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修正电流限幅

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BoomPC
2024-12-02 02:45:48 +08:00
parent 721796e105
commit 58e529da77
73 changed files with 1920 additions and 12247 deletions
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336
BoooomCTL/Controller/SVPWM/SVPWM.c
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@@ -1,170 +1,170 @@
////
//// Created by ZK on 2023/3/16.
////
//
// Created by ZK on 2023/3/16.
//#include "SVPWM.h"
//
#include "SVPWM.h"
#define SVM 1
extern uint16_t cycleNum;
#define SQRT3 1.732050808f
#define LIMIT (float32_t)(0.9f / SQRT3)
#define LIMIT_UDC 16.0f
#define TS 3300
#define SQRT3_MULT_TS (float32_t)((float32_t)TS * SQRT3)
uint8_t sectionMap[7] = {0, 2, 6, 1, 4, 3, 5};
float32_t uAlpha, uBeta;
float32_t ud, uq;
float channel1, channel2, channel3, udc = 12;
float uAlpha, uBeta;
float32_t iAlpha, iBeta;
float32_t id, iq;
inline void clarke_transform(float Ia, float Ib, float Ic, float *Ialpha, float *Ibeta) {
*Ialpha = Ia;
*Ibeta = (Ib - Ic) * ONE_BY_SQRT3;
}
inline void park_transform(float Ialpha, float Ibeta, float Theta, float *Id, float *Iq) {
float s = sinf(Theta / 57.29577951326093f);
float c = cosf(Theta / 57.29577951326093f);
*Id = Ialpha * c + Ibeta * s;
*Iq = -Ialpha * s + Ibeta * c;
}
inline void inversePark(float ud, float uq, float Theta, float *uAlpha, float *uBeta) {
float s = sinf(Theta / 57.29577951326093f);
float c = cosf(Theta / 57.29577951326093f);
*uAlpha = ud * c - uq * s;
*uBeta = ud * s + uq * c;
}
inline int SVPWM(float uAlpha, float uBeta, float *tA, float *tB, float *tC) {
int Sextant;
if (uBeta >= 0.0f) {
if (uAlpha >= 0.0f) {
//quadrant I
if (ONE_BY_SQRT3 * uBeta > uAlpha)
Sextant = 2; //sextant v2-v3
else
Sextant = 1; //sextant v1-v2
} else {
//quadrant II
if (-ONE_BY_SQRT3 * uBeta > uAlpha)
Sextant = 3; //sextant v3-v4
else
Sextant = 2; //sextant v2-v3
}
} else {
if (uAlpha >= 0.0f) {
//quadrant IV
if (-ONE_BY_SQRT3 * uBeta > uAlpha)
Sextant = 5; //sextant v5-v6
else
Sextant = 6; //sextant v6-v1
} else {
//quadrant III
if (ONE_BY_SQRT3 * uBeta > uAlpha)
Sextant = 4; //sextant v4-v5
else
Sextant = 5; //sextant v5-v6
}
}
switch (Sextant) {
// sextant v1-v2
case 1: {
// Vector on-times
float t1 = uAlpha - ONE_BY_SQRT3 * uBeta;
float t2 = TWO_BY_SQRT3 * uBeta;
// PWM timings
*tA = (1.0f - t1 - t2) * 0.5f;
*tB = *tA + t1;
*tC = *tB + t2;
}
break;
// sextant v2-v3
case 2: {
// Vector on-times
float t2 = uAlpha + ONE_BY_SQRT3 * uBeta;
float t3 = -uAlpha + ONE_BY_SQRT3 * uBeta;
// PWM timings
*tB = (1.0f - t2 - t3) * 0.5f;
*tA = *tB + t3;
*tC = *tA + t2;
}
break;
// sextant v3-v4
case 3: {
// Vector on-times
float t3 = TWO_BY_SQRT3 * uBeta;
float t4 = -uAlpha - ONE_BY_SQRT3 * uBeta;
// PWM timings
*tB = (1.0f - t3 - t4) * 0.5f;
*tC = *tB + t3;
*tA = *tC + t4;
}
break;
// sextant v4-v5
case 4: {
// Vector on-times
float t4 = -uAlpha + ONE_BY_SQRT3 * uBeta;
float t5 = -TWO_BY_SQRT3 * uBeta;
// PWM timings
*tC = (1.0f - t4 - t5) * 0.5f;
*tB = *tC + t5;
*tA = *tB + t4;
}
break;
// sextant v5-v6
case 5: {
// Vector on-times
float t5 = -uAlpha - ONE_BY_SQRT3 * uBeta;
float t6 = uAlpha - ONE_BY_SQRT3 * uBeta;
// PWM timings
*tC = (1.0f - t5 - t6) * 0.5f;
*tA = *tC + t5;
*tB = *tA + t6;
}
break;
// sextant v6-v1
case 6: {
// Vector on-times
float t6 = -TWO_BY_SQRT3 * uBeta;
