAG_TCIF0)==RESET);
- DMA_ClearFlag(DMA2_Stream0,DMA_FLAG_TCIF0);
- ADC_PhaseU_Curr[i] = ADC_DualConvertedValueTab[0];
- ADC_PhaseV_Curr[i] = ADC_DualConvertedValueTab[1];
- }
- for(k=0;k<100;k++){
- for(i=k+1;i<100;i++)
- if(ADC_PhaseU_Curr[i]>ADC_PhaseU_Curr[k]){
- temp=ADC_PhaseU_Curr[i];
- ADC_PhaseU_Curr[i]=ADC_PhaseU_Curr[k];
- ADC_PhaseU_Curr[k]=temp;
- }
- }
- sum_U=0;
- for(k=25;k<75;k++){
- sum_U=sum_U+ADC_PhaseU_Curr[k];
- }
- ADCSampPare.OffsetPhaseU_Curr =sum_U/50;
- printf("U: %d \n", ADCSampPare.OffsetPhaseU_Curr);
- for(k=0;k<100;k++){
- for(i=k+1;i<100;i++)
- if(ADC_PhaseV_Curr[i]>ADC_PhaseV_Curr[k]){
- temp=ADC_PhaseV_Curr[i];
- ADC_PhaseV_Curr[i]=ADC_PhaseV_Curr[k];
- ADC_PhaseV_Curr[k]=temp;
- }
- }
- sum_V=0;
- for(k=25;k<75;k++){
- sum_V=sum_V+ADC_PhaseV_Curr[k];
- }
- ADCSampPare.OffsetPhaseV_Curr =sum_V/50;
- printf("V: %d \n", ADCSampPare.OffsetPhaseV_Curr);
- }
2、转速测量
为以后速度环做准备
- angeel_ch[sp_flag]=Anglee;
- if ((TIM2->CR1 & TIM_CounterMode_Down) == TIM_CounterMode_Down){
- //encoder timer down-counting
- if(angeel_ch[sp_flag]>angeel_ch[(sp_flag+1)%11])
- interval=angeel_ch[sp_flag]-angeel_ch[(sp_flag+1)%11]-4000;
- else interval=angeel_ch[sp_flag]-angeel_ch[(sp_flag+1)%11];
- }
- else{
- if(angeel_ch[sp_flag]<angeel_ch[(sp_flag+1)%11])</angeel_ch[(sp_flag+1)%11])
- interval=angeel_ch[sp_flag]-angeel_ch[(sp_flag+1)%11]+4000;
- else interval=angeel_ch[sp_flag]-angeel_ch[(sp_flag+1)%11];
- }
- if((interval<200)&&(interval>-200)){
- speedms=interval*15;
- FirstOrder_LPF_Cacl(speedms,speedms_F,0.1);
- pi_spd.Fdb=speedms_F;
- }
- sp_flag++;
- if (sp_flag>=11)sp_flag=0;
3、q轴单轴调试
Pid参数:
- #define Id_Kp 0.0
- #define Id_Ki 0.0
- #define Id_Kc 0
- #define Iq_Kp 0.1
- #define Iq_Ki 0.5
- #define Iq_Kc 0
- pi_iq.Ref= 50;
- pi_iq.Fdb=I_dq.I2;
- PID_CALC(pi_iq);
- FirstOrder_LPF_Cacl(pi_iq.Out,pi_iq.OutF,0.05);
- Volt_dq.V2= pi_iq.OutF;
- Volt_dq.V1= 0;
结合之前的开环调试,整体流程大致这样。
4、PID限幅与计算
- #define UP16LIMIT(var,max,min) {(var) = (var)>(max)?(max):(var) ;
- #define PID_CALC(v) \
- v.Err = v.Ref - v.Fdb; \
- v.Up= _IQmpy(v.Kp,v.Err); \
- v.Ui= v.Ui + _IQmpy(v.Ki,v.Up); \
- UP16LIMIT(v.Ui,v.OutMax,v.OutMin);\
- v.Ud = v.Kd * (v.Up - v.Up1);\
- v.Out = v.Up + v.Ui + v.Ud;\
- UP16LIMIT(v.Out,v.OutMax,v.OutMin);\
- v.Up1 = v.Up;
- 5、主程序调用
- int main(void)
- {
- NVIC_Configuration();
- StateContr.Control_Mode = 1;
- PID_init();
- Key_GPIO();
- Hall_Gpio();
- Encoder_Init();
- USARTx_Config();
- Adc_Conf();
- DRV8313_GPIO();
- Tim1_PWM_Init();
- ROTATOR_Init();
- printf("hello \n");
- Offset_CurrentReading();
- while(1){
- Key_Scan();
- }
- }
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