STM32 使用IQmath实现SVPWM

IQMATH

TI的片子很香，做的也很好，但是成本相对ST会更高，电机控制方面，TI无疑是做的最好的方案之一，另外TI针对没有浮点运算器的定点DSP推出了IQMATH库，在使用Q格式对数据进行分析和处理的过程中，十分方便，代码也变得更加简洁，本文将使用TI的方案实现SVPWM，在这里感谢TI。

测试平台参数：
硬件：stm32f103
软件：标准外设库3.5
IDE：MDK-ARM

添加IQmathLib到工程中

将IQmathlib解压可以得到如下文件，其中包含各个平台下的静态库，本文使用STM32F1在keil环境下进行开发，需要使用的是rvmdk-cm3。

打开一个keil工程，在菜单界面点击如下图所示的图标进入project items；

添加IQmath组，并添加rvmdk-cm3路径下的静态库，和头文件；

点击下图所示的图标进入工程熟悉的设置；

添加rvmdk-cm3静态库的路径，和头文件的包含路径，如下图所示；

最终，build整个工程即可。

测试部分程序

/**
  ******************************************************************************
  * @file    Project/STM32F10x_StdPeriph_Template/main.c 
  * @author  MCD Application Team
  * @version V3.5.0
  * @date    08-April-2011
  * @brief   Main program body
  ******************************************************************************
  * @attention
  *
  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
  * TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY
  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
  *
  * <h2><center>&copy; COPYRIGHT 2011 STMicroelectronics</center></h2>
  ******************************************************************************
  */  

/* Includes ------------------------------------------------------------------*/
#include "stm32f10x.h"
#include <stdio.h>
#include <stdint.h>

#include "serial_scope.h"
#include "common.h"
#include "IQmathLib.h"
#include "usart_driver.h"
#include "clarke.h"
#include "park.h"
#include "svpwm.h"

/**
  * @brief  Main program.
  * @param  None
  * @retval None
  */
sv_mod_t svpwm = SVGEN_DEFAULTS;

#define CLARK		0
#define PARK		1
#define SVPWM		2
#define SVPWM_REG	3

int main(void)
{
	int user_data[4] = { 0 };
	static int16_t time_cnt = 0;
	Trig_Components a;
	Trig_Components b;
	_iq final_angle;
	usart_init();	

	while (1)
	{		
		time_cnt-=32;
		
		clarke_parameter.As = _IQsinPU(time_cnt);
		clarke_parameter.Bs = _IQsinPU(time_cnt-0x5555);
		
		if(clarke_parameter.As > 32767){
			clarke_parameter.As = 32767;
		}
		if(clarke_parameter.As < -32768){
			clarke_parameter.As = -32768;
		}
		
		if(clarke_parameter.Bs > 32767){
			clarke_parameter.Bs = 32767;
		}
		if(clarke_parameter.Bs < -32768){
			clarke_parameter.Bs = -32768;
		}
		
		clarke_calc(&clarke_parameter);
		
		park_parameter.Alpha = clarke_parameter.Alpha;
		park_parameter.Beta = clarke_parameter.Beta;
		
		park_parameter.Sin = trig_functions(time_cnt).hsin;
		park_parameter.Cos = trig_functions(time_cnt).hcos;
		park_parameter.Angle = -time_cnt;
		park_calc(&park_parameter);
		
		svpwm.Ualpha = clarke_parameter.Alpha;
		svpwm.Ubeta = clarke_parameter.Beta;
		
		svpwm_calc(&svpwm);
		
		#define FOC_DEBUG 	SVPWM_REG
#if	(FOC_DEBUG == CLEAK)
		user_data[0] = clarke_parameter.As;
		user_data[1] = clarke_parameter.Bs;
		user_data[2] = clarke_parameter.Alpha;
		user_data[3] = clarke_parameter.Beta;		
#elif (FOC_DEBUG == PARK)
		user_data[0] = clarke_parameter.As;
		user_data[1] = clarke_parameter.Bs;
		user_data[2] = park_parameter.Ds;
		user_data[3] = park_parameter.Qs;
#elif (FOC_DEBUG == SVPWM)	
		user_data[0] = (uint16_t)svpwm.Ta;
		user_data[1] = (uint16_t)svpwm.Tb;
		user_data[2] = (uint16_t)svpwm.Tc;
		user_data[3] = svpwm.VecSector*5000;
#elif (FOC_DEBUG == SVPWM_REG)
		
		//换算的CCRx寄存器的值
		sv_regs_mod_t sv_regs = svpwm_get_regs_mod(7200,&svpwm);
		
		user_data[0] = sv_regs.ccr1;
		user_data[1] = sv_regs.ccr2;
		user_data[2] = sv_regs.ccr3;
		user_data[3] = svpwm.VecSector*1000;
#endif
		SDS_OutPut_Data_INT(user_data);
	}
	return 0;
}

/**
  * @}
  */

/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/