调制时间波形
#define PI_1_3 1.0471975512 #define sqrt_3 1.7320508076 #define sqrt_3_p2 3.4641016151377545870548926830117 #define sqrt_3_1 0.577350269 #define PI_D_6 0.52359877559829887307710723054658 #define sqrt_3_d6 0.28867513459481288225457439025098 void svgendq_threelevel_calc(SVGENDQ_THREELEVEL *v,PWM_ABC_3_LEVEL *PWMOut) { //--------Input Variables-------- Uint16 N=0; Uint16 n=0; float theta; float sine,cosine; float m1,m2,m3; float Zeta=0; float Uref = 0; float Ma = 0; float x,y; float Ta=0,Tb=0,Tc=0;//矢量作用时间 float T1,T2,T3; //矢量作用时间-按照先后排序 float D1,D2,D3; //占空比,未分相,由瘦到胖 float DNp1,DNp2,DNp3; float DutyA1,DutyA2,DutyB1,DutyB2,DutyC1,DutyC2;//ABC 三相占空比 theta = v->theta*PI2; //------------------Step 2--------------- if(theta >= 0 && theta < PI_1_3) N = 1; else if(theta >= PI_1_3 && theta < PI_1_3 * 2) N = 2; else if(theta >= PI_1_3*2 && theta < PI) N = 3; else if(theta >= PI && theta < PI_1_3*4) N = 4; else if(theta >= PI_1_3*4 && theta < PI_1_3*5) N = 5; else if(theta >= PI_1_3*5 && theta < PI2) N = 6; else N = 1; //------------------Step 3--------------- Zeta = theta - PI_1_3*(N-1); //------------------Step 4--------------- Uref = sqrt(v->Ualpha_In * v->Ualpha_In + v->Ubeta_In * v->Ubeta_In); //------------------Step 5---------------- // sincos(Zeta,&sine,&cosine); sine = sin(Zeta); cosine= cos(Zeta); x = Uref*cosine; y = Uref*sine; if(Zeta <= PI_D_6) //Region 1 3 5 { if(y <= (-sqrt_3*x +sqrt_3_1*v->Udc_In)) { n = 1; } else if(y <= (sqrt_3*x - sqrt_3_1*v->Udc_In)) { n = 5; } else { n = 3; } } else //Region 2 4 6 { if(y <= (-sqrt_3*x +sqrt_3_1*v->Udc_In)) { n = 2; } else if(y >= sqrt_3_d6*v->Udc_In) { n = 6; } else { n = 4; } } Ma = sqrt_3_p2*Uref/v->Udc_In; m3 = Ma * sine; sine = sin(PI_1_3 - Zeta); m1 = Ma*sine; sine = sin(PI_1_3 + Zeta); m2 = Ma*sine; //------------------Step 6---------------- if(N == 1 || N==3 || N==5) { switch(n) { case 1:Ta = m1;Tb = 1 - m2;Tc = m3; break; case 2:Ta = m1;Tb = 1 - m2;Tc = m3; break; case 3:Ta = 1 - m3;Tb = m2 - 1;Tc = 1 - m1;break; case 4:Ta = 1 - m3;Tb = m2 - 1;Tc = 1 - m1;break; case 5:Ta = 2- m2;Tb = m3;Tc = m1 - 1;break; case 6:Ta = m3 - 1;Tb = m1;Tc = 2- m2;break; default:Ta = 0;Tb = 0;Tc = 0;break; } } else { switch(n) { case 1:Ta = m3;Tb = 1 - m2;Tc = m1;break; case 2:Ta = m3;Tb = 1 - m2;Tc = m1;break; case 3:Ta = 1 - m1;Tb = m2 - 1;Tc = 