如何从零开始写一套自己的FOC矢量控制程序-上官致远

说明：下面程序取自IFX 8位机无传感器PMSM电机矢量控制程序。

整个程序是连续的矢量控制计算函数，其中有图片说明打断，便于更好的理解。

其中包括坐标系变换,磁链角估算，PI速度环电流环调节。

（单片机XC886，Keil编译器Cavin整理）坐标系变换说明：双电阻采样得到两相电流(ia, ib)，由abc120°静止坐标系Clarke变换到直角坐标系(iα, iβ)，由(iα, iβ)静止直角坐标系Park变换到直角旋转坐标系(iq, id)。

直流id不变，通过PI速度环电流环得到期望直流iq，进行限幅控制。

由旋转坐标系(vq, vd)经过Park逆变换到静止坐标系(vα, vβ)，然后再经过矢量调制成PWM控制电机。

无传感器角度估算：由Clarke变换得到(iα, iβ)和由Park逆变换得到的(vα, vβ)，经过低通滤波器PT1，再由直角坐标系变极坐标系得到磁链估算角无传感器开环启动策略：在定子中加入幅值及频率都受控的电流，若PLL收敛,切换到FOC闭环控制。

软件流程图：void FOC_Calculation (void) using 1{#pragma asm;**************************************;* FOC_Calculation;**************************************;*;* this function contains all calculations;* necessary for the field oriented control.;*;* register bank 1 is used;*;**************************************;* push registers;**************************************push ACCpush bpush dphpush dplpush PSWpush SYSCON0; use register bank 0x01mov PSW,#0x08;;anl SYSCON0,#0xFE ; use standard SFRsmov CCU6_PAGE,#0xA0 ; select CCU6-page 0 SST2;**************************************;* ResultRegister3 Control;**************************************;* Multiplex RESR3 for ADC channel;* ch0, ch1 and ch6 in sequential queue;* Add ADC channel ch3 in triggered mode;*;* input ADC_RESR3;* guc_adc_ch;* gui_adc_ch_val;*;* output ADC_QINR0 = {ch0 -> ch1 -> ch6};* gui_adc_ch_val[guc_adc_ch++] = ADC_RESR3;*mov ADC_PAGE,#0x86 ; switch to ADC_page 6 save ST0mov ADC_QINR0,#0x83 ; channel 3, no refill, external trigger//mov ADC_QINR0,#0x07 ; add channel7 to queue (I_pfc) mov ADC_QINR0,#0x00mov r0,#gui_adc_ch_valmov ADC_PAGE,#0x03 ; switch to ADC_page 3 save no ST0mov @r0,ADC_RESRA3H ; gui_adc_ch_val[guc_adc_ch] = RESRA3 (H)inc r0mov a,ADC_RESRA3Lanl a,#0xe0 ; mask ADC status informationmov @r0,a ; gui_adc_ch_val[guc_adc_ch] = RESRA3 (L)//mov gi_I_pfc,ADC_RESRA2H//mov a,ADC_RESRA2L//anl a,#0xe0 ; mask ADC status information//mov gi_I_pfc+1,a;************************************** ;* current_calculation;************************************** ;* Take ADC values from ADC result;* registers and multiply by 8;*;* input ADC_RESR0, ADC_RESR1;*;* output R2 = [ -I2_shunt * 8 ]H;* R3 = [ -I2_shunt * 8 ]L;* A = [ (I2_shunt - I1_shunt) * 8 ]H;* R5 = [ (I2_shunt - I1_shunt) * 8 ]L;* R6 = [ I1_shunt * 8 ]H;* R7 = [ I1_shunt * 8 ]L;*mov r5,ADC_RESRA1Hmov a,ADC_RESRA1Lanl a,#0xE0 ; mask ADC status informationmov r4,amov r7,ADC_RESRA0Hmov a,ADC_RESRA0Lanl a,#0xE0 ; mask ADC status informationmov r6,amov ADC_PAGE,#0xC2 ; switch to old page restore ST0orl SYSCON0,#1 ; switch to mapped SFRsmov MDU_MD0,r6 ; MD3 = ADCR2_H [ RES9 | RES8 | RES7 | RES6 | RES5 | RES4 | RES3 | RES2 ] mov MDU_MD1,r7 ; MD2 = ADCR2_L [ RES1 | RES0 | 0 | VF | DRC | CHNR2 | CHNR1 | CHNR0 ] mov MDU_MD2,r4 ; MD1 = ADCR3_H [ RES9 | RES8 | RES7 | RES6 | RES5 | RES4 | RES3 | RES2 ] mov MDU_MD3,r5 ; MD0 = ADCR3_L [ RES1 | RES0 | 0 | VF | DRC | CHNR2 | CHNR1 | CHNR0 ] mov MDU_MD4,#0x22 ; shift right ADCR2/ADCR3 by 2 bitsmov MDU_MDUCON,#0x13; ; start bit-shiftnop ; 4 MDU readyclr cmov a, MDU_MR0subb a, offsetLmov a, MDU_MR1subb a, offsetHmov r6, ajnc okclr amov R7, amov R6, aok:clr cmov a, MDU_MR2subb a, offsetLmov r5, amov a, MDU_MR3subb a, offsetHmov r4, ajnc ok1clr amov R5, amov R4, aok1://mov r7,MDU_MR0//mov r6,MDU_MR1//mov r5,MDU_MR2//mov r4,MDU_MR3 ;-----------clr csubb a,r5mov r3,aclr asubb a,r4mov r2,a ; R2/R3 = -I2_shuntclr cmov a,r5 ; A = I2_shunt_Lsubb a,r7mov r5,a ; R5 = I2_shunt_L - I1_shunt_L mov a,r4 ; A = I2_shunt_Hsubb a,r6 ; A/R5 = I2_shunt - I1_shunt;**************************************;* phase current;**************************************;* Calculate currents I_phaseA and I_phaseB;* according the sector of space vector;*;* input R2 = [ -I2_shunt * 8 ]H;* R3 = [ -I2_shunt * 8 ]L;* A = [ (I2_shunt - I1_shunt) * 8 ]H;* R5 = [ (I2_shunt - I1_shunt) * 8 ]L;* R6 = [ I1_shunt * 8 ]H;* R7 = [ I1_shunt * 8 ]L;*;* output R4 = [ gi_I_phaseB ]H;* R5 = [ gi_I_phaseB ]L;* R6 = [ gi_I_phaseA ]H;* R7 = [ gi_I_phaseA ]L;*djnz guc_sector_s,SV_sectorB ; Sector A I1_shunt = Iu , I2_shunt = -Iwmov gi_I_phaseA+1,r7mov gi_I_phaseA,r6 ; I_phaseA = I1_shuntmov gi_I_phaseB+1,r5mov gi_I_phaseB,a ; I_phaseB = -(Iw + Iu) = I2_shunt - I1_shunt sjmp phase_current_endSV_sectorB:djnz guc_sector_s,SV_sectorC ; Sector B I1_shunt = Iv , I2_shunt = -Iwmov gi_I_phaseB+1,r7mov gi_I_phaseB,r6 ; I_phaseB = I1_shuntmov gi_I_phaseA+1,r5mov gi_I_phaseA,a ; I_phaseA = -(Iv + Iw) = I2_shunt - I1_shunt sjmp phase_current_endSV_sectorC:djnz guc_sector_s,SV_sectorD ; Sector C I1_shunt = Iv , I2_shunt = -Iumov gi_I_phaseB+1,r7mov gi_I_phaseB,r6 ; I_phaseB = I1_shuntmov gi_I_phaseA+1,r3mov gi_I_phaseA,r2 ; I_phaseA = -I2_shuntsjmp phase_current_endSV_sectorD:djnz guc_sector_s,SV_sectorE ; Sector D I1_shunt = Iw , I2_shunt = -Iu mov gi_I_phaseA+1,r3mov gi_I_phaseA,r2 ; I_phaseA = -I2_shuntmov gi_I_phaseB+1,r5mov gi_I_phaseB,a ; I_phaseB = -(Iu + Iw) = I2_shunt - I1_shunt sjmp phase_current_endSV_sectorE:djnz guc_sector_s,SV_sectorF ; Sector E I1_shunt = Iw , I2_shunt = -Iv mov gi_I_phaseB+1,r3mov gi_I_phaseB,r2 ; I_phaseB = -I2_shuntmov gi_I_phaseA+1,r5mov gi_I_phaseA,a ; I_phaseA = -(Iv + Iw) = I2_shunt - I1_shunt sjmp phase_current_endSV_sectorF:mov gi_I_phaseA+1,r7 ; Sector F I1_shunt = Iu , I2_shunt = -Iv mov gi_I_phaseA,r6 ; I_phaseA = I1_shuntmov gi_I_phaseB+1,r3mov gi_I_phaseB,r2 ; I_phaseB = -I2_shuntphase_current_end:;**************************************;* clark transform;**************************************;* transform from three phase system;* to two phase system;* I_beta = [(I_phaseB*2 + I_phaseA)/(sqr(3)*2)]*2;*;* input gi_I_phaseB;* gi_I_phaseA;*;* output gi_I_alpha;* gi_I_beta;*;I_phaseB*2 + I_phaseAmov a,gi_I_phaseB+1add a,ACCxch a,gi_I_phaseBaddc a,ACCxch a,gi_I_phaseB ; I_phaseB = I_phaseB*2add a,gi_I_phaseA+1mov MDU_MD0,a ; MD0 = [I_phaseB*2 + I_phaseA]_L mov a,gi_I_phaseBaddc a,gi_I_phaseAmov MDU_MD1,a ; MD1 = [I_phaseB*2 + I_phaseA]_H;(I_phaseB*2 + I_phaseA)/(sqrt(3)*2)mov MDU_MD4,#0xE6 ; MD4 = [0.57735 * 2^15]_Lmov MDU_MD5,#0x49 ; MD5 = [0.57735 * 2^15]_Hmov MDU_MDUCON,#0x14; ;->MDU start;I_phaseA*2mov a, gi_I_phaseA+1add a, ACCxch a, gi_I_phaseAaddc a, ACCmov b, axch a, gi_I_phaseA+1mov gi_I_alpha+1, a ;oscilloscopemov gi_I_alpha, b;(I_phaseB*2 + I_phaseA)/(sqrt(3)*2) * 2mov MDU_MD2,MDU_MR2mov MDU_MD3,MDU_MR3mov MDU_MD4,#0x02 ; shift right ADCR2/ADCR3 by 2 bitsmov MDU_MDUCON,#0x13; ; start bit-shiftnopnopmov gi_I_beta+1,MDU_MR2 ; I_beta = (I_phaseB*2 + I_phaseA)/sqr(3) , I_alpha = I_phaseA*2 mov gi_I_beta,MDU_MR3;**************************************;* flux estimation;**************************************;*;* Calculate the flux and angle;* PSI_alpha = integral( V_alpha + I_alpha * STATOR_R ) dt + I_alpha * STATOR_L;* PSI_beta = integral( V_beta + I_beta * STATOR_R ) dt + I_beta * STATOR_L ;* phi = atan( PSI_alpha / PSI_beta );*;* input gi_V_alpha;* gi_I_alpha;* gi_V_beta;* gi_I_beta;* gi_angle;* gi2_Integrator_alpha[0,1,2,3] ; stored values from integration via PT1 ;* gi2_Integrator_beta[0,1,2,3] ; stored values from