Motorola DSP56F805 Motorola SDK PMSM SVPWM 1 Motorola SDK 3 usa,usb usc isa, isb isc ψsa, ψsb, ψsc SA, SB SC

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斛葫史
7 years ago
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1 DSP56805 B /10 : Wayne Zhou F zhouwei@cmmail.com :

2 Motorola DSP56F805 Motorola SDK PMSM SVPWM 1 Motorola SDK 3 usa,usb usc isa, isb isc ψsa, ψsb, ψsc SA, SB SC

3 rpm VAC 550W / / / LED Is_qReq Is_dReq Is_a Is_b Is_c α, β Park Clark d q Us_q Us_d d q Us_q Us_d α, β

4 DSP PWM Clarke α, β d q Park d q α, β Park Clarke

5 K α a Park-Clarke α,β d,q d q d q α, β d q

6 d q Park d q α, β Park Motorola DSP56F805 A B Index Index d Phase A Phase B Index A

7 A A0 A1 A0 primary secondary A0 A1 cascade A0 A1 A1 Index A1 ((4* ) 1) A1 A Index Index Index A1 A0 A1 <-1;1) <-π; π)

8 speed k N T A2 A3 Phase A D0 900us Phase A A2 A3

9 Vmin [rpm] N [-] Tcalc [s] 1024 (EQ 4-10) 16.3rpm Vmax [rpm] N [-] TclkT2 A2 N TclkT2 A2 = 36MHz/ rpm K K K Vmax

10 N TclkT2 A V A/D Q2 A Q4 B Q6 C PWM PWM PWM A

11 PWM A 0-60 B

12 C N Index d q d Id Id STOP DSP

13 VAC IGBT PMSM Fault PWM ADC Quadrature DSP56F805 decoder SCI GPIO GPIO DSP56F805

14 5.1 DSP56F805 DSP56F805 Motorola DSP56F80x DSP DSP MCU PWM ADC Timer SCI SPI CAN

15 DSP56F805 PWM (PWMA & PWMB) 12 A/D PWM PWM ADC PWM 4 2 A B Timer C 2Timer D 4 CAN 2.0A/B 2 (SCI0 & SCI1) (SPI) (COP) 2 14 I/O (GPIO) JTAG/On-Chip Emulation (OnCE) PLL 5.2 DSP56F

16 6.2 DSP DSP IO PWM 1

17 1 ROM 2

18 2 No 2MS Yes Yes PI No

19 INT3 T1PR N Y S_cal_feedback Iu Iv Iw Id Iq N S_speed_pos n thta_mah s_over_current S_id_iq_reg id,iq PIud,uq Parkinverse ud,uq,that_mah Ualfa,Ubeta S_sub_thta_sector ud,uq,that_mah thta thta sector Ualfa,Ubeta X,Y,Z sector pwm_t1,pwm_t2 Pwm_t1,pwm_t2 Pwm_t1,pwm_t2 taon,tbon,tcon Taon,tbon,tcon,sector cmpr1.cmpr2,cmpr3 PWM

S_sub_thta_sector ud,uq,that_mah thta thta sector Ualfa,Ubeta X,Y,Z sector

20 125us s_cal_feedback 1 A/D N Y Iu,Iv,Iw Iu*KIAC=Iu Iv*KIAC=Iv Iw*KIAC=Iw Iu,Iv,Iw Ialfa,Ibeta S_park Ialfa,Ibeta Id,Iq S_filter_average Id,Iq End

21 S_speed_pos 1 T3new get T3CNT 125us T3delt T3new T3old thta_mah thta_mah=thta_ini+ T3new*720/encoder_pulse PWM that_pwm thta_pwm=thta_mah+w*t N End Count_125us=count_125us+1 speed_pulse=speed_pulse+t3delt Y Abs(speed_pulse)>=100 count_125us>=8000 N End Speed_fed=speed_pulse*8000H/ (6000*count_125us*125us*2*f Y Count_125us=0 speed_pulse=0 speed_feedback=1 End

22 T3NEW=T3CNT T3CNT=0 T3old=T3old-T3NEW s_id_iq_pi_reg PI c(k) e(k)=r(k)- c(k) delt_u(k)= Kp[e(k)-e(k-1)]+Ki*e(k) U(k)=u(k-1)+delt_u(k) u(k) e(k-1)=e(k) u(k-1)=u(k) End

23 Id Iq S_filter_average filter_pointer_flag=1? N Filter_pointer_flag=0 filter_pointer=0 N Y filter_pointer<=255 Y sum_id sum_iq sum_id+id_fed sum_iq+iq_fed id_fed_flt=sum_id/(filter_pointer+1) iq_fed_flt=sum_iq/(filter_pointer+1) 3 1 filter_pointer=256? Y Filter_pointer=0 N filter_pointer=255 Tmp=filter_pointer+1 Y Tmp=0 2

24 2 Acc=tmp+filter_data_id_addr s_com_ax=(acc) Acc=tmp+filter_data_iq_addr s_com_bx=(acc) Sum_id=sum_id+id_fed-s_com_ax Sum_iq=sum_iq+iq_fed-s_com_bx Id_fed_flt=sum_id/256 Iq_fed_flt=sum_iq/256 Acc=filter_pinter+filter_data_id_addr (acc)=id_fed acc=filter_pointer_data_iq_addr (acc)=iq_fed Filter_pointer=filter_pointer+1 End Id,Iq S_filter_average_ini Sum_id=0 Sum_iq=0 Filter_pointer=0 filter_pointer_flag=1 Id_fed_flt=sum_id/256 Iq_fed_flt=sum_iq/256 End

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