Article Directory
Foreword
Simple simulation, simulation results can refer, but in the actual code to MCU, there will be some new problems, it is necessary for the coordinate conversion section test algorithm, the final results can be compared with the simulation so as to verify the correct coordinate transformation algorithm sex. Herein ABC three-phase analog signals by a program, the final data collection after the Clark / Park transform, comparing the final and simulation software via the serial oscilloscope display.
program
head File
The sine function the cosine look-up table;
/**
* @brief Trigonometrical functions type definition
*/
typedef struct
{
int16_t hCos;
int16_t hSin;
} Trig_Components;
/**
* @brief Two components stator current type definition
*/
typedef struct
{
int16_t qI_Component1;
int16_t qI_Component2;
} Curr_Components;
#define divSQRT_3 (int32_t)0x49E6 /* 1/sqrt(3) in q1.15 format=0.5773315*/
#define SIN_COS_TABLE {\
0x0000,0x00C9,0x0192,0x025B,0x0324,0x03ED,0x04B6,0x057F,\
0x0648,0x0711,0x07D9,0x08A2,0x096A,0x0A33,0x0AFB,0x0BC4,\
0x0C8C,0x0D54,0x0E1C,0x0EE3,0x0FAB,0x1072,0x113A,0x1201,\
0x12C8,0x138F,0x1455,0x151C,0x15E2,0x16A8,0x176E,0x1833,\
0x18F9,0x19BE,0x1A82,0x1B47,0x1C0B,0x1CCF,0x1D93,0x1E57,\
0x1F1A,0x1FDD,0x209F,0x2161,0x2223,0x22E5,0x23A6,0x2467,\
0x2528,0x25E8,0x26A8,0x2767,0x2826,0x28E5,0x29A3,0x2A61,\
0x2B1F,0x2BDC,0x2C99,0x2D55,0x2E11,0x2ECC,0x2F87,0x3041,\
0x30FB,0x31B5,0x326E,0x3326,0x33DF,0x3496,0x354D,0x3604,\
0x36BA,0x376F,0x3824,0x38D9,0x398C,0x3A40,0x3AF2,0x3BA5,\
0x3C56,0x3D07,0x3DB8,0x3E68,0x3F17,0x3FC5,0x4073,0x4121,\
0x41CE,0x427A,0x4325,0x43D0,0x447A,0x4524,0x45CD,0x4675,\
0x471C,0x47C3,0x4869,0x490F,0x49B4,0x4A58,0x4AFB,0x4B9D,\
0x4C3F,0x4CE0,0x4D81,0x4E20,0x4EBF,0x4F5D,0x4FFB,0x5097,\
0x5133,0x51CE,0x5268,0x5302,0x539B,0x5432,0x54C9,0x5560,\
0x55F5,0x568A,0x571D,0x57B0,0x5842,0x58D3,0x5964,0x59F3,\
0x5A82,0x5B0F,0x5B9C,0x5C28,0x5CB3,0x5D3E,0x5DC7,0x5E4F,\
0x5ED7,0x5F5D,0x5FE3,0x6068,0x60EB,0x616E,0x61F0,0x6271,\
0x62F1,0x6370,0x63EE,0x646C,0x64E8,0x6563,0x65DD,0x6656,\
0x66CF,0x6746,0x67BC,0x6832,0x68A6,0x6919,0x698B,0x69FD,\
0x6A6D,0x6ADC,0x6B4A,0x6BB7,0x6C23,0x6C8E,0x6CF8,0x6D61,\
0x6DC9,0x6E30,0x6E96,0x6EFB,0x6F5E,0x6FC1,0x7022,0x7083,\
0x70E2,0x7140,0x719D,0x71F9,0x7254,0x72AE,0x7307,0x735E,\
0x73B5,0x740A,0x745F,0x74B2,0x7504,0x7555,0x75A5,0x75F3,\
0x7641,0x768D,0x76D8,0x7722,0x776B,0x77B3,0x77FA,0x783F,\
0x7884,0x78C7,0x7909,0x794A,0x7989,0x79C8,0x7A05,0x7A41,\
0x7A7C,0x7AB6,0x7AEE,0x7B26,0x7B5C,0x7B91,0x7BC5,0x7BF8,\
0x7C29,0x7C59,0x7C88,0x7CB6,0x7CE3,0x7D0E,0x7D39,0x7D62,\
0x7D89,0x7DB0,0x7DD5,0x7DFA,0x7E1D,0x7E3E,0x7E5F,0x7E7E,\
0x7E9C,0x7EB9,0x7ED5,0x7EEF,0x7F09,0x7F21,0x7F37,0x7F4D,\
0x7F61,0x7F74,0x7F86,0x7F97,0x7FA6,0x7FB4,0x7FC1,0x7FCD,\
0x7FD8,0x7FE1,0x7FE9,0x7FF0,0x7FF5,0x7FF9,0x7FFD,0x7FFE}
#define SIN_MASK 0x0300u
//uhindex /= ( uint16_t )64;
//ANGLE >> 6
/**
| hAngle | angle | std |
| (0,16384] | U0_90 | (0,0.5] |
| (16384,32767] | U90_180 | (0.5,0.99]|
| (-16384,-1] | U270_360 | (0,-0.5] |
| (-16384,-32768] | U180_270 | (-0.5,-1) |
*/
#define U_TI_0_90 0x0000u //0x0200u
#define U_TI_90_180 0x0100u
#define U_TI_180_270 0x0200u
#define U_TI_270_360 0x0300u
