HVACI_Sensorless程序里面的变量【共享】

我把HVACI_Sensorless程序里面的变量做了一个归纳，在此跟大家共享，希望有用。

****************************************************************************
#define FALSE  0
#define TRUE   1

#define PI     3.14159265358979

#define ONE_THIRD  0.33333333333333     // 1/3
#define TWO_THIRD  0.66666666666667     // 2/3
#define INV_SQRT3  0.57735026918963     // 1/sqrt(3)

#define SYSTEM_FREQUENCY 60
#define ISR_FREQUENCY   10

#define RS  11.05          // Stator resistance (ohm)#define RR    6.11          // Rotor resistance (ohm)#define LS    0.316423        // Stator inductance (H)#define LR    0.316423    // Rotor inductance (H)  
#define LM    0.293939     // Magnatizing inductance (H)
#define POLES   4   // Number of poles

#define BASE_VOLTAGE    236.140      // Base peak phase voltage (volt)
#define BASE_CURRENT    10           // Base peak phase current (amp)
#define BASE_TORQUE           // Base torque (N.m)
#define BASE_FLUX         // Base flux linkage (volt.sec/rad)
#define BASE_FREQ       120          // Base electrical frequency (Hz)**************************************************************************** 

VdTesting = 0.2;
VqTesting = 0.2;
IdRef     = 0.1;
IqRef     = 0.05;
SpeedRef  = 0.3;

T = 0.0001;

offsetFlag = 0;
offsetA    = 0;
offsetB    = 0;
offsetC    = 0;

K1 = 0.998;
K2 = 0.001999;

IsrTicker   = 0;
BackTicker  = 0;
Isw         = 0;
TripFlagDMC = 0;

DlogCh1 = 0;
DlogCh2 = 0;
DlogCh3 = 0;
DlogCh4 = 0;

ChSel[16]   = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
TrigSel[16] = {5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5};
ACQPS[16]   = {8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8};

SpeedLoopPrescaler = 10;
SpeedLoopCount     = 1;

cap1   ={1,0};
clarke1={0,0,0,0,0};
park1  ={0,0,0,0,0,0,0};
ipark1 ={0,0,0,0,0,0,0};

pwmdac1={1000,500,0×4000,0x4000};
svgen1 ={0,0,0,0,0};
rc1    ={0,5,-1,1,0,0,0,0};
rg1    ={0,0,0,1,0,1};volt1  ={0,0,0,0,1,0,0,0,0,0};
dlog   ={0UL,NULL,NULL,NULL,NULL,0,1,0,0,0UL,
         0x0C0,(int (*)(int))DLOG_4CH_init,(int (*)(int))DLOG_4CH_update};//13

CpuTimer0Regs.PRD.all = 60000;  
CpuTimer1Regs.PRD.all = 300000;  
CpuTimer2Regs.PRD.all = 3000000; 

Alpha_State_Ptr = &A0;
A_Task_Ptr      = &A1;
B_Task_Ptr      = &B1;
C_Task_Ptr      = &C1;

pwm1            ={1000,100,0×4000,0x4000,0x4000};
pwm1.PeriodMax  = 3000;
pwm1.HalfPerMax = 1500;
pwm1.Deadband   = 120;

pwmdac1.PeriodMax  = 500;
pwmdac1.HalfPerMax = 250;

dlog.iptr1  = &DlogCh1;
dlog.iptr2  = &DlogCh2;
dlog.iptr3  = &DlogCh3;
dlog.iptr4  = &DlogCh4;
dlog.trig_value = 0x1;
dlog.size       = 0x0C8;
dlog.prescalar  = 5;

ChSel[0] = 1;  
ChSel[1] = 1;  
ChSel[2] = 9;  ChSel[3] = 3;  
ChSel[4] = 15; 
ChSel[5] = 14; 
ChSel[6] = 12; 
ChSel[7] = 7; 

qep1                 ={0x0,0x0,0x0,0x0,0x0,0x0,0x00020000,0x0,2,0,0×0};//11
qep1.LineEncoder     = 2048;
qep1.MechScaler      = 0.0001220703125;/*1/8192*/ 
qep1.PolePairs       = 2;
qep1.CalibratedAngle = 0;