1 - m3;break; case 4:Ta = 1 - m1;Tb = m2 - 1;Tc = 1 - m3;break; case 5:Ta = m1 - 1;Tb = m3;Tc = 2- m2;break; case 6:Ta = 2- m2;Tb = m1;Tc = m3 - 1;break; default:Ta = 0;Tb = 0;Tc = 0;break; } } //------------------Step 7---------------- if((N == 1)||(N == 3)||(N == 5)) { if((n == 1)||(n == 3)||(n == 5)) { T1 = Ta; T2 = Tc; T3 = Tb; } else { T1 = Tc; T2 = Tb; T3 = Ta; } } else { if((n == 1)||(n == 3)||(n == 5)) { T1 = Tc; T2 = Tb; T3 = Ta; } else { T1 = Ta; T2 = Tc; T3 = Tb; } } //------------------Step 8---------------- D1 = T1*0.5; D2 = T1*0.5+T3; D3 = T1*0.5+T3+T2; //------------------Step 9---------------- if (v->NPFactor_In > (T1*0.8)) { v->NPFactor_In = T1*0.8; } else if(v->NPFactor_In < (-T1*0.8)) { v->NPFactor_In = -T1*0.8; } switch(N) { case 1: //N if((n == 1)||(n == 3)||(n==5)) { if(v->Ia_In >= 0) { DNp1 = D1 - v->NPFactor_In*0.5; DNp2 = D2 - v->NPFactor_In*0.5; DNp3 = D3 - v->NPFactor_In*0.5; } else { DNp1 = D1 + v->NPFactor_In*0.5; DNp2 = D2 + v->NPFactor_In*0.5; DNp3 = D3 + v->NPFactor_In*0.5; } } else { if(v->Ic_In >= 0) { DNp1 = D1 + v->NPFactor_In*0.5; DNp2 = D2 + v->NPFactor_In*0.5; DNp3 = D3 + v->NPFactor_In*0.5; } else { DNp1 = D1 - v->NPFactor_In*0.5; DNp2 = D2 - v->NPFactor_In*0.5; DNp3 = D3 - v->NPFactor_In*0.5; } } break; case 2: //N if((n == 1)||(n == 3)||(n==5)) { if(v->Ic_In >= 0) { DNp1 = D1 + v->NPFactor_In*0.5; DNp2 = D2 + v->NPFactor_In*0.5; DNp3 = D3 + v->NPFactor_In*0.5; } else { DNp1 = D1 - v->NPFactor_In*0.5; DNp2 = D2 - v->NPFactor_In*0.5; DNp3 = D3 - v->NPFactor_In*0.5; } } else { if(v->Ib_In >= 0) { DNp1 = D1 - v->NPFactor_In*0.5; DNp2 = D2 - v->NPFactor_In*0.5; DNp3 = D3 - v->NPFactor_In*0.5; } else { DNp1 = D1 + v->NPFactor_In*0.5; DNp2 = D2 + v->NPFactor_In*0.5; DNp3 = D3 + v->NPFactor_In*0.5; } } break; case 3: //N if((n == 1)||(n == 3)||(n==5)) { if(v->Ib_In >= 0) { DNp1 = D1 - v->NPFactor_In*0.5; DNp2 = D2 - v->NPFactor_In*0.5; DNp3 = D3 - v->NPFactor_In*0.5; } else { DNp1 = D1 + v->NPFactor_In*0.5; DNp2 = D2 + v->NPFactor_In*0.5; DNp3 = D3 + v->NPFactor_In*0.5; } } else { if(v->Ia_In >= 0) { DNp1 = D1 + v->NPFactor_In*0.5; DNp2 = D2 + v->NPFactor_In*0.5; DNp3 = D3 + v->NPFactor_In*0.5; } else { DNp1 = D1 - v->NPFactor_In*0.5; DNp2 = D2 - v->NPFactor_In*0.5; DNp3 = D3 - v->NPFactor_In*0.5; } } break; case 4: //N if((n == 1)||(n == 