integration via PT1 ;*;* output gi2_Integrator_alpha[0,1,2,3];* gi2_Integrator_beta[0,1,2,3];* gi_Flux_alpha;* gi_Angle_mem;* gi_angle;*;**************************************;*clr amov CD_STATC,a ; clear keep bits - interrupt disabledmov CD_CON,#0x48 ; Linear rotation mode - auto start MPS = 1 mov CD_CORDYH,gi_V_alpha ; Y = Imov CD_CORDYL,gi_V_alpha+1 ;mov CD_CORDZH,gi_I_alpha ; Z = R I_max = +4096/-4096mov CD_CORDZL,gi_I_alpha+1 ;mov CD_CORDXH,#STATOR_R_H ; X = Vmov CD_CORDXL,#STATOR_R_L ; CORDIC starts automatically; Y = Y + X*Z*16;**************************************;* Calculation ( (I_alpha * 2^STATOR_L_SCALE)* STATOR_L );*mov MDU_MD0,gi_I_alpha+1 ;4mov MDU_MD1,gi_I_alpha ;8#if STATOR_L_SCALE > 0mov MDU_MD4,#STATOR_L_SCALE ;12 leftshiftmov MDU_MDUCON,#0x13; ;16 bitshift#endifmov MDU_MD4,#STATOR_L_L ;12/4mov MDU_MD5,#STATOR_L_H ;16/8 MDU ready (bitshift)#if STATOR_L_SCALE > 0mov MDU_MD0,MDU_MR0 ;20mov MDU_MD1,MDU_MR1 ;24#endifmov MDU_MDUCON,#0x14; ;28 MR = I * Lmov r0,#gi2_Integrator_alpha ;32/2mov MDU_MD4,#FLUX_PT1_Z1_L ;34/6mov MDU_MD5,#FLUX_PT1_Z1_H ;36/10clr F0 ;40/12 F0 = 0 for PT1 scalermov CD_CORDYL,gi_V_beta+1 ;42/16 MDU readymov r5,MDU_MR3 ;40 R5 = [I_alpha * STATOR_L]_Hmov r4,MDU_MR2 ;44 R4 = [I_alpha * STATOR_L]_L CORDIC readymov r7,CD_CORDYH ; R7 = [V_alpha + I_alpha * STATOR_R]_Hmov r6,CD_CORDYL ; R6 = [V_alpha + I_alpha * STATOR_R]_L;**************************************;* Calculation (V_beta + I_beta * STATOR_R);*mov CD_STATC,a ; clear keep bits - interrupt disabledmov CD_CORDYH,gi_V_beta ;mov CD_CORDZH,gi_I_beta ; Z = Imov CD_CORDZL,gi_I_beta+1 ; X = Rmov CD_CON,#0x59 ; Linear rotation mode , start / MPS = 1;**************************************;* integration by PT1 integral(r6,r7)dt;*mov r3,#FLUX_PT1_Z2_Hmov r2,#FLUX_PT1_Z2_Llcall PT1_MDU ; PT1-return value L = *R1 , H = *R0;**************************************;* Calculation (I_beta * STATOR_L);*mov MDU_MD0,gi_I_beta+1mov MDU_MD1,gi_I_beta#if STATOR_L_SCALE > 0mov MDU_MDUCON,#0x13; ; bitshift#endifmov MDU_MD4,#STATOR_L_L ;4mov MDU_MD5,#STATOR_L_H ;8 MDU ready (bitshift)#if STATOR_L_SCALE > 0mov MDU_MD0,MDU_MR0mov MDU_MD1,MDU_MR1#endifmov MDU_MDUCON,#0x14; ; MR = I * L;**************************************;* _gi3_Flux_alpha[4,5] = [R5 + *R0, R4 + *R1];*mov a,r4 ;2 R4 = [ I_alpha * STATOR_L ]_Ladd a,@r0 ;4 *R1 = [ integral(V_alpha + I_alpha * STATOR_R)dt ]_L mov gi_Flux_alpha+1,a ;6mov a,r5 ;8 R5 = [ I_alpha * STATOR_L]_Hdec r0addc a,@r0 ;10 *R0 = [ integral(V_alpha + I_alpha * STATOR_R)dt ]_H mov gi_Flux_alpha,a ;12mov r0,#gi2_Integrator_beta ;14mov MDU_MD4,#FLUX_PT1_Z1_L ;18 MDU readymov MDU_MD5,#FLUX_PT1_Z1_H ;mov r7,CD_CORDYH ; R7 = [V_beta + I_beta * STATOR_R]_Hmov r6,CD_CORDYL ; R6 = [V_beta + I_beta * STATOR_R]_Lmov r5,MDU_MR3 ; R5 = [I_beta * STATOR_L]_Hmov r4,MDU_MR2 ; R4 = [I_beta * STATOR_L]_L;**************************************;* integration by PT1 integral(r6,r7)dt;*clr F0 ; F0 = 0 for PT1 scalermov r3,#FLUX_PT1_Z2_Hmov r2,#FLUX_PT1_Z2_Llcall PT1_MDU ; PT1-return value L = *R1 , H = *R0;**************************************;* CD_CORDY = [R5 + *R0, R4 + *R1];*mov a,r4 ; R4 = [ I_beta * STATOR_L ]_Ladd a,@r0 ; *R1 = [ integral(V_beta + I_beta * STATOR_R)dt ]_L mov CD_CORDYL,a ;mov a,r5 ; R5 = [ I_beta * STATOR_L]_Hdec r0addc a,@r0 ; *R0 = [ integral(V_beta + I_beta * STATOR_R)dt ]_H mov CD_CORDYH,a;**************************************;* calculation angle = atan( Flux_beta / Flux_alpha );*clr amov CD_STATC,a ; clear keep bits - interrupt disabledmov CD_CON,#0x02 ; Circular vectoring mode - auto start MPS = 1 mov CD_CORDZH,a ; Z = 0mov CD_CORDZL,a ;mov CD_CORDXH,gi_Flux_alpha ; X = Flux_alphamov CD_CORDXL,gi_Flux_alpha+1 ; CORDIC starts automaticallymov r7,guc_SpeedControlCounter ;4cjne r7,#0,_fb_CD0 ;6mov gi_Angle_mem,gi_angle ;10 store previous angle in angle_memmov gi_Angle_mem+1,gi_angle+1 ;14;**************************************;* inverse vector rotation;**************************************_fb_CD0:mov CD_CORDYL,gi_I_alpha+1 ;18 Y = Alphamov CD_CORDYH,gi_I_alpha ;22mov CD_CORDXH,gi_I_beta ;26 X = Beta;**************************************;* flux estimation continued;**************************************_fb_CD1:jb CD_BSY,_fb_CD1 ; wait for CORDIC result of angle calculationjnb gb_closed_loop,_fb_CD2a ; if( gb_closed_loop == 1 )mov gi_angle+1,CD_CORDZL ; {mov gi_angle,CD_CORDZH ; angle = atan( Flux_alpha / Flux_beta )sjmp _fb_CD2 ; }_fb_CD2a: ; during startup turn motor in open loop mov gi_Flux_angle+1,CD_CORDZL ; elsemov gi_Flux_angle,CD_CORDZH ; angle1 = atan( Flux_alpha / Flux_beta )mov MDU_MD0,gi_delta_angle+1 ; gi_delta_angle * gi_V_q_vf_slewmov MDU_MD1,gi_delta_anglemov MDU_MD4,gi_V_q_vf_slew+1mov MDU_MD5,gi_V_q_vf_slewmov MDU_MDUCON,#0x14; ; start Multiplikationmov R0,#gi_delta_angle+1 ; gi_angle += gi_delta_anglemov a,gi_angle+1 ; add delta angle at start-upadd a,@R0mov gi_angle+1,amov a,gi_angledec R0addc a,@R0mov gi_angle,amov r1,#gt_Iq_control+2clr amov @r1,adec r1mov R0,#gi_V_q_vf_offset+1 ; gi_V_q = gi_V_q_vf_offset + gi_delta_angle * gi_V_q_vf_slew * 256 mov a,MDU_MD1add a,@R0mov gi_V_q+1,amov @r1,amov a,MDU_MD2dec R0dec R1addc a,@R0mov gi_V_q,amov @r1,a;**************************************;* inverse vector rotation continued;**************************************;*;* rotate I_alpha and I_beta by angle;*;* input gi_I_alpha;* gi_I_beta;* gi_angle;*;* output gi_Id;* gi_Iq;*_fb_CD2:mov CD_STATC,a ; clear keep bits - interrupt disabledmov CD_CON,#0x4A ; Circular rotation mode - auto start MPS = 2 mov CD_CORDZH,gi_angle ; Z = gi_anglemov CD_CORDZL,gi_angle+1mov CD_CORDXL,gi_I_beta+1 ; CORDIC starts autmatically_vdm_CD0:jb CD_BSY,_vdm_CD0 ; wait for CORDIC result of inverse vector rotationmov gi_I_q+1,CD_CORDXL ; _gi_Iqmov gi_I_q,CD_CORDXH ;mov gi_I_d+1,CD_CORDYL ; _gi_Idmov gi_I_d,CD_CORDYH ;// uncomment this if scaling of gi_I_q to fullscale (8000 ... 7fff) is required// mov MDU_MD0,gi_I_q+1 ; MD0 = gi_I_q_L// mov MDU_MD1,gi_I_q ; MD1 = gi_I_q_H// mov MDU_MD4,#0xB8 ; MD4 = 16/K / 256 *2 _L // mov MDU_MD5,#0x09 ; MD5 = 16/K / 256 *2 _H // mov MDU_MDUCON,#13H; ; Start multiplication// nop// nop// nop// nop// nop// mov gi_I_q+1,MDU_MR1// mov gi_I_q,MDU_MR2 ; gi_I_q = gi_I_q * 16/K;**************************************;* Speed Calculation;**************************************;*;* calculation of speed = (angle_mem - angle) / T12PERIODE_HALF;*;* speed calculation is executed every;* (SPEED_CONTROL_RATE/CURRENT_CONTROL_RATE) of control loop;*;* input gi_angle;* gi_Angle_mem;* gi_Speed;*;* output *R0 = gi_Speed_H;* *R1 = gi_Speed_L;inc guc_SpeedControlCountermov a,guc_SpeedControlCounter ; if( ++_guc_SpeedControlCounter != (SPEED_CONTROL_RATE/CURRENT_CONTROL_RATE) ) jmp _node3_int1 cjne a,#(SPEED_CONTROL_RATE/CURRENT_CONTROL_RATE),_node3_int1mov guc_SpeedControlCounter,#0x00 ; else _guc_SpeedControlCounter = 0;clr c ; C = 0mov a,gi_angle+1 ; A = angle_Lsubb a,gi_Angle_mem+1 ; A = angle_L - angle_mem_Lmov r6,a ; R6 = (angle - angle_mem)_L = angle_L - angle_mem_Lmov a,gi_angle ; A = angle_Hsubb