(*eQEP[m]).QDECCTL.all = 0x0000       
(*eQEP[m]).QEPCTL.all  = 0x821E,1000 0010 0001 1110    
(*eQEP[m]).QPOSCTL.all = 0x0000      (*eQEP[m]).QUPRD       = 600000; /*Unit Timer for 60Hz*/ 
(*eQEP[m]).QCAPCTL.all = 0x8075      
(*eQEP[m]).QPOSMAX     = 8192;  /*4*v.LineEncoder*/

speed1         ={0,1,0,0,0,0,0,0,0,0}; 
speed1.K1      = 83.3333333;
speed1.K2      = 0.99686824;
speed1.K3      = 0.00313175;
speed1.BaseRpm = 3600;

speed2             ={0,0,0,260,0,0,0,1800,0};
speed2.InputSelect = 1;
speed2.BaseRpm     = 3600;
speed2.SpeedScaler = 488.28125000;

rg1.StepAngleMax = 0.012;

fel_const    = {0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0};//16
fe1_const.Rs = 11.05;
fe1_const.Rr = 6.11;
fe1_const.Ls = 0.316423;
fe1_const.Lr = 0.316423;
fe1_const.Lm = 0.293939;
fe1_const.Ib = 10;
fe1_const.Vb = 236.140;
fe1_const.Ts = 0.0001;

fe1_const.Tr = 0.0518
fe1_const.K1 = 0.9981
fe1_const.K2 = 0.0019
fe1_const.K3 = 0.9289
fe1_const.K4 = 0.1475
fe1_const.K5 = 0.4679
fe1_const.K6 = 0.0080
fe1_const.K7 = 1.0765
fe1_const.K8 = 0.1588

fel    ={0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0};//35
fe1.K1 = 0;
fe1.K2 = 0;
fe1.K3 = 0;
fe1.K4 = 0;
fe1.K5 = 0;
fe1.K6 = 0;
fe1.K7 = 0;
fe1.K8 = 0;
fe1.Kp = 2.8;fe1.Ki = 0.00022222;

sel_const    ={0,0,0,0,0,0,0,0,0,0,
               0,0,0,0,0,0};//16
se1_const.Rr = 6.11;
se1_const.Lr = 0.316423;
se1_const.fb = 120;
se1_const.fc = 3;
se1_const.Ts = 0.0001;
se1_const.Tc = 0.0531
se1_const.Wb = 753.9822
se1_const.K1 = 0.0256
se1_const.K2 = 83.3333
se1_const.K3 = 0.9981
se1_const.K4 = 0.0019

se1          ={0,0,0,0,0.1,0,0,0.1,0,0.1,             0,0.1,0,3600,0,0,0};//17
se1.K1       = 0;
se1.K2       = 0;
se1.K3       = 0;
se1.K4       = 0;
se1.BaseRpm  = 3600;

pi_spd       ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12 pi_spd.Kp    = 2.0;
pi_spd.Ki    = 0.002;
pi_spd.Umax  = 0.95;
pi_spd.Umin  =-0.95;

pi_id        ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12pi_id.Kp     = 1.0;
pi_id.Ki     = 2.5;
pi_id.Umax   = 0.3;
pi_id.Umin   =-0.3;

pi_iq        ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12pi_iq.Kp     = 1.0;
pi_iq.Ki     = 2.5;
pi_iq.Umax   = 0.8;
pi_iq.Umin   =-0.8;

jianqing wang：

VdTesting = 0.2;VqTesting = 0.2;IdRef     = 0.1;IqRef     = 0.05;

我想知道这几个参数设置为这样的数值的具体意义。还有几个PI调节器PI参数调节方法。请各位不吝赐教。

我把HVACI_Sensorless程序里面的变量做了一个归纳，在此跟大家共享，希望有用。

****************************************************************************
#define FALSE  0
#define TRUE   1

#define PI     3.14159265358979

#define ONE_THIRD  0.33333333333333     // 1/3
#define TWO_THIRD  0.66666666666667     // 2/3
#define INV_SQRT3  0.57735026918963     // 1/sqrt(3)

