DSP无刷直流电动机驱动控制程序(3)

{

case 4: {

Ad(); //检测电流 if(ia_fd<0) ia_fd=0; //保护 speed_PI(); //转速PI调节 Ia_PI(); //电流PI调节 EvaRegs.ACTR.all = 0x0F3E; //ia+,ib- EvaRegs.CMPR1=COMP2; break; }

case 5: {

Ad(); //检测电流 if(ia_fd<0) ia_fd=0; //保护 speed_PI(); //转速PI调节 Ia_PI(); //电流PI调节 EvaRegs.ACTR.all = 0x03FE; //ia+,ic- EvaRegs.CMPR1=COMP2; break; }

case 1: {

Ad(); if(ib_fd<0) ib_fd=0; ia_fd=ib_fd; speed_PI(); Ia_PI();

EvaRegs.ACTR.all = 0x03EF; //ib+,ic- EvaRegs.CMPR2=COMP2; break; }

case 3: { Ad();

if(ib_fd<0) ib_fd=0; ia_fd=ib_fd; speed_PI(); Ia_PI();

EvaRegs.ACTR.all = 0x0FE3; //ib+,ia- EvaRegs.CMPR2=COMP2;

break; }

case 2: { Ad();

ia_fd=-ia_fd;

if(ia_fd<0) ia_fd=0; speed_PI(); Ia_PI();

EvaRegs.ACTR.all = 0x0EF3; //ic+,ia- EvaRegs.CMPR3=COMP2; break; }

case 6: { Ad();

ib_fd=-ib_fd;

if(ib_fd<0) ib_fd=0; ia_fd=ib_fd; speed_PI(); Ia_PI();

EvaRegs.ACTR.all = 0x0E3F; //ic+,ib- EvaRegs.CMPR3=COMP2; break; }

default: break; } }

//******************************** //电流反馈

//******************************** void Ad() {

char delay_zy=0;

ia_fd=0,ib_fd=0; //AB相电流检测值清零 for(Iab_Data=0;Iab_Data<=5;Iab_Data++) {

ia[Iab_Data]=AdcRegs.RESULT0>>4; ib[Iab_Data]=AdcRegs.RESULT1>>4; if(Iab_Data==0)

{

for(delay_zy=0;delay_zy<=10;delay_zy++) {;} }

else if(Iab_Data==1) {

if(ia[0]>ia[1]) {

Temp_filter= ia[1]; ia[1] = ia[0]; ia[0] = Temp_filter; }

if(ib[0]>ib[1]) {

Temp_filter= ib[1]; ib[1] = ib[0]; ib[0] = Temp_filter; } } else {

if(ia[Iab_Data]>ia[1]) {

Temp_filter= ia[1]; ia[1] = ia[Iab_Data]; ia[Iab_Data] = Temp_filter; }

else if(ia[Iab_Data]

Temp_filter= ia[0]; ia[0] = ia[Iab_Data]; ia[Iab_Data] = Temp_filter; }

if(ib[Iab_Data]

Temp_filter= ib[0]; ib[0] = ib[Iab_Data]; ib[Iab_Data] = Temp_filter; }

else if(ib[Iab_Data]>ib[1]) {

Temp_filter= ib[1]; ib[1] = ib[Iab_Data]; ib[Iab_Data] = Temp_filter;

} } }

ia_fd=(ia[2]+ia[3]+ia[4]+ia[5])>>2; ib_fd=(ib[2]+ib[3]+ib[4]+ib[5])>>2; ia_fd=ia_fd-2133; ib_fd=ib_fd-2150; }

//******************************** //转速反馈计算

//******************************** void speed(void) {

if((cap2 != cap1)&&(t2first==1)) {

if(cap_c!= 0) {

long2_tmp = 1953125/cap_c; spd_fd_q1 = long2_tmp; intruptcount=0; switch(cap2) {

case 5: {

if(cap1==4) spd_fd_q1=-spd_fd_q1; break; } case 4: {

if(cap1==6) spd_fd_q1=-spd_fd_q1; break; } case 6: {

if(cap1==2) spd_fd_q1=-spd_fd_q1; break; } case 2: {

if(cap1==3) spd_fd_q1=-spd_fd_q1; break; } case 3:

{

if(cap1==1) spd_fd_q1=-spd_fd_q1; break; } case 1: {

if(cap1==5) spd_fd_q1=-spd_fd_q1; break; }

default:break; }

BLDC_SPD[Spd_Data]=spd_fd_q1; if(Spd_Data==1) {

if(BLDC_SPD[0]>BLDC_SPD[1]) {

Temp_filter = BLDC_SPD[1]; BLDC_SPD[1] = BLDC_SPD[0]; BLDC_SPD[0] = Temp_filter; } } else {

if(BLDC_SPD[Spd_Data]>BLDC_SPD[1]) {

Temp_filter= BLDC_SPD[1];

BLDC_SPD[1] = BLDC_SPD[Spd_Data]; BLDC_SPD[Spd_Data] = Temp_filter; }

else if(BLDC_SPD[Spd_Data]

Temp_filter= BLDC_SPD[0];

BLDC_SPD[0] = BLDC_SPD[Spd_Data]; BLDC_SPD[Spd_Data] = Temp_filter; } }

Spd_Data++; if(Spd_Data>=10) {

Spd_Data=0; } cc++; if(cc>=3)

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