3)||(n==5)) { if(v->Ia_In >= 0) { DNp1 = D1 + v->NPFactor_In*0.5; DNp2 = D2 + v->NPFactor_In*0.5; DNp3 = D3 + v->NPFactor_In*0.5; } else { DNp1 = D1 - v->NPFactor_In*0.5; DNp2 = D2 - v->NPFactor_In*0.5; DNp3 = D3 - v->NPFactor_In*0.5; } } else { if(v->Ic_In >= 0) { DNp1 = D1 - v->NPFactor_In*0.5; DNp2 = D2 - v->NPFactor_In*0.5; DNp3 = D3 - v->NPFactor_In*0.5; } else { DNp1 = D1 + v->NPFactor_In*0.5; DNp2 = D2 + v->NPFactor_In*0.5; DNp3 = D3 + v->NPFactor_In*0.5; } } break; case 5: //N if((n == 1)||(n == 3)||(n==5)) { if(v->Ic_In >= 0) { DNp1 = D1 - v->NPFactor_In*0.5; DNp2 = D2 - v->NPFactor_In*0.5; DNp3 = D3 - v->NPFactor_In*0.5; } else { DNp1 = D1 + v->NPFactor_In*0.5; DNp2 = D2 + v->NPFactor_In*0.5; DNp3 = D3 + v->NPFactor_In*0.5; } } else { if(v->Ib_In >= 0) { DNp1 = D1 + v->NPFactor_In*0.5; DNp2 = D2 + v->NPFactor_In*0.5; DNp3 = D3 + v->NPFactor_In*0.5; } else { DNp1 = D1 - v->NPFactor_In*0.5; DNp2 = D2 - v->NPFactor_In*0.5; DNp3 = D3 - v->NPFactor_In*0.5; } } break; case 6: //N if((n == 1)||(n == 3)||(n==5)) { if(v->Ib_In >= 0) { DNp1 = D1 + v->NPFactor_In*0.5; DNp2 = D2 + v->NPFactor_In*0.5; DNp3 = D3 + v->NPFactor_In*0.5; } else { DNp1 = D1 - v->NPFactor_In*0.5; DNp2 = D2 - v->NPFactor_In*0.5; DNp3 = D3 - v->NPFactor_In*0.5; } } else { if(v->Ia_In >= 0) { DNp1 = D1 - v->NPFactor_In*0.5; DNp2 = D2 - v->NPFactor_In*0.5; DNp3 = D3 - v->NPFactor_In*0.5; } else { DNp1 = D1 + v->NPFactor_In*0.5; DNp2 = D2 + v->NPFactor_In*0.5; DNp3 = D3 + v->NPFactor_In*0.5; } } break; } //------------------Step 10---------------- LIMIT(DNp1,v->pMaxDuty,v->pMinDuty); LIMIT(DNp2,v->pMaxDuty,v->pMinDuty); LIMIT(DNp3,v->pMaxDuty,v->pMinDuty); //------------------Step 11---------------- switch(N) { case 1: switch(n) { case 1: DutyA1 = DNp1; DutyA2 = 1; DutyB1 = 0; DutyB2 = DNp3; DutyC1 = 0; DutyC2 = DNp2; break; case 2: DutyA1 = DNp2; DutyA2 = 1; DutyB1 = DNp1; DutyB2 = 1; DutyC1 = 0; DutyC2 = DNp3; break; case 3: DutyA1 = DNp2; DutyA2 = 1; DutyB1 = 0; DutyB2 = DNp3; DutyC1 = 0; DutyC2 = DNp1; break; case 4: DutyA1 = DNp3; DutyA2 = 1; DutyB1 = DNp1; DutyB2 = 1; DutyC1 = 0; DutyC2 = DNp2; break; case 5: DutyA1 = DNp3; DutyA2 = 1; DutyB1 = 0; DutyB2 = DNp2; DutyC1 = 0; DutyC2 = DNp1; break; case 6: DutyA1 = DNp3; DutyA2 = 1; DutyB1 = DNp2; DutyB2 = 1; DutyC1 = 0; DutyC2 = DNp1; break; } break; case 2: switch(n) { case 