#define SYSTEM_FREQUENCY 60
#define ISR_FREQUENCY   10

#define RS  11.05          // Stator resistance (ohm)#define RR    6.11          // Rotor resistance (ohm)#define LS    0.316423        // Stator inductance (H)#define LR    0.316423    // Rotor inductance (H)  
#define LM    0.293939     // Magnatizing inductance (H)
#define POLES   4   // Number of poles

#define BASE_VOLTAGE    236.140      // Base peak phase voltage (volt)
#define BASE_CURRENT    10           // Base peak phase current (amp)
#define BASE_TORQUE           // Base torque (N.m)
#define BASE_FLUX         // Base flux linkage (volt.sec/rad)
#define BASE_FREQ       120          // Base electrical frequency (Hz)**************************************************************************** 

VdTesting = 0.2;
VqTesting = 0.2;
IdRef     = 0.1;
IqRef     = 0.05;
SpeedRef  = 0.3;

T = 0.0001;

offsetFlag = 0;
offsetA    = 0;
offsetB    = 0;
offsetC    = 0;

K1 = 0.998;
K2 = 0.001999;

IsrTicker   = 0;
BackTicker  = 0;
Isw         = 0;
TripFlagDMC = 0;

DlogCh1 = 0;
DlogCh2 = 0;
DlogCh3 = 0;
DlogCh4 = 0;

ChSel[16]   = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
TrigSel[16] = {5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5};
ACQPS[16]   = {8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8};

SpeedLoopPrescaler = 10;
SpeedLoopCount     = 1;

cap1   ={1,0};
clarke1={0,0,0,0,0};
park1  ={0,0,0,0,0,0,0};
ipark1 ={0,0,0,0,0,0,0};

pwmdac1={1000,500,0×4000,0x4000};
svgen1 ={0,0,0,0,0};
rc1    ={0,5,-1,1,0,0,0,0};
rg1    ={0,0,0,1,0,1};volt1  ={0,0,0,0,1,0,0,0,0,0};
dlog   ={0UL,NULL,NULL,NULL,NULL,0,1,0,0,0UL,
         0x0C0,(int (*)(int))DLOG_4CH_init,(int (*)(int))DLOG_4CH_update};//13

CpuTimer0Regs.PRD.all = 60000;  
CpuTimer1Regs.PRD.all = 300000;  
CpuTimer2Regs.PRD.all = 3000000; 

Alpha_State_Ptr = &A0;
A_Task_Ptr      = &A1;
B_Task_Ptr      = &B1;
C_Task_Ptr      = &C1;

pwm1            ={1000,100,0×4000,0x4000,0x4000};
pwm1.PeriodMax  = 3000;
pwm1.HalfPerMax = 1500;
pwm1.Deadband   = 120;

pwmdac1.PeriodMax  = 500;
pwmdac1.HalfPerMax = 250;

dlog.iptr1  = &DlogCh1;
dlog.iptr2  = &DlogCh2;
dlog.iptr3  = &DlogCh3;
dlog.iptr4  = &DlogCh4;
dlog.trig_value = 0x1;
dlog.size       = 0x0C8;
dlog.prescalar  = 5;

ChSel[0] = 1;  
ChSel[1] = 1;  
ChSel[2] = 9;  ChSel[3] = 3;  
ChSel[4] = 15; 
ChSel[5] = 14; 
ChSel[6] = 12; 
ChSel[7] = 7; 

qep1                 ={0x0,0x0,0x0,0x0,0x0,0x0,0x00020000,0x0,2,0,0×0};//11
qep1.LineEncoder     = 2048;
qep1.MechScaler      = 0.0001220703125;/*1/8192*/ 
qep1.PolePairs       = 2;
qep1.CalibratedAngle = 0;

(*eQEP[m]).QDECCTL.all = 0x0000       
(*eQEP[m]).QEPCTL.all  = 0x821E,1000 0010 0001 1110    
(*eQEP[m]).QPOSCTL.all = 0x0000      (*eQEP[m]).QUPRD       = 600000; /*Unit Timer for 60Hz*/ 
(*eQEP[m]).QCAPCTL.all = 0x8075      
(*eQEP[m]).QPOSMAX     = 8192;  /*4*v.LineEncoder*/

speed1         ={0,1,0,0,0,0,0,0,0,0}; 
speed1.K1      = 83.3333333;
speed1.K2      = 0.99686824;
speed1.K3      = 0.00313175;
speed1.BaseRpm = 3600;

