akiyoshi oguro
Space Vector PWM Ver2
Diff: main.cpp
- Revision:
- 0:fd2cb1721c58
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Fri Aug 21 01:39:52 2020 +0000
@@ -0,0 +1,347 @@
+#include "mbed.h"
+#include "rtos.h"
+#include <math.h>
+#define TS1 0.2
+
+float PI=3.141592;
+int t=0,q=0,i=0;
+int START=10; //7
+PwmOut mypwmA(PA_8);
+PwmOut mypwmB(PA_9);
+PwmOut mypwmC(PA_10);
+
+PwmOut Current_Ref(PB_4);
+
+DigitalOut Vector(PC_4);
+DigitalOut EN1(PC_10);
+DigitalOut EN2(PC_11);
+DigitalOut EN3(PC_12);
+
+
+
+//AnalogIn V_adc(PB_1); //volume
+AnalogIn V_adc(PC_2); // Gaibu Potention
+
+AnalogIn Vshuntu(PA_1);
+AnalogIn Vshuntv(PA_0);
+AnalogIn Vshuntw(PB_0);
+
+AnalogIn BEMF1(PC_3);//C7_37
+AnalogIn BEMF2(PB_0);//C7_34
+AnalogIn BEMF3(PA_7);//C10_26
+
+DigitalIn GPIO_BEMF(PC_9);
+DigitalIn CPOUT(PA_12);
+AnalogIn Curr_ui(PA_0);
+AnalogIn Curr_vi(PC_1);
+AnalogIn Curr_wi(PA_1);
+
+InterruptIn HA(PA_15);
+InterruptIn HB(PB_3);
+InterruptIn HC(PB_10);
+Timer uT;
+Timer vT;
+Timer wT;
+
+AnalogOut SWAVE(PA_4);
+
+Serial pc(USBTX,USBRX);
+
+DigitalOut myled(LED1);
+float sq32=sqrt(3.0f/2.0f);
+float sq23=2.0f/sqrt(3.0f);
+float sq3=1.0f/sqrt(3.0f);
+float VDC=1.8;
+float Vdlink=1/VDC;
+float aVa;
+float a3Vb;
+float Vr_adc;
+
+Timer Timer1;
+float freq=0;
+float z=1.0; //0.5
+float Wt,Va,Vb,Vq,Vd;
+float d1,d2,d3,d4,d5,d6,d07;
+float du,dv,dw;
+bool cu,cv,cw;
+float ave=0,aveo=0,avsum=0;
+
+float ut=0,ut1=0,ut2=0,usi=0;
+float vt=0,vt1=0,vt2=0,vsi=0;
+float wt=0,wt1=0,wt2=0,wsi=0;
+float Speed;
+
+void HAH(){
+
+ ut1=uT.read_us();
+ ut=0;
+
+ }
+ void HAL(){
+
+ ut2=uT.read_us();
+ uT.reset();
+
+ }
+ void HBH(){
+
+ vt1=vT.read_us();
+
+ }
+ void HBL(){
+
+ vt2=vT.read_us();
+
+ vT.reset();
+ }
+ void HCH(){
+ wt1=wT.read_us();
+
+ }
+
+ void HCL(){
+ wt2=wT.read_us();
+
+ wT.reset();
+ }
+
+
+
+void CPLT(){
+ //pc.printf("%.3f , %.3f \r" ,Speed ,Vr_adc);
+ //pc.printf("%.3f,%.3f,%.3f \r" ,du,dv,dw);