Trig_Components trig_functions_ti( int16_t hAngle )
{
int32_t shindex;
uint16_t uhindex;
Trig_Components Local_Components;
/* 10 bit index computation */
uhindex = ( uint16_t )hAngle;
uhindex /= ( uint16_t )64;
/**
| hAngle | angle | std |
| (0,16384] | U0_90 | (0,0.5] |
| (16384,32767] | U90_180 | (0.5,0.99]|
| (-16384,-1] | U270_360 | (0,-0.5] |
| (-16384,-32768] | U180_270 | (-0.5,-1) |
*/
//SIN_MASK 0x0300u
switch ( ( uint16_t )( uhindex ) & SIN_MASK )
{
case U_TI_0_90:
Local_Components.hSin = hSin_Cos_Table[( uint8_t )( uhindex )];
Local_Components.hCos = hSin_Cos_Table[( uint8_t )( 0xFFu - ( uint8_t )( uhindex ) )];
break;
case U_TI_90_180:
Local_Components.hSin = hSin_Cos_Table[( uint8_t )( 0xFFu - ( uint8_t )( uhindex ) )];
Local_Components.hCos = -hSin_Cos_Table[( uint8_t )( uhindex )];
break;
case U_TI_180_270:
Local_Components.hSin = -hSin_Cos_Table[( uint8_t )( uhindex )];
Local_Components.hCos = -hSin_Cos_Table[( uint8_t )( 0xFFu - ( uint8_t )( uhindex ) )];
break;
case U_TI_270_360:
Local_Components.hSin = -hSin_Cos_Table[( uint8_t )( 0xFFu - ( uint8_t )( uhindex ) )];
Local_Components.hCos = hSin_Cos_Table[( uint8_t )( uhindex )];
break;
default:
break;
}
return ( Local_Components );
}
clark transformation implemented in C
Curr_Components clarke_ti( Curr_Components Curr_Input )
{
Curr_Components Curr_Output;
int32_t qIa_divSQRT3_tmp, qIb_divSQRT3_tmp ;
int32_t wIbeta_tmp;
int16_t hIbeta_tmp;
/* qIalpha = qIas*/
Curr_Output.qI_Component1 = Curr_Input.qI_Component1;
qIa_divSQRT3_tmp = divSQRT_3 * ( int32_t )Curr_Input.qI_Component1;
qIb_divSQRT3_tmp = divSQRT_3 * ( int32_t )Curr_Input.qI_Component2;
/*qIbeta = (2*qIbs+qIas)/sqrt(3)*/
#ifdef FULL_MISRA_C_COMPLIANCY
wIbeta_tmp = ( ( qIa_divSQRT3_tmp ) + ( qIb_divSQRT3_tmp ) +
( qIb_divSQRT3_tmp ) ) / 32768;
#else
/* WARNING: the below instruction is not MISRA compliant, user should verify
that Cortex-M3 assembly instruction ASR (arithmetic shift right) is used by
the compiler to perform the shift (instead of LSR logical shift right) */
wIbeta_tmp = ( ( qIa_divSQRT3_tmp ) + ( qIb_divSQRT3_tmp ) +
( qIb_divSQRT3_tmp ) ) >> 15;
#endif
/* Check saturation of Ibeta */
if ( wIbeta_tmp > INT16_MAX )
{
hIbeta_tmp = INT16_MAX;
}
else if ( wIbeta_tmp < ( -32768 ) )
{
hIbeta_tmp = ( -32768 );
}
else
{
hIbeta_tmp = ( int16_t )( wIbeta_tmp );
}
Curr_Output.qI_Component2 = hIbeta_tmp;
if ( Curr_Output.qI_Component2 == ( int16_t )( -32768 ) )
{
Curr_Output.qI_Component2 = -32767;
}
return ( Curr_Output );
}
park c transform
Curr_Components park_ti( Curr_Components Curr_Input, uint16_t Theta )
{
//v->Qs = _IQmpy(v->Beta,Cosine) - _IQmpy(v->Alpha,Sine);
Curr_Components Curr_Output;
int32_t qId_tmp_1, qId_tmp_2, qIq_tmp_1, qIq_tmp_2;
Trig_Components Local_Vector_Components,tmp;
int32_t wIqd_tmp;
int16_t hIqd_tmp;
//tmp = trig_functions_ti( Theta );
//Local_Vector_Components.hSin = tmp.hCos;
//Local_Vector_Components.hCos = tmp.hSin;
Local_Vector_Components = trig_functions_ti( Theta );
/*No overflow guaranteed*/
/*qIq_tmp_1 = qIalpha *sin(Theta) */
qIq_tmp_1 = Curr_Input.qI_Component1 * ( int32_t )Local_Vector_Components.hSin;
/*No overflow guaranteed*/
/*qIq_tmp_2 = qIbeta *cos(Theta) */