1: DutyA1 = DNp1; DutyA2 = 1; DutyB1 = DNp2; DutyB2 = 1; DutyC1 = 0; DutyC2 = DNp3; break; case 2: DutyA1 = 0; DutyA2 = DNp3; DutyB1 = DNp1; DutyB2 = 1; DutyC1 = 0; DutyC2 = DNp2; break; case 3: DutyA1 = DNp1; DutyA2 = 1; DutyB1 = DNp3; DutyB2 = 1; DutyC1 = 0; DutyC2 = DNp2; break; case 4: DutyA1 = 0; DutyA2 = DNp3; DutyB1 = DNp2; DutyB2 = 1; DutyC1 = 0; DutyC2 = DNp1; break; case 5: DutyA1 = DNp2; DutyA2 = 1; DutyB1 = DNp3; DutyB2 = 1; DutyC1 = 0; DutyC2 = DNp1; break; case 6: DutyA1 = 0; DutyA2 = DNp2; DutyB1 = DNp3; DutyB2 = 1; DutyC1 = 0; DutyC2 = DNp1; break; } break; case 3: switch(n) { case 1: DutyA1 = 0; DutyA2 = DNp2; DutyB1 = DNp1; DutyB2 = 1; DutyC1 = 0; DutyC2 = DNp3; break; case 2: DutyA1 = 0; DutyA2 = DNp3; DutyB1 = DNp2; DutyB2 = 1; DutyC1 = DNp1; DutyC2 = 1; break; case 3: DutyA1 = 0; DutyA2 = DNp1; DutyB1 = DNp2; DutyB2 = 1; DutyC1 = 0; DutyC2 = DNp3; break; case 4: DutyA1 = 0; DutyA2 = DNp2; DutyB1 = DNp3; DutyB2 = 1; DutyC1 = DNp1; DutyC2 = 1; break; case 5: DutyA1 = 0; DutyA2 = DNp1; DutyB1 = DNp3; DutyB2 = 1; DutyC1 = 0; DutyC2 = DNp2; break; case 6: DutyA1 = 0; DutyA2 = DNp1; DutyB1 = DNp3; DutyB2 = 1; DutyC1 = DNp2; DutyC2 = 1; break; } break; case 4: switch(n) { case 1: DutyA1 = 0; DutyA2 = DNp3; DutyB1 = DNp1; DutyB2 = 1; DutyC1 = DNp2; DutyC2 = 1; break; case 2: DutyA1 = 0; DutyA2 = DNp2; DutyB1 = 0; DutyB2 = DNp3; DutyC1 = DNp1; DutyC2 = 1; break; case 3: DutyA1 = 0; DutyA2 = DNp2; DutyB1 = DNp1; DutyB2 = 1; DutyC1 = DNp3; DutyC2 = 1; break; case 4: DutyA1 = 0; DutyA2 = DNp1; DutyB1 = 0; DutyB2 = DNp3; DutyC1 = DNp2; DutyC2 = 1; break; case 5: DutyA1 = 0; DutyA2 = DNp1; DutyB1 = DNp2; DutyB2 = 1; DutyC1 = DNp3; DutyC2 = 1; break; case 6: DutyA1 = 0; DutyA2 = DNp1; DutyB1 = 0; DutyB2 = DNp2; DutyC1 = DNp3; DutyC2 = 1; break; } break; case 5: switch(n) { case 1: DutyA1 = 0; DutyA2 = DNp3; DutyB1 = 0; DutyB2 = DNp2; DutyC1 = DNp1; DutyC2 = 1; break; case 2: DutyA1 = DNp1; DutyA2 = 1; DutyB1 = 0; DutyB2 = DNp3; DutyC1 = DNp2; DutyC2 = 1; break; case 3: DutyA1 = 0; DutyA2 = DNp3; DutyB1 = 0; DutyB2 = DNp1; DutyC1 = DNp2; DutyC2 = 1; break; case 4: DutyA1 = DNp1; DutyA2 = 1; DutyB1 = 0; DutyB2 = DNp2; DutyC1 = DNp3; DutyC2 = 1; break; case 5: DutyA1 = 0; DutyA2 = DNp2; DutyB1 = 0; DutyB2 = DNp1; DutyC1 = DNp3; DutyC2 = 1; break; case 6: DutyA1 = DNp2; DutyA2 = 1; DutyB1 = 0; DutyB2 = DNp1; DutyC1 = DNp3; DutyC2 = 1; break; } break; case 6: switch(n) { case 1: DutyA1 = DNp2; DutyA2 = 1; DutyB1 = 0; DutyB2 = DNp3; DutyC1 = DNp1; DutyC2 = 1; break; case 2: DutyA1 = DNp1; DutyA2 = 1; DutyB1 = 0; DutyB2 = DNp2; DutyC1 = 0; DutyC2 = DNp3; break; case 3: DutyA1 = DNp3; DutyA2 = 1; DutyB1 = 0; DutyB2 = DNp2; DutyC1 = DNp1; DutyC2 = 1; break; case 4: DutyA1 = DNp2; DutyA2 = 1; DutyB1 = 0; DutyB2 = DNp1; DutyC1 = 0; DutyC2 = DNp3; break; case 5: DutyA1 = DNp3; DutyA2 = 1; DutyB1 = 0; DutyB2 = DNp1; DutyC1 = DNp2; DutyC2 = 1; break; case 6: DutyA1 = DNp3; DutyA2 = 1; DutyB1 = 0; DutyB2 = DNp1; DutyC1 = 0; DutyC2 = DNp2; break; } break; } //-----------Update Output------------- PWMOut->Ta13 = DutyA1; PWMOut->Ta24 = DutyA2; PWMOut->Tb13 = DutyB1; PWMOut->Tb24 = DutyB2; PWMOut->Tc13 = DutyC1; PWMOut->Tc24 = DutyC2; }
// 开环给定 Sp->SpsCtlInner.Pwm_Udq.dp = Sp->SpsCtlCfg.InvUdRef *Sp->SpsCtlInner.BaseValue.Ubase_1; Sp->SpsCtlInner.Pwm_Udq.qp = 0; Sp->SpsCtlInner.Pwm_Udc = Sp->SpsCtlCfg.InvUdcRef *Sp->SpsCtlInner.BaseValue.Udcbase_1; // 自生成角度 genvf.Frequency = Sp->SpsCtlCfg.InvFreqRef*Sp->SpsCtlInner.BaseValue.Fbase_1; genvf.dt = Sp->SpsCtlOutPort.SwiCalTime.CtlDt; Sp->SpsCtlOutPort.Freqs_toRms = genvf.Frequency *Sp->SpsCtlInner.BaseValue.Fbase; gen_vf_pll(&genvf); ipark_calc(Sp->SpsCtlInner.Pwm_Udq.dp, 0, genvf.SineTheta, genvf.CoseTheta, &Sp->SpsCtlInner.PwmAlphaBeta.alpha_p, &Sp->SpsCtlInner.PwmAlphaBeta.beta_p); //Svpwm 给定 Sp->SpsCtlInner.Svpwm_In.Ualpha_In = Sp->SpsCtlInner.PwmAlphaBeta.alpha_p; Sp->SpsCtlInner.Svpwm_In.Ubeta_In = Sp->SpsCtlInner.PwmAlphaBeta.beta_p; Sp->SpsCtlInner.Svpwm_In.Udc_In =Sp->SpsCtlInner.Pwm_Udc; Sp->SpsCtlInner.Svpwm_In.theta =genvf.theta; Sp->SpsCtlInner.Svpwm_In.NPFactor_In=0; Sp->SpsCtlInner.Svpwm_In.Ia_In=0; Sp->SpsCtlInner.Svpwm_In.Ib_In=0; Sp->SpsCtlInner.Svpwm_In.Ic_In=0; Sp->SpsCtlInner.Svpwm_In.pMinDuty=0; Sp->SpsCtlInner.Svpwm_In.pMaxDuty=100; svgendq_threelevel_calc(&(Sp->SpsCtlInner.Svpwm_In),&(Sp->SpsCtlOutPort.PwmOut3L)); LIMIT(Sp->SpsCtlOutPort.PwmOut3L.Ta13,1,0); LIMIT(Sp->SpsCtlOutPort.PwmOut3L.Ta24,1,0); LIMIT(Sp->SpsCtlOutPort.PwmOut3L.Tb13,1,0); LIMIT(Sp->SpsCtlOutPort.PwmOut3L.Tb24,1,0); LIMIT(Sp->SpsCtlOutPort.PwmOut3L.Tc13,1,0); LIMIT(Sp->SpsCtlOutPort.PwmOut3L.Tc24,1,0);
RP3220 控制器 在 PLECS RTLAB仿真测试