speed2             ={0,0,0,260,0,0,0,1800,0};
speed2.InputSelect = 1;
speed2.BaseRpm     = 3600;
speed2.SpeedScaler = 488.28125000;

rg1.StepAngleMax = 0.012;

fel_const    = {0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0};//16
fe1_const.Rs = 11.05;
fe1_const.Rr = 6.11;
fe1_const.Ls = 0.316423;
fe1_const.Lr = 0.316423;
fe1_const.Lm = 0.293939;
fe1_const.Ib = 10;
fe1_const.Vb = 236.140;
fe1_const.Ts = 0.0001;

fe1_const.Tr = 0.0518
fe1_const.K1 = 0.9981
fe1_const.K2 = 0.0019
fe1_const.K3 = 0.9289
fe1_const.K4 = 0.1475
fe1_const.K5 = 0.4679
fe1_const.K6 = 0.0080
fe1_const.K7 = 1.0765
fe1_const.K8 = 0.1588

fel    ={0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0};//35
fe1.K1 = 0;
fe1.K2 = 0;
fe1.K3 = 0;
fe1.K4 = 0;
fe1.K5 = 0;
fe1.K6 = 0;
fe1.K7 = 0;
fe1.K8 = 0;
fe1.Kp = 2.8;fe1.Ki = 0.00022222;

sel_const    ={0,0,0,0,0,0,0,0,0,0,
               0,0,0,0,0,0};//16
se1_const.Rr = 6.11;
se1_const.Lr = 0.316423;
se1_const.fb = 120;
se1_const.fc = 3;
se1_const.Ts = 0.0001;
se1_const.Tc = 0.0531
se1_const.Wb = 753.9822
se1_const.K1 = 0.0256
se1_const.K2 = 83.3333
se1_const.K3 = 0.9981
se1_const.K4 = 0.0019

se1          ={0,0,0,0,0.1,0,0,0.1,0,0.1,             0,0.1,0,3600,0,0,0};//17
se1.K1       = 0;
se1.K2       = 0;
se1.K3       = 0;
se1.K4       = 0;
se1.BaseRpm  = 3600;

pi_spd       ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12 pi_spd.Kp    = 2.0;
pi_spd.Ki    = 0.002;
pi_spd.Umax  = 0.95;
pi_spd.Umin  =-0.95;

pi_id        ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12pi_id.Kp     = 1.0;
pi_id.Ki     = 2.5;
pi_id.Umax   = 0.3;
pi_id.Umin   =-0.3;

pi_iq        ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12pi_iq.Kp     = 1.0;
pi_iq.Ki     = 2.5;
pi_iq.Umax   = 0.8;
pi_iq.Umin   =-0.8;

Eric Ma：

回复 jianqing wang:

这些值是给d, q轴电压或电流设置的指令值，然后是标幺化的，按照 HVACI_Sensorless-Settings.H   里面的设置来标幺。

如IdRef = 0,1， 实际指令电流时 0.1 *（BASE_CURRENT    10A）= 1A

ERIC

我把HVACI_Sensorless程序里面的变量做了一个归纳，在此跟大家共享，希望有用。

****************************************************************************
#define FALSE  0
#define TRUE   1

#define PI     3.14159265358979

#define ONE_THIRD  0.33333333333333     // 1/3
#define TWO_THIRD  0.66666666666667     // 2/3
#define INV_SQRT3  0.57735026918963     // 1/sqrt(3)

#define SYSTEM_FREQUENCY 60
#define ISR_FREQUENCY   10

#define RS  11.05          // Stator resistance (ohm)#define RR    6.11          // Rotor resistance (ohm)#define LS    0.316423        // Stator inductance (H)#define LR    0.316423    // Rotor inductance (H)  
#define LM    0.293939     // Magnatizing inductance (H)
#define POLES   4   // Number of poles

#define BASE_VOLTAGE    236.140      // Base peak phase voltage (volt)
#define BASE_CURRENT    10           // Base peak phase current (amp)
#define BASE_TORQUE           // Base torque (N.m)
#define BASE_FLUX         // Base flux linkage (volt.sec/rad)
#define BASE_FREQ       120          // Base electrical frequency (Hz)**************************************************************************** 