a,gi_Angle_mem ; A = angle_H - angle_mem_Hmov r7,a ; R7 = angle_H - angle_mem_Hmov r0,#gi_Speed+2mov a,#SPEED_PT1_Z;**************************************;* PT1 with 24bit memory;**************************************;*;* calculation of Y_(k) = Y_(k-1) + 2^(-Z) * { X_(k) - Y_(k-1) };*;* input Y [HLh] *R0 = Y_h;* X R6 = L, R7 = H;* Z a [1..15];*;* output *R0 = Y_H;*;* remark no limitation of subtract and add;* => X must be smaller than 0x3fff;*setb acc.5 ; select right shiftmov MDU_MD4,a ; MD4 = number of bits to shiftclr cclr asubb a,@r0 ; A = e_h = 0 - Y_hmov MDU_MD1,a ; MD1 = e_hdec r0mov a,r6 ; A = X_Lsubb a,@r0 ; A = e_L = X_L - Y_Lmov MDU_MD2,a ; MD2 = e_Ldec r0mov a,r7 ; A = X_Hsubb a,@r0 ; A = e_H = X_H - Y_Hmov MDU_MD3,a ; MD3 = e_Hmov MDU_MDUCON,#0x17; ; Start right-shift (X - Y)_HLh >> Z //wait for XC88x - no ws no double clknopnopnopnop//...inc r0 ;4inc r0 ;8nop ;12mov a,@r0 ;16 a = Y_hadd a,MDU_MR1 ; A = Y_h(k-1) + MR1mov @r0,a ; Y_h(k) = Y_h(k-1) + MR1dec r0mov a,@r0 ; a = Y_Laddc a,MDU_MR2 ; A = Y_L(k-1) + MR2mov @r0,a ; Y_L(k) = Y_L(k-1) + MR2mov r4,adec r0mov a,@r0addc a,MDU_MR3 ; A = Y_H(k-1) + MR3 + Cmov @r0,a ; Y_H(k) = Y_H(k-1) + MR3 + Cmov r5,a;* end of PT1 with 24bit memory;**************************************;**************************************;* Speed and Current Control;**************************************jb gb_closed_loop,_node3_int0 ; if( _gb_closed_loop == 1 ) jmp _node3_int0 ajmp _node3_int2 ; else jmp _node3_int2_node3_int0: ;;**************************************;* Speed Control;**************************************;*;* Load parameters for speed control;* call PI_controller;* use output as Iq_reference;*mov r7,gi_Speed_referencemov r6,gi_Speed_reference+1mov r0,#gt_Speed_control+1+5#ifdef SPEED_PI_KP_GAIN_128setb F0 ;Kp gain = 128#elseclr F0 ;Kp gain = 8#endiflcall PI_controller;* Limitation of IQ to positive (do not active brake) ; mov a,r6; jnb acc.7,_limit_end; mov r6, #0h; mov r7, #0h_limit_end:#ifdef LIMIT_IQ;* Limitation of speed control outputmov a,r6jnb acc.7,_limit_positivemov a, #LIMIT_IQ_Ladd a,r7mov a, #LIMIT_IQ_Haddc a,r6jc _limit_endmov r6, #~LIMIT_IQ_Hmov r7, #~LIMIT_IQ_Lsjmp _limit_end_limit_positive:mov a, #LIMIT_IQ_Lclr csubb a,r7mov a, #LIMIT_IQ_Hsubb a,r6jnc _limit_endmov r6, #LIMIT_IQ_Hmov r7, #LIMIT_IQ_L_limit_end:#endifmov gi_Iq_reference,r6mov gi_Iq_reference+1,r7_node3_int1:;************************************** ;* Current Control Id;************************************** ;*;* Load parameters for Id control;* call PI_controller and;* store result in Vd;*;* input;* gi_Id_reference;* gi_Id;*;* output;* gi_V_d;*mov r7,gi_Id_referencemov r6,gi_Id_reference+1mov r5,gi_I_dmov r4,gi_I_d+1mov r0,#gt_Id_control+1+5clr F0 ;Kp gain = 8lcall PI_controllermov gi_V_d,r6mov gi_V_d+1,r7;************************************** ;* Current Control Iq;************************************** ;*;* Load parameters for Iq control;* call PI_controller;* store result in Vq;*;* input;* gi_Iq_reference;* gi_Iq;*;* output;* gi_V_q;*mov r7,gi_Iq_referencemov r6,gi_Iq_reference+1mov r5,gi_I_qmov r4,gi_I_q+1mov r0,#gt_Iq_control+1+5clr F0 ;Kp gain = 8lcall PI_controllermov gi_V_q,r6mov gi_V_q+1,r7_node3_int2:;**************************************;* vector rotation;**************************************;*;* rotate gi_V_q and gi_V_d by angle;*;* input gi_V_q;* gi_V_d;* gi_angle;*;* output gi_V_alpha;* gi_V_beta;*clr amov CD_STATC,a ; clear keep bits - interrupt disabledmov CD_CON,#0x8A ; Circular rotation mode - auto