float t1 = uAlpha + ONE_BY_SQRT3 * uBeta;
// PWM timings
*tA = (1.0f - t6 - t1) * 0.5f;
*tC = *tA + t1;
*tB = *tC + t6;
}
break;
}
// if any of the results becomes NaN, result_valid will evaluate to false
int result_valid = *tA >= 0.0f && *tA <= 1.0f && *tB >= 0.0f && *tB <= 1.0f && *tC >= 0.0f && *tC <= 1.0f;
return result_valid ? 0 : -1;
// TIM1->CCR1 = channelA;
// TIM1->CCR2 = channelB;
// TIM1->CCR3 = channelC;
}
//
//#define SVM 1
//
//extern uint16_t cycleNum;
//
//#define SQRT3 1.732050808f
//#define LIMIT (float32_t)(0.9f / SQRT3)
//#define LIMIT_UDC 16.0f
//#define TS 3300
//#define SQRT3_MULT_TS (float32_t)((float32_t)TS * SQRT3)
//
//uint8_t sectionMap[7] = {0, 2, 6, 1, 4, 3, 5};
//float32_t uAlpha, uBeta;
//float32_t ud, uq;
//float channel1, channel2, channel3, udc = 12;
//float uAlpha, uBeta;
//float32_t iAlpha, iBeta;
//float32_t id, iq;
//
//
//inline void clarke_transform(float Ia, float Ib, float Ic, float *Ialpha, float *Ibeta) {
// *Ialpha = Ia;
// *Ibeta = (Ib - Ic) * ONE_BY_SQRT3;
//}
//
//inline void park_transform(float Ialpha, float Ibeta, float Theta, float *Id, float *Iq) {
// float s = sinf(Theta / 57.29577951326093f);
// float c = cosf(Theta / 57.29577951326093f);
// *Id = Ialpha * c + Ibeta * s;
// *Iq = -Ialpha * s + Ibeta * c;
//}
//
//
//inline void inversePark(float ud, float uq, float Theta, float *uAlpha, float *uBeta) {
// float s = sinf(Theta / 57.29577951326093f);
// float c = cosf(Theta / 57.29577951326093f);
// *uAlpha = ud * c - uq * s;
// *uBeta = ud * s + uq * c;
//}
//
//
//inline int SVPWM(float uAlpha, float uBeta, float *tA, float *tB, float *tC) {
// int Sextant;
//
// if (uBeta >= 0.0f) {
// if (uAlpha >= 0.0f) {
// //quadrant I
// if (ONE_BY_SQRT3 * uBeta > uAlpha)
// Sextant = 2; //sextant v2-v3
// else
// Sextant = 1; //sextant v1-v2
//
// } else {
// //quadrant II
// if (-ONE_BY_SQRT3 * uBeta > uAlpha)
// Sextant = 3; //sextant v3-v4
// else
// Sextant = 2; //sextant v2-v3
// }
// } else {
// if (uAlpha >= 0.0f) {
// //quadrant IV
// if (-ONE_BY_SQRT3 * uBeta > uAlpha)
// Sextant = 5; //sextant v5-v6
// else
// Sextant = 6; //sextant v6-v1
// } else {
// //quadrant III
// if (ONE_BY_SQRT3 * uBeta > uAlpha)
// Sextant = 4; //sextant v4-v5
// else
// Sextant = 5; //sextant v5-v6
// }
// }
//
// switch (Sextant) {
// // sextant v1-v2
// case 1: {
// // Vector on-times
// float t1 = uAlpha - ONE_BY_SQRT3 * uBeta;
// float t2 = TWO_BY_SQRT3 * uBeta;
//
// // PWM timings
// *tA = (1.0f - t1 - t2) * 0.5f;
// *tB = *tA + t1;
// *tC = *tB + t2;
// }
// break;
//
// // sextant v2-v3
// case 2: {
// // Vector on-times
// float t2 = uAlpha + ONE_BY_SQRT3 * uBeta;
// float t3 = -uAlpha + ONE_BY_SQRT3 * uBeta;
//
// // PWM timings
// *tB = (1.0f - t2 - t3) * 0.5f;
// *tA = *tB + t3;
// *tC = *tA + t2;
// }
// break;
//
// // sextant v3-v4
// case 3: {
// // Vector on-times
// float t3 = TWO_BY_SQRT3 * uBeta;
// float t4 = -uAlpha - ONE_BY_SQRT3 * uBeta;
//
// // PWM timings
// *tB = (1.0f - t3 - t4) * 0.5f;
// *tC = *tB + t3;
// *tA = *tC + t4;
// }
// break;
//
// // sextant v4-v5
// case 4: {
// // Vector on-times
// float t4 = -uAlpha + ONE_BY_SQRT3 * uBeta;
// float t5 = -TWO_BY_SQRT3 * uBeta;
//
// // PWM timings
// *tC = (1.0f - t4 - t5) * 0.5f;
// *tB = *tC + t5;
// *tA = *tB + t4;
// }
// break;
//
// // sextant v5-v6
// case 5: {
// // Vector on-times