VdTesting = 0.2;
VqTesting = 0.2;
IdRef     = 0.1;
IqRef     = 0.05;
SpeedRef  = 0.3;

T = 0.0001;

offsetFlag = 0;
offsetA    = 0;
offsetB    = 0;
offsetC    = 0;

K1 = 0.998;
K2 = 0.001999;

IsrTicker   = 0;
BackTicker  = 0;
Isw         = 0;
TripFlagDMC = 0;

DlogCh1 = 0;
DlogCh2 = 0;
DlogCh3 = 0;
DlogCh4 = 0;

ChSel[16]   = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
TrigSel[16] = {5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5};
ACQPS[16]   = {8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8};

SpeedLoopPrescaler = 10;
SpeedLoopCount     = 1;

cap1   ={1,0};
clarke1={0,0,0,0,0};
park1  ={0,0,0,0,0,0,0};
ipark1 ={0,0,0,0,0,0,0};

pwmdac1={1000,500,0×4000,0x4000};
svgen1 ={0,0,0,0,0};
rc1    ={0,5,-1,1,0,0,0,0};
rg1    ={0,0,0,1,0,1};volt1  ={0,0,0,0,1,0,0,0,0,0};
dlog   ={0UL,NULL,NULL,NULL,NULL,0,1,0,0,0UL,
         0x0C0,(int (*)(int))DLOG_4CH_init,(int (*)(int))DLOG_4CH_update};//13

CpuTimer0Regs.PRD.all = 60000;  
CpuTimer1Regs.PRD.all = 300000;  
CpuTimer2Regs.PRD.all = 3000000; 

Alpha_State_Ptr = &A0;
A_Task_Ptr      = &A1;
B_Task_Ptr      = &B1;
C_Task_Ptr      = &C1;

pwm1            ={1000,100,0×4000,0x4000,0x4000};
pwm1.PeriodMax  = 3000;
pwm1.HalfPerMax = 1500;
pwm1.Deadband   = 120;

pwmdac1.PeriodMax  = 500;
pwmdac1.HalfPerMax = 250;

dlog.iptr1  = &DlogCh1;
dlog.iptr2  = &DlogCh2;
dlog.iptr3  = &DlogCh3;
dlog.iptr4  = &DlogCh4;
dlog.trig_value = 0x1;
dlog.size       = 0x0C8;
dlog.prescalar  = 5;

ChSel[0] = 1;  
ChSel[1] = 1;  
ChSel[2] = 9;  ChSel[3] = 3;  
ChSel[4] = 15; 
ChSel[5] = 14; 
ChSel[6] = 12; 
ChSel[7] = 7; 

qep1                 ={0x0,0x0,0x0,0x0,0x0,0x0,0x00020000,0x0,2,0,0×0};//11
qep1.LineEncoder     = 2048;
qep1.MechScaler      = 0.0001220703125;/*1/8192*/ 
qep1.PolePairs       = 2;
qep1.CalibratedAngle = 0;

(*eQEP[m]).QDECCTL.all = 0x0000       
(*eQEP[m]).QEPCTL.all  = 0x821E,1000 0010 0001 1110    
(*eQEP[m]).QPOSCTL.all = 0x0000      (*eQEP[m]).QUPRD       = 600000; /*Unit Timer for 60Hz*/ 
(*eQEP[m]).QCAPCTL.all = 0x8075      
(*eQEP[m]).QPOSMAX     = 8192;  /*4*v.LineEncoder*/

speed1         ={0,1,0,0,0,0,0,0,0,0}; 
speed1.K1      = 83.3333333;
speed1.K2      = 0.99686824;
speed1.K3      = 0.00313175;
speed1.BaseRpm = 3600;

speed2             ={0,0,0,260,0,0,0,1800,0};
speed2.InputSelect = 1;
speed2.BaseRpm     = 3600;
speed2.SpeedScaler = 488.28125000;

rg1.StepAngleMax = 0.012;

fel_const    = {0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0};//16
fe1_const.Rs = 11.05;
fe1_const.Rr = 6.11;
fe1_const.Ls = 0.316423;
fe1_const.Lr = 0.316423;
fe1_const.Lm = 0.293939;
fe1_const.Ib = 10;
fe1_const.Vb = 236.140;
fe1_const.Ts = 0.0001;