+ }
+
+ void timerTS1(void const*argument){
+ CPLT();
+ }
+int main() {
+ Timer1.start();
+ EN1=1;
+ EN2=1;
+ EN3=1;
+ uT.start();
+ vT.start();
+ wT.start();
+
+ mypwmA.period_us(20);
+
+ mypwmB.period_us(20);
+
+ mypwmC.period_us(20);
+
+ pc.baud(128000);
+
+ /* RtosTimer RtosTimerTS1(timerTS1);
+ RtosTimerTS1.start((unsigned int)(TS1*5000)); //3000
+ Thread::wait(100); */
+
+
+ while(1) {
+
+ HA.rise(&HAH);
+ HC.fall(&HCL);
+ HB.rise(&HBH);
+ HA.fall(&HAL);
+ HC.rise(&HCH);
+ HB.fall(&HBL);
+ Speed=60*(1/(7.0*2.0*usi*1E-6));
+ usi=ut2-ut1;
+ vsi=vt2-vt1;
+ wsi=wt2-wt1;
+ Vd=0;
+
+ float s = Timer1.read();
+ Vr_adc=V_adc.read();
+ myled = ((int)s) % 2 == 0; /* LED output(0.5Hz) */
+
+
+if((Vr_adc>0.08f)&&(q==0)){
+while(q<30){
+
+ mypwmA.write(0.5f);
+ mypwmB.write(0);
+ mypwmC.write(0);
+ wait_ms(START);
+
+ mypwmA.write(0);
+ mypwmB.write(0.5f);
+ mypwmC.write(0.0);
+ wait_ms(START);
+
+ mypwmA.write(0);
+ mypwmB.write(0.0);
+ mypwmC.write(0.5f);
+ wait_ms(START);
+ q++;
+
+ }
+ }
+ if(Vr_adc < 0.05f){
+ q=0;
+ Vr_adc=0;
+
+ }
+
+ aveo=Vr_adc;
+
+ if((aveo<=0.15)&&(aveo>0.1)){
+ Wt=fmodf(s * 45, 1) * PI* 2;
+ Vq=0.4;
+ }
+ if((aveo<=0.2)&&(aveo>0.15)){
+ Wt=fmodf(s * 50, 1) * PI* 2;
+ Vq=0.42;
+ }
+ if((aveo<=0.25)&&(aveo>0.2)){
+ Wt=fmodf(s * 55, 1) * PI* 2;
+ Vq=0.45;
+ }
+ if((aveo<=0.3)&&(aveo>0.25)){
+ Wt=fmodf(s * 60, 1) * PI* 2;
+ Vq=0.48;
+ }
+ if((aveo<=0.35)&&(aveo>0.3)){
+ Wt=fmodf(s * 65, 1) * PI* 2;
+ Vq=0.5;
+ }
+ if((aveo<=0.4)&&(aveo>0.35)){
+ Wt=fmodf(s * 70, 1) * PI* 2;
+ Vq=0.52;
+ }
+ if((aveo<=0.45)&&(aveo>0.4)){
+ Wt=fmodf(s * 75, 1) * PI* 2;
+ Vq=0.55;
+ }
+ if((aveo<=0.5)&&(aveo>0.45)){
+ Wt=fmodf(s * 80, 1) * PI* 2;
+ Vq=0.58;
+ }
+ if((aveo<=0.55)&&(aveo>0.5)){
+ Wt=fmodf(s * 85, 1) * PI* 2;
+ Vq=0.6;
+ }
+ if((aveo<=0.6)&&(aveo>0.55)){
+ Wt=fmodf(s * 90, 1) * PI* 2;
+ Vq=0.62;
+ }
+ if((aveo<=0.65)&&(aveo>0.6)){
+ Wt=fmodf(s * 95, 1) * PI* 2;
+ Vq=0.65;
+ }