start MPS = 4 mov CD_CORDZH,gi_angle ; Z = gi_anglemov CD_CORDZL,gi_angle+1mov CD_CORDYL,gi_V_q+1 ; Y = Q_kompmov CD_CORDYH,gi_V_q ;mov CD_CORDXH,gi_V_d ; X = D_kompmov CD_CORDXL,gi_V_d+1 ; CORDIC starts autmaticallymov CD_CORDZH,a ; Z = 0mov CD_CORDZL,a_MD_0:jb CD_BSY,_MD_0 ; wait for CORDIC with vector rotationmov r7,CD_CORDXL ; R7 <- V_alpha_Lmov r6,CD_CORDXH ; R6 <- V_alpha_Hmov r5,CD_CORDYL ; R5 <- V_beta_Lmov r4,CD_CORDYH ; R4 <- V_beta;**************************************;* catresian to polar transform;**************************************;*;* calculate space vector amplitude (norm);*;* input gi_V_alpha;* gi_V_beta;* R7 <- V_alpha_L;* R6 <- V_alpha_H;* R5 <- V_beta_L;* R4 <- V_beta;*;* output gi_V_alpha_L;* gi_V_alpha_H;* gi_V_beta_L;* gi_V_beta;* R7 = gi_Amplitude_L;* R6 = gi_Amplitude_H;* CORDZ = Anglemov CD_STATC,a ; clear keep bits - interrupt disabledmov CD_CON,#0x82 ; Circular vectoring mode - auto start MPS = 4mov CD_CORDYL,r5 ; Y = gi_V_betamov CD_CORDYH,r4 ;mov CD_CORDXH,r6 ; X = gi_V_alphamov CD_CORDXL,r7 ; CORDIC starts autmaticallymov MDU_MD0,#0x06 ; MD0 = 6mov MDU_MD1,a ; MD1 = 0mov gi_V_alpha+1,r7 ; gi_V_alpha_L = R7mov gi_V_alpha,r6 ; gi_V_alpha_H = R6mov gi_V_beta+1,r5 ; gi_V_beta_L = R5mov gi_V_beta,r4 ; gi_V_beta = R4_MD_02:jb CD_BSY,_MD_02 ; wait for CORDIC result of amplitude and angle calculationmov r7,CD_CORDXLmov r6,CD_CORDXH;* limitation of Amplitudeclr c ; if ( MAX_AMPLITUDE - gi_Amplitude ) < 0mov a,#MAX_AMPLITUDE_L ;subb a,r7 ;mov a,#MAX_AMPLITUDE_H ;subb a,r6 ;jnc _MD_002 ;mov r7,#MAX_AMPLITUDE_L ; gi_Amplitude = MAX_AMPLITUDEmov r6,#MAX_AMPLITUDE_H_MD_002: ; elsemov gi_Amplitude+1,r7 ; R7 = gi_Amplitude_L mov gi_Amplitude,r6 ; R6 = gi_Amplitude_H;**************************************;* sv modulation;**************************************;*;* space vector modulation;*;* input guc_sector;* R7 = gi_Amplitude_L;* R6 = gi_Amplitude_H;* CORDZ = Angle;*;* output;* R0 = V_TA_H;* R1 = V_TA_L;* R2 = V_TB_H;* R3 = V_TB_L;* R4 = V_TC_H;* a = V_TC_L;* R5 = T1/2_L;* B = T1/2_H;* R6 = T2_H/2;* R7 = T2_L/2;*mov MDU_MD4,CD_CORDZL ; MD4 = Z = Anglemov MDU_MD5,CD_CORDZH ; MD5 = Z = Anglemov MDU_MDUCON,#0x10; ; start Multiplikation (gi_angle * 6) -> Sektor,gammamov MDU_MD4,r7 ;4 MD4 = amp_Lmov MDU_MD5,r6 ;8 MD5 = amp_H_MD_01:clr a ;10mov CD_STATC,a ;12 clear keep bits - interrupt disabledmov CD_CORDZL,a ;14 Z = 0mov dptr,#Sinus60_tab ; MDU ready / get pointer at Sinustablemov r2,MDU_MR1 ; R2 = gamma 8bitmov guc_sector,MDU_MR2 ; R3 = guc_sector 0 (5)mov a,r2 ; A = gamma 8bitadd a,ACC ; A = gamma 9bit 256 16Bits valuesmov r0,a ; R0 = gamma 9bit 256 16Bits valuesjnc _MD_1inc dph_MD_1:;*;* Calculate T2;*movc a,@a+dptr ; A = sinus_Hmov MDU_MD1,a ; MD1 = sinus_Hmov a,r0 ; A = gammainc amovc a,@a+dptr ; A = sinus_Lmov MDU_MD0,a ; MD0 = sinus_Lmov MDU_MDUCON,#0x14; ; start Multiplikation amp * sinus(gamma);*;* Calculate T1;*mov dptr,#Sinus60_tabmov a,r2cpl aadd a,ACCmov r2,ajnc _MD_2inc dph_MD_2:movc a,@a+dptr ; A = sinus_H , MDU fertigmov MDU_MD1,a ; MD1 = sinus_Hmov r5,MDU_MR2 ; R5 = T2_Lmov r4,MDU_MR3 ; R4 = T2_Hmov a,r2 ; A = gamma 8bitinc amovc a,@a+dptr ; A = sinus_Lmov MDU_MD0,a ; MD0 = sinus_Lmov MDU_MDUCON,#0x14; ; start Multiplikation amp * sinus(60 - gamma)mov CD_CON,#0x48 ;4 Linear rotation mode - auto start MPS = 2 mov CD_CORDZH,#0x08 ;8 Z = 1mov CD_CORDYH,r4 ;12 Y = T2jnb gb_closed_loop,_MD_3 ; ignore TMIN during start-upcjne r4,#0,_MD_3 ;16 , MDU readymov a,#T_MINsubb a,r5jc _MD_3mov r5,#T_MIN_MD_3:mov r2,MDU_MR3 ; R2 = T1_Hmov r1,MDU_MR2 ; R1 = T1_Ljnb gb_closed_loop,_MD_4 ; ignore TMIN during start-upcjne r2,#0,_MD_4mov a,#T_MINsubb a,r1jc _MD_4mov r1,#T_MIN_MD_4:mov CD_CORDYL,r5 ; Y = T2mov CD_CORDXH,r2 ; X = T1mov CD_CORDXL,r1 ; CORDIC starts autmaticallyclr c ;2 Berechnung T2 /2mov a,r4 ;4 A = T2_Hrrc a ;6 A = T2_H/2mov r6,a ;8 R6 = T2_H/2mov a,r5 ;10 A = T2_Lrrc a ;12 A = T2_L/2mov r7,a ;14 R7 = T2_L/2mov a,guc_sector ;16jb ACC.0,_MD_5 ;20mov a,r1mov r5,a ; R5 = T1_L/T2_Lmov a,r2mov r4,a ; R4 = T1_L/T2_L_MD_5:mov r2,#T12PERIODE_HALF_H ;22mov r1,#T12PERIODE_HALF_H ;24mov a,#T12PERIODE_HALF_L ;26mov r0,a ;28inc guc_sector ;30 preparation for djnz instruction mov guc_sector_s,guc_sector ;34_MD_6:jb CD_BSY,_MD_6 ;CORDIC readyadd a,CD_CORDYLxch a,r1 ; R1 = TT3_L A = 1addc a,CD_CORDYHxch a,r0 ; R0 = TT3_H A = 144;*;* Calculate TT1;*clr csubb a,CD_CORDYLmov r3,a ; R3 = TT1_Lxch a,r2 ; R2 = TT1_L A = 1subb a,CD_CORDYH ; A = TT1_Hxch a,r2 ; R2 = TT1_H / A = T1_Ladd a,r5 ; A = TT1_L + T1,2_Lxch a,r4 ; R4 = TT1_L + T1,2_Laddc a,r2 ; A = TT1_H + T1,2_Hxch a,r4 ; R4 = TT1_H + T1,2_Hmov r5,CD_CORDXL ; R5 = T1/2_Lmov b,CD_CORDXH ; B = T1/2_H;**************************************;* update compare values;**************************************;*;* Calculation and setup of compare;* values of PWM Unit CCU6;*;* input guc_sector;* R0 = V_TA_H;* R1 = V_TA_L;* R2 = V_TB_H;* R3 = V_TB_L;* R4 = V_TC_H;* a = V_TC_L;* R5 = T1/2_L;* B = T1/2_H;* R6 = T2_H/2;* R7 = T2_L/2;*;* output;* setup of CCU6 registers;*;*;* clr RMAP for normal operation;*anl SYSCON0,#0xFE ; switch to standard SFRsmov CCU6_PAGE,#0x00CV_SectorA:djnz guc_sector,CV_SectorBmov CCU6_CC60RH,r2mov CCU6_CC60RL,r3 ; CC60CR = V_TBmov CCU6_CC61RL,amov CCU6_CC61RH,r4 ; CC61CR = V_TCmov CCU6_CC62RH,r0mov CCU6_CC62RL,r1 ; CC60CR = V_TAmov CCU6_PAGE,#0x00mov a,#AD_TRIGGER_CM_L ; A = AD_TRIGGER_CM_Ladd a,r7 ; A = AD_TRIGGER_CM_L + T2/2_L mov CCU6_CC63RL,amov a,#AD_TRIGGER_CM_H ; A = AD_TRIGGER_CM_Haddc a,r6 ; A = AD_TRIGGER_CM_H + T2/2_Hmov CCU6_PAGE,#0x01mov a,#AD_TRIGGER_PM_L ; A = AD_TRIGGER_PM_Ladd a,r5 ; A = AD_TRIGGER_PM_L + T1/2_L mov CCU6_T13PRL,amov a,#AD_TRIGGER_PM_H ; A = AD_TRIGGER_PM_Haddc a,b ; A = AD_TRIGGER_PM_H + T1/2_H mov CCU6_T13PRH,aljmp compare_values_endCV_SectorB:djnz guc_sector,CV_SectorCmov CCU6_CC60RL,amov CCU6_CC60RH,r4 ; CC60CR = V_TCmov CCU6_CC61RH,r2mov CCU6_CC61RL,r3 ; CC61CR = V_TBmov CCU6_CC62RH,r0mov CCU6_CC62RL,r1 ; CC60CR = V_TAmov CCU6_PAGE,#0x00mov a,#AD_TRIGGER_CM_L ; A = AD_TRIGGER_CM_Ladd a,r5 ; A = AD_TRIGGER_CM_L + T1/2_L mov CCU6_CC63RL,amov a,#AD_TRIGGER_CM_H ; A = AD_TRIGGER_CM_Haddc a,b ; A = AD_TRIGGER_CM_H + T1/2_H mov CCU6_CC63RH,amov CCU6_PAGE,#0x01mov a,#AD_TRIGGER_PM_L ; A = AD_TRIGGER_PM_Ladd a,r7 ; A = AD_TRIGGER_PM_L + T2/2_Lmov a,#AD_TRIGGER_PM_H ; A = AD_TRIGGER_PM_Haddc a,r6 ; A = AD_TRIGGER_PM_H + T2/2_H mov CCU6_T13PRH,aljmp compare_values_endCV_SectorC:djnz guc_sector,CV_SectorDmov CCU6_CC60RH,r0mov CCU6_CC60RL,r1 ; CC60CR = V_TAmov CCU6_CC61RH,r2mov CCU6_CC61RL,r3 ; CC60CR = V_TBmov CCU6_CC62RL,amov CCU6_CC62RH,r4 ; CC61CR = V_TCmov CCU6_PAGE,#0x00mov a,#AD_TRIGGER_CM_L ; A = AD_TRIGGER_CM_Ladd a,r7 ; A = AD_TRIGGER_CM_L + T2/2_L mov CCU6_CC63RL,amov a,#AD_TRIGGER_CM_H ; A = AD_TRIGGER_CM_Haddc a,r6 ; A = AD_TRIGGER_CM_H + T2/2_H mov CCU6_CC63RH,amov CCU6_PAGE,#0x01mov a,#AD_TRIGGER_PM_L ; A = AD_TRIGGER_PM_Ladd a,r5 ; A = AD_TRIGGER_PM_L + T1/2_L mov CCU6_T13PRL,amov a,#AD_TRIGGER_PM_H ; A = AD_TRIGGER_PM_Haddc a,b ; A = AD_TRIGGER_PM_H + T1/2_H mov CCU6_T13PRH,a。

