第6章 空间矢量脉宽调制技术
例1、CLARK变换的DSP实现
图 CLARK变换实现波形图
/*----------------------------------------------------------------------------------------------------------------------------------------
CLARKE变换相关变量定义
----------------------------------------------------------------------------------------------------------------------------------------*/
typedef struct { float32 As; // 输入：A相定子电流
float32 Bs; // 输入：B相定子电流
float32 Alpha; // 输出：静止坐标系d轴定子电流
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float32 Beta; // 输出：静止坐标系q轴定子电流
void (*calc)(); // 计算函数指针
} CLARKE;
typedef CLARKE *CLARKE_handle;
/*----------------------------------------------------------------------------------------------------------------------------------------
定义CLARKE变换初始化参数
----------------------------------------------------------------------------------------------------------------------------------------*/
#define CLARKE_DEFAULTS { 0, \\
0, \\
0, \\
0, \\
(void (*)(Uint32))clarke_calc }
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/*----------------------------------------------------------------------------------------------------------------------------------------
CLARKE变换函数原型CLARKE.C
----------------------------------------------------------------------------------------------------------------------------------------*/
void clarke_calc(CLARKE_handle);
#include \"dmctype.h\"
#include \"clarke.h\"
void clarke_calc(CLARKE *v)
{
v->Alpha = v->As;
v->Beta = (v->As + 2*v->Bs)*0.57735026918963; // 1/sqrt(3) = 0.57735026918963
}
例2、PARK变换的DSP实现
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图 PARK变换DSP实现坐标映射
/*----------------------------------------------------------------------------------------------------------------------------------------
PARK变换相关变量定义
----------------------------------------------------------------------------------------------------------------------------------------*/
typedef struct { float32 Alpha; // 输入：静止坐标系d轴定子变量
loat32 Beta; // 输入：静止坐标系q轴定子变量
float32 Angle; // 输入：转子角度（弧度）
float32 Ds; // 输出：旋转d轴定子变量（M轴）
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float32 Qs; // 输出：旋转q轴定子变量（T轴）
void (*calc)(); // 函数指针
} PARK;
typedef PARK *PARK_handle;
/*----------------------------------------------------------------------------------------------------------------------------------------
PARK变换变量初始化参数
----------------------------------------------------------------------------------------------------------------------------------------*/#define PARK_DEFAULTS { 0, \\
0, \\
0, \\
0, \\
0, \\
(void (*)(Uint32))park_calc }
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/*----------------------------------------------------------------------------------------------------------------------------------------
PARK函数原型
----------------------------------------------------------------------------------------------------------------------------------------*/
void park_calc(PARK_handle);
#include \"dmctype.h\"
#include \"park.h\"
extern float32 sin_tab[];
void park_calc(PARK *v)
{
float32 Cosine,Sine;
// 采用查表法
// (PI/2)/(2*PI) = 0.25
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// ((PI/2)/(2*PI))*256 = 0.25*256 = 64
// ((PI/2)-2*PI)/(2*PI) = -0.75
// (((PI/2)-2*PI)/(2*PI))*256 = -0.75*256 = -192
// 查表发求解正弦
if (v->Angle+0.25 > 1.0)
{
Sine = sin_tab[(int16)(v->Angle*256)];
Cosine = sin_tab[(int16)(v->Angle*256) - 192]; }
else
{
Sine = sin_tab[(int16)(v->Angle*256)];
Cosine = sin_tab[(int16)(v->Angle*256) + 64];
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}
v->Ds = v->Alpha*Cosine + v->Beta*Sine;
v->Qs = v->Beta*Cosine - v->Alpha*Sine;
}
图6.7 PARK变换坐标映射图
/*----------------------------------------------------------------------------------------------------------------------------------------
PARK逆变换参数定义
----------------------------------------------------------------------------------------------------------------------------------------*/
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typedef struct { float ds; /* 输出：定子参考坐标系d-轴变量 */
float qs; /* 输出：定子参考坐标系q-轴变量 */
float ang; /* 输入：转子转动角度 (rad) */
float de; /* 输入：旋转d-轴定子变量 */
float qe; /* 输入：旋转q-轴定子变量 */
void (*calc)(); /* 计算函数指针 */
} IPARK;
typedef IPARK *IPARK_handle;
/*----------------------------------------------------------------------------------------------------------------------------------------
Default initalizer for the IPARK object.