+ if((aveo<=0.7)&&(aveo>0.65)){
+ Wt=fmodf(s * 100, 1) * PI* 2;
+ Vq=0.67;
+ }
+ if((aveo<=0.75)&&(aveo>0.7)){
+ Wt=fmodf(s * 105, 1) * PI* 2;
+ Vq=0.7;
+ }
+ if((aveo<=0.8)&&(aveo>0.75)){
+ Wt=fmodf(s * 110, 1) * PI* 2;
+ Vq=0.72;
+ }
+ if((aveo<=0.85)&&(aveo>0.8)){
+ Wt=fmodf(s * 120, 1) * PI* 2;
+ Vq=0.75;
+ }
+ if((aveo<=0.9)&&(aveo>0.85)){
+ Wt=fmodf(s * 130, 1) * PI* 2;
+ Vq=0.78;
+ }
+ if((aveo<=0.95)&&(aveo>0.9)){
+ Wt=fmodf(s * 140, 1) * PI* 2;
+ Vq=0.8;
+ }
+ if(aveo>0.95){
+ Wt=fmodf(s * 150, 1) * PI* 2;
+ Vq=0.82;
+ }
+ Vq=0.9;
+if(aveo<0.1){
+ mypwmA.write(0);
+ mypwmB.write(0);
+ mypwmC.write(0);
+
+}
+else{
+ Va=cos(Wt)*Vd-sin(Wt)*Vq;
+ Vb=sin(Wt)*Vd+cos(Wt)*Vq;
+ aVa=abs(Va);
+ a3Vb=abs(sq3*Vb);
+
+ if((Va>=0)&&(Vb>=0)&&(aVa>=a3Vb)){ //sect 0
+
+ d1=sq32*(Va-sq3*Vb)*Vdlink;
+ d2=sq32*(sq23*Vb)*Vdlink;
+ d07=(z-(d1+d2))*0.5;
+ // d07=0;
+ du=d1+d2+d07;
+ dv=d2+d07;
+ dw=d07;
+
+ }
+ if((aVa<=sq3*Vb)){ //sect 1
+
+ d3=sq32*(-Va+sq3*Vb)*Vdlink;
+ d2=sq32*(Va+sq3*Vb)*Vdlink;
+ d07=(z-(d2+d3))*0.5;
+ //d07=0;
+ du=d2+d07;
+ dv=d2+d3+d07;
+ dw=d07;
+ }
+
+ if((Va<=0)&&(Vb>=0)&&(aVa>=a3Vb)){ //sect 2
+
+ d3=sq32*sq23*Vb*Vdlink;
+ d4=sq32*(-Va-sq3*Vb)*Vdlink;
+ d07=(z-(d3+d4))*0.5;
+ // d07=0;
+ du=d07;
+ dv=d3+d4+d07;
+ dw=d4+d07;
+ }
+
+ if((Va<=0)&&(Vb<=0)&&(aVa>=a3Vb)){ //sect 3
+
+ d5=-sq32*sq23*Vb*Vdlink;
+ d4=sq32*(-Va+sq3*Vb)*Vdlink;
+ d07=(z-(d4+d5))*0.5;
+ //d07=0;
+ du=d07;
+ dv=d4+d07;
+ dw=d4+d5+d07;
+ }
+
+ if((aVa<=-sq3*Vb)){ //sect 4
+
+ d5=sq32*(-Va-sq3*Vb)*Vdlink;;
+ d6=sq32*(Va-sq3*Vb)*Vdlink;
+ d07=(z-(d5+d6))*0.5;
+ //d07=0;
+ du=d6+d07;
+ dv=d07;
+ dw=d5+d6+d07;
+ }
+
+ if((Va>=0)&&(Vb<=0)&&(aVa>=a3Vb)){ //sect 5
+
+ d1=sq32*(Va+sq3*Vb)*Vdlink;;
+ d6=-sq32*sq23*Vb*Vdlink;;
+ d07=(z-(d1+d6))*0.5;
+ //d07=0;
+ du=d1+d6+d07;
+ dv=d07;
+ dw=d6+d07;
+ }
+
+ mypwmA.write(du);
+ mypwmB.write(dv);
+ mypwmC.write(dw);
+ }
+
+ SWAVE=dw;
+ //pc.printf("%.3f,%.3f,%.3f \r" ,du,dv,dw);
+ }
+ }