qIq_tmp_2 = Curr_Input.qI_Component2 * ( int32_t )Local_Vector_Components.hCos;
/*Iq component in Q1.15 Format */
/*Iq=-qIalpha *sin(Theta)+qIbeta *cos(Theta) */
#ifdef FULL_MISRA_C_COMPLIANCY
wIqd_tmp = ( qIq_tmp_2 - qIq_tmp_1 ) / 32768;
#else
/* WARNING: the below instruction is not MISRA compliant, user should verify
that Cortex-M3 assembly instruction ASR (arithmetic shift right) is used by
the compiler to perform the shift (instead of LSR logical shift right) */
wIqd_tmp = ( qIq_tmp_2 - qIq_tmp_1 ) >> 15;
#endif
/* Check saturation of Iq */
if ( wIqd_tmp > INT16_MAX )
{
hIqd_tmp = INT16_MAX;
}
else if ( wIqd_tmp < ( -32768 ) )
{
hIqd_tmp = ( -32768 );
}
else
{
hIqd_tmp = ( int16_t )( wIqd_tmp );
}
Curr_Output.qI_Component2 = hIqd_tmp;
if ( Curr_Output.qI_Component2 == ( int16_t )( -32768 ) )
{
Curr_Output.qI_Component2 = -32767;
}
//v->Ds = _IQmpy(v->Alpha,Cosine) + _IQmpy(v->Beta,Sine);
/*No overflow guaranteed */
/*qId_tmp_1 = qIalpha *cos(theta) */
qId_tmp_1 = Curr_Input.qI_Component1 * ( int32_t )Local_Vector_Components.hCos;
/*No overflow guaranteed*/
/*qId_tmp_2 = qIbeta *sin(Theta) */
qId_tmp_2 = Curr_Input.qI_Component2 * ( int32_t )Local_Vector_Components.hSin;
/*Id component in Q1.15 Format */
/*Id=qIalpha *cos(theta)+qIbeta *sin(Theta) */
#ifdef FULL_MISRA_C_COMPLIANCY
wIqd_tmp = ( qId_tmp_1 + qId_tmp_2 ) / 32768;
#else
/* WARNING: the below instruction is not MISRA compliant, user should verify
that Cortex-M3 assembly instruction ASR (arithmetic shift right) is used by
the compiler to perform the shift (instead of LSR logical shift right) */
wIqd_tmp = ( qId_tmp_1 + qId_tmp_2 ) >> 15;
#endif
/* Check saturation of Id */
if ( wIqd_tmp > INT16_MAX )
{
hIqd_tmp = INT16_MAX;
}
else if ( wIqd_tmp < ( -32768 ) )
{
hIqd_tmp = ( -32768 );
}
else
{
hIqd_tmp = ( int16_t )( wIqd_tmp );
}
Curr_Output.qI_Component1 = hIqd_tmp;
if ( Curr_Output.qI_Component1 == ( int16_t )( -32768 ) )
{
Curr_Output.qI_Component1 = -32767;
}
return ( Curr_Output );
}
void test_park_ti(void){
static int16_t cnt = 0;
int32_t uart_data[4];
int16_t detal = 0x5555; //120°
Trig_Components cur_a,cur_b;
Curr_Components Curr_Input;
Curr_Components Curr_Output_clark;
Curr_Components Curr_Output_dq;
//cur_a = trig_functions_ti( cnt-=64);
//cur_b = trig_functions_ti( (uint16_t)((int32_t)cnt-detal)); //模拟B相电流 +2/3*PI
#if 0
cur_a = trig_functions_ti( cnt+=64);
cur_b = trig_functions_ti( (int16_t)((int32_t)cnt-t_angle_120)); //模拟B相电流 +2/3*PI
Curr_Input.qI_Component1 = cur_a.hSin/64;
Curr_Input.qI_Component2 = cur_b.hSin/64;
Curr_Output_clark = clarke_ti(Curr_Input);
Curr_Output_dq = park_ti(Curr_Output_clark,cnt);
#else
cur_a = trig_functions_ti( cnt+=64);
cur_b = trig_functions_ti( (int16_t)((int32_t)cnt+t_angle_120)); //模拟B相电流 +2/3*PI
Curr_Input.qI_Component1 = cur_a.hSin/64;
Curr_Input.qI_Component2 = cur_b.hSin/64;
Curr_Output_clark = clarke_ti(Curr_Input);
Curr_Output_dq = park_ti(Curr_Output_clark,-cnt);
#endif
uart_data[0] = Curr_Output_clark.qI_Component1;
uart_data[1] = Curr_Output_clark.qI_Component2;
uart_data[2] = Curr_Output_dq.qI_Component1;
uart_data[3] = Curr_Output_dq.qI_Component2;
SDS_OutPut_Data_INT(uart_data);
}
、
simulation