----------------------------------------------------------------------------------------------------------------------------------------*/
#define IPARK_DEFAULTS { 0, \\
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0, \\
0, \\
0, \\
0, \\
(void (*)(long))ipark_calc }
/*----------------------------------------------------------------------------------------------------------------------------------------
逆变换函数IPARK.C
----------------------------------------------------------------------------------------------------------------------------------------*/
void ipark_calc(IPARK_handle);
/*----------------------------------------------------------------------------------------------------------------------------------------
文件名称：: IPARK.C
-------------------------------------------------------------------------------------10
---------------------------------------------------*/
#include \"ipark.h\"
extern float sin_tab[];
void ipark_calc(IPARK *v)
{
float cos_ang,sin_ang;
/*采用查表法计算正弦角度 */
/* (PI/2)/(2*PI) = 0.25 */
/* ((PI/2)/(2*PI))*256 = 0.25*256 = 64 */
/* ((PI/2)-2*PI)/(2*PI) = -0.75 */
/* (((PI/2)-2*PI)/(2*PI))*256 = -0.75*256 = -192 */
if (v->ang+0.25 > 1)
{
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sin_ang = sin_tab[(int)(v->ang*256)];
cos_ang = sin_tab[(int)(v->ang*256) - 192];
}
else
{
sin_ang = sin_tab[(int)(v->ang*256)];
cos_ang = sin_tab[(int)(v->ang*256) + 64];
}
v->ds = v->de*cos_ang - v->qe*sin_ang;
v->qs = v->qe*cos_ang + v->de*sin_ang;
}
例3、空间矢量的算法程序
/*----------------------------------------------------------------------------------------------------------------------------------------
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空间矢量的产生: SVGEN_DQ.C (IQ version)
----------------------------------------------------------------------------------------------------------------------------------------*/
#include \"IQmathLib.h\" // Include header for IQmath library
// Don't forget to set a proper GLOBAL_Q in \"IQmathLib.h\" file
#include \"dmctype.h\"
#include \"svgen_dq.h\"
void svgendq_calc(SVGENDQ *v)
{
_iq Va,Vb,Vc,t1,t2;
Uint32 Sector = 0; // Sector is treated as Q0 - independently with global Q
// CLARKE逆变换
Va = v->Ubeta;
Vb = _IQmpy(_IQ(-0.5),v->Ubeta) + _IQmpy(_IQ(0.8660254),v->Ualpha);
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Vc = _IQmpy(_IQ(-0.5),v->Ubeta) - _IQmpy(_IQ(0.8660254),v->Ualpha);
// 0.8660254 = sqrt(3)/2
// 60o 扇区确定
if (Va>_IQ(0))
Sector = 1;
if (Vb>_IQ(0))
Sector = Sector + 2;
if (Vc>_IQ(0))
Sector = Sector + 4;
// X,Y,Z (Va,Vb,Vc) 计算
Va = v->Ubeta; // X = Va
Vb = _IQmpy(_IQ(0.5),v->Ubeta) + _IQmpy(_IQ(0.8660254),v->Ualpha); // Y = Vb
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Vc = _IQmpy(_IQ(0.5),v->Ubeta) - _IQmpy(_IQ(0.8660254),v->Ualpha); // Z = Vc
if (Sector==0) // Sector 0: 当(U，
U) = (0,0)
{
v->Ta = _IQ(0.5);
v->Tb = _IQ(0.5);
v->Tc = _IQ(0.5);
}
if (Sector==1) // Sector 1: t1=Z 和 t2=Y (abc ---> Tb,Ta,Tc)
{
t1 = Vc;
t2 = Vb;
v->Tb = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); // tbon = (1-t1-t2)/2
v->Ta = v->Tb+t1; // taon = tbon+t1
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v->Tc = v->Ta+t2; // tcon = taon+t2
}
else if (Sector==2) // Sector 2: t1=Y和t2=-X (abc ---> Ta,Tc,Tb)
{
t1 = Vb;
t2 = -Va;
v->Ta = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); // taon = (1-t1-t2)/2
v->Tc = v->Ta+t1; // tcon = taon+t1
v->Tb = v->Tc+t2; // tbon = tcon+t2
}
else if (Sector==3) // Sector 3: t1=-Z和t2=X (abc ---> Ta,Tb,Tc)
{
t1 = -Vc;
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t2 = Va;
v->Ta = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); // taon = (1-t1-t2)/2
v->Tb = v->Ta+t1; // tbon = taon+t1
v->Tc = v->Tb+t2; // tcon = tbon+t2
}
else if (Sector==4) // Sector 4: t1=-X和t2=Z (abc ---> Tc,Tb,Ta)
{
t1 = -Va;
t2 = Vc;
v->Tc = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); // tcon = (1-t1-t2)/2
v->Tb = v->Tc+t1; // tbon = tcon+t1
v->Ta = v->Tb+t2; // taon = tbon+t2
}
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else if (Sector==5) // Sector 5: t1=X和t2=-Y (abc ---> Tb,Tc,Ta)
{
t1 = Va;
t2 = -Vb;
v->Tb = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); // tbon = (1-t1-t2)/2
v->Tc = v->Tb+t1; // tcon = tbon+t1
v->Ta = v->Tc+t2; // taon = tcon+t2
}
else if (Sector==6) // Sector 6: t1=-Y和t2=-Z (abc ---> Tc,Ta,Tb)
{
t1 = -Vb;
t2 = -Vc;
v->Tc = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); // tcon = (1-t1-t2)/2
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v->Ta = v->Tc+t1; // taon = tcon+t1
v->Tb = v->Ta+t2; // tbon = taon+t2
}
// Convert the unsigned GLOBAL_Q format (ranged (0,1))
// -> signed GLOBAL_Q format (ranged (-1,1))
v->Ta = _IQmpy(_IQ(2.0),(v->Ta-_IQ(0.5)));
v->Tb = _IQmpy(_IQ(2.0),(v->Tb-_IQ(0.5)));
v->Tc = _IQmpy(_IQ(2.0),(v->Tc-_IQ(0.5)));
}
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