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确定电机的极对数。

foc矢量控制面试题Title: FOC Vector Control Interview QuestionsIntroduction:In this article, we will explore a series of interview questions related to FOC (Field-Oriented Control) Vector Control. FOC Vector Control is a control technique widely used in electrical motor drives to improve their performance and efficiency. We will delve into the core concepts and principles of FOC Vector Control, discussing various technical aspects examined during an interview. Let us now delve into the interview questions.Question 1: What is FOC Vector Control?FOC Vector Control, also known as Vector Control or Field-Oriented Control, is a control technique applied in AC (alternating current) motor drives. It involves controlling the current and voltage in the motor to achieve high-performance control. The technique decouples the torque and flux components of the motor, allowing for independent control of both parameters.Question 2: What are the benefits of FOC Vector Control?FOC Vector Control offers several advantages over traditional control methods, such as:1. Improved Torque and Speed Control: FOC allows precise control of the motor's torque and speed, resulting in enhanced performance and responsiveness.2. Increased Efficiency: By decoupling the torque and flux components, FOC minimizes energy losses and improves overall motor efficiency.3. Reduced Electromagnetic Noise: FOC helps in reducing electromagnetic noise, resulting in quieter motor operation.4. Enhanced Dynamic Response: The technique enables quick and smooth response to sudden changes in load or speed, making it suitable for applications with varying operational requirements.Question 3: How does FOC Vector Control work?FOC Vector Control consists of two main control loops: the torque control loop and the flux control loop.The torque control loop aims to regulate the torque produced by the motor. It uses current feedback from the motor's current sensors to adjust the reference current, ensuring precise torque control.Simultaneously, the flux control loop focuses on regulating the magnetic flux within the motor. By tracking the flux produced, the control loop adjusts the reference voltage to maintain stable and efficient operation.Question 4: What are the key components of FOC Vector Control?FOC Vector Control relies on several components for its implementation:1. Current Sensors: These sensors measure the actual currents flowing through the motor windings. The measured currents are fed back to the control system for accurate current control.2. Current Regulator: The current regulator calculates the required motor currents based on the desired torque and speed feedback and adjusts the motor currents accordingly.3. Speed and Position Sensors: These sensors provide feedback on the motor's speed and rotor position, enabling accurate control and synchronization.4. Control Algorithm: The control algorithm, such as the Park and Clarke transform, is responsible for transforming the AC motor currents into a two-axis rotor-oriented reference frame.Question 5: What are the challenges in implementing FOC Vector Control?Implementing FOC Vector Control can pose several challenges:1. Parameter Estimation: Accurate estimation of motor parameters, such as resistance and inductance, is crucial for optimal control. Errors in parameter estimation can lead to performance degradation.2. Sensor Placement: Proper placement of current, speed, and position sensors is essential for accurate feedback. Adequate attention should be given to sensor placement during installation.3. Computational Complexity: FOC Vector Control requires real-time calculations and control algorithms, which can be computationally intensive. Efficient computation methods must be employed to ensure real-time control.4. System Stability: Improper tuning of control gains or inadequate control loop design can result in unstable motor operation. Careful consideration should be given to ensure system stability.Conclusion:FOC Vector Control has become a popular control technique for AC motor drives, offering improved performance, efficiency, and control accuracy. As an interviewee, understanding the fundamentals of FOC Vector Control and its implementation challenges will help you excel in an interview scenario. By exploring the presented interview questions, you can enhance your knowledge and preparedness for FOC Vector Control-related interviews.。

foc 电机矢量控制FOC电机矢量控制是一种高级的电机控制技术，它通过对电机的电流和电压进行精确控制，实现对电机的高效运行。

本文将对FOC电机矢量控制的原理、优势和应用进行介绍。

一、FOC电机矢量控制的原理FOC电机矢量控制的核心思想是将电机拆分成磁场定向控制和电流控制两个子系统。

首先，通过磁场定向控制，将电机的磁场与转子磁场的磁轴对齐，使电机旋转产生转矩。

然后，通过电流控制，控制电机的电流大小和相位，实现对电机的转速和转矩的精确控制。

具体来说，FOC电机矢量控制使用了两个坐标系：静态坐标系和旋转坐标系。

静态坐标系是以电机的定子为基准，旋转坐标系是以转子为基准。

在磁场定向控制中，通过变换静态坐标系到旋转坐标系，可以将电机的磁场与转子磁场的磁轴对齐。

在电流控制中，通过变换旋转坐标系到静态坐标系，可以将电机的电流转换为静态坐标系下的电流，从而实现对电流的精确控制。

二、FOC电机矢量控制的优势FOC电机矢量控制相比传统的电机控制技术具有如下优势：1. 高效运行：FOC电机矢量控制可以减少电机的功率损耗，提高电机的效率。

通过精确控制电机的电流和电压，可以使电机在不同负载下都能以最佳效率运行。

2. 高精度控制：FOC电机矢量控制可以实现对电机转速和转矩的精确控制。

通过精确控制电机的电流大小和相位，可以实现对电机的精确控制，从而满足不同应用场景的需求。

3. 高动态响应：FOC电机矢量控制可以实现对电机的快速响应。

通过精确控制电机的电流和电压，可以实现电机的快速加速和减速，提高电机的动态响应性能。

4. 低噪音和低振动：FOC电机矢量控制可以减少电机的噪音和振动。

通过精确控制电机的电流和电压，可以减少电机的震荡和共振现象，从而降低电机的噪音和振动。

三、FOC电机矢量控制的应用FOC电机矢量控制广泛应用于各种领域的电机控制中，包括工业控制、家用电器、交通运输等。

在工业控制领域，FOC电机矢量控制可以用于驱动各种类型的电机，如交流电机、直流电机和步进电机。