// float t5 = -uAlpha - ONE_BY_SQRT3 * uBeta;
// float t6 = uAlpha - ONE_BY_SQRT3 * uBeta;
//
// // PWM timings
// *tC = (1.0f - t5 - t6) * 0.5f;
// *tA = *tC + t5;
// *tB = *tA + t6;
// }
// break;
//
// // sextant v6-v1
// case 6: {
// // Vector on-times
// float t6 = -TWO_BY_SQRT3 * uBeta;
// float t1 = uAlpha + ONE_BY_SQRT3 * uBeta;
//
// // PWM timings
// *tA = (1.0f - t6 - t1) * 0.5f;
// *tC = *tA + t1;
// *tB = *tC + t6;
// }
// break;
// }
//
// // if any of the results becomes NaN, result_valid will evaluate to false
// int result_valid = *tA >= 0.0f && *tA <= 1.0f && *tB >= 0.0f && *tB <= 1.0f && *tC >= 0.0f && *tC <= 1.0f;
//
// return result_valid ? 0 : -1;
//
//// TIM1->CCR1 = channelA;
//// TIM1->CCR2 = channelB;
//// TIM1->CCR3 = channelC;
//}

66
BoooomCTL/Controller/SVPWM/SVPWM.h
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@@ -1,36 +1,36 @@
////
//// Created by ZK on 2023/3/16.
////
//
// Created by ZK on 2023/3/16.
//#ifndef BOOOOMFOC_STSPIN32G4_EVB_SVPWM_H
//#define BOOOOMFOC_STSPIN32G4_EVB_SVPWM_H
//
#ifndef BOOOOMFOC_STSPIN32G4_EVB_SVPWM_H
#define BOOOOMFOC_STSPIN32G4_EVB_SVPWM_H
#include "arm_math.h"
//#define M_PI (3.14159265358f)
#define M_2PI (6.28318530716f)
#define ONE_BY_SQRT3 (0.57735026919f)
#define TWO_BY_SQRT3 (2.0f * 0.57735026919f)
#define SQRT3_BY_2 (0.86602540378f)
#define SQ(x) ((x) * (x))
#define ABS(x) ((x) > 0 ? (x) : -(x))
#define MAX(x, y) (((x) > (y)) ? (x) : (y))
#define MIN(x, y) (((x) < (y)) ? (x) : (y))
#define CLAMP(x, lower, upper) (MIN(upper, MAX(x, lower)))
#define FLOAT_EQU(floatA, floatB) ((ABS((floatA) - (floatB))) < 0.000001f)
//extern inline void clarke_transform(float Ia, float Ib, float Ic, float *Ialpha, float *Ibeta);
//#include "arm_math.h"
//
//extern inline void park_transform(float Ialpha, float Ibeta, float Theta, float *Id, float *Iq);
extern void clarke_transform(float Ia, float Ib, float Ic, float *Ialpha, float *Ibeta);
extern void park_transform(float Ialpha, float Ibeta, float Theta, float *Id, float *Iq);
extern void inversePark(float ud, float uq, float Theta, float *uAlpha, float *uBeta);
extern int SVPWM(float uAlpha, float uBeta, float *tA, float *tB, float *tC);
#endif //BOOOOMFOC_STSPIN32G4_EVB_SVPWM_H
////#define M_PI (3.14159265358f)
//#define M_2PI (6.28318530716f)
//#define ONE_BY_SQRT3 (0.57735026919f)
//#define TWO_BY_SQRT3 (2.0f * 0.57735026919f)
//#define SQRT3_BY_2 (0.86602540378f)
//
//#define SQ(x) ((x) * (x))
//#define ABS(x) ((x) > 0 ? (x) : -(x))
//#define MAX(x, y) (((x) > (y)) ? (x) : (y))
//#define MIN(x, y) (((x) < (y)) ? (x) : (y))
//#define CLAMP(x, lower, upper) (MIN(upper, MAX(x, lower)))
//#define FLOAT_EQU(floatA, floatB) ((ABS((floatA) - (floatB))) < 0.000001f)
//
////extern inline void clarke_transform(float Ia, float Ib, float Ic, float *Ialpha, float *Ibeta);
////
////extern inline void park_transform(float Ialpha, float Ibeta, float Theta, float *Id, float *Iq);
//
//extern void clarke_transform(float Ia, float Ib, float Ic, float *Ialpha, float *Ibeta);
//
//extern void park_transform(float Ialpha, float Ibeta, float Theta, float *Id, float *Iq);
//
//extern void inversePark(float ud, float uq, float Theta, float *uAlpha, float *uBeta);
//
//extern int SVPWM(float uAlpha, float uBeta, float *tA, float *tB, float *tC);
//
//
//#endif //BOOOOMFOC_STSPIN32G4_EVB_SVPWM_H