fe1_const.Tr = 0.0518
fe1_const.K1 = 0.9981
fe1_const.K2 = 0.0019
fe1_const.K3 = 0.9289
fe1_const.K4 = 0.1475
fe1_const.K5 = 0.4679
fe1_const.K6 = 0.0080
fe1_const.K7 = 1.0765
fe1_const.K8 = 0.1588

fel    ={0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0};//35
fe1.K1 = 0;
fe1.K2 = 0;
fe1.K3 = 0;
fe1.K4 = 0;
fe1.K5 = 0;
fe1.K6 = 0;
fe1.K7 = 0;
fe1.K8 = 0;
fe1.Kp = 2.8;fe1.Ki = 0.00022222;

sel_const    ={0,0,0,0,0,0,0,0,0,0,
               0,0,0,0,0,0};//16
se1_const.Rr = 6.11;
se1_const.Lr = 0.316423;
se1_const.fb = 120;
se1_const.fc = 3;
se1_const.Ts = 0.0001;
se1_const.Tc = 0.0531
se1_const.Wb = 753.9822
se1_const.K1 = 0.0256
se1_const.K2 = 83.3333
se1_const.K3 = 0.9981
se1_const.K4 = 0.0019

se1          ={0,0,0,0,0.1,0,0,0.1,0,0.1,             0,0.1,0,3600,0,0,0};//17
se1.K1       = 0;
se1.K2       = 0;
se1.K3       = 0;
se1.K4       = 0;
se1.BaseRpm  = 3600;

pi_spd       ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12 pi_spd.Kp    = 2.0;
pi_spd.Ki    = 0.002;
pi_spd.Umax  = 0.95;
pi_spd.Umin  =-0.95;

pi_id        ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12pi_id.Kp     = 1.0;
pi_id.Ki     = 2.5;
pi_id.Umax   = 0.3;
pi_id.Umin   =-0.3;

pi_iq        ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12pi_iq.Kp     = 1.0;
pi_iq.Ki     = 2.5;
pi_iq.Umax   = 0.8;
pi_iq.Umin   =-0.8;

jianqing wang：

回复 Eric Ma:

多谢Eric老师的回答。

最近在调电流环的PI，老是调不好。

我现在怀疑是电流采样不准的原因。观察霍尔电流传感器出来的信号脉冲毛刺比较大，仅仅是包络和示波器自带电流探头的波形相似。

请问下各位老师有没有遇到过这样的问题？如何完善？谢谢！

我把HVACI_Sensorless程序里面的变量做了一个归纳，在此跟大家共享，希望有用。

****************************************************************************
#define FALSE  0
#define TRUE   1

#define PI     3.14159265358979

#define ONE_THIRD  0.33333333333333     // 1/3
#define TWO_THIRD  0.66666666666667     // 2/3
#define INV_SQRT3  0.57735026918963     // 1/sqrt(3)

#define SYSTEM_FREQUENCY 60
#define ISR_FREQUENCY   10

#define RS  11.05          // Stator resistance (ohm)#define RR    6.11          // Rotor resistance (ohm)#define LS    0.316423        // Stator inductance (H)#define LR    0.316423    // Rotor inductance (H)  
#define LM    0.293939     // Magnatizing inductance (H)
#define POLES   4   // Number of poles

#define BASE_VOLTAGE    236.140      // Base peak phase voltage (volt)
#define BASE_CURRENT    10           // Base peak phase current (amp)
#define BASE_TORQUE           // Base torque (N.m)
#define BASE_FLUX         // Base flux linkage (volt.sec/rad)
#define BASE_FREQ       120          // Base electrical frequency (Hz)**************************************************************************** 

VdTesting = 0.2;
VqTesting = 0.2;
IdRef     = 0.1;
IqRef     = 0.05;
SpeedRef  = 0.3;

T = 0.0001;

offsetFlag = 0;
offsetA    = 0;
offsetB    = 0;
offsetC    = 0;

K1 = 0.998;
K2 = 0.001999;

IsrTicker   = 0;
BackTicker  = 0;
Isw         = 0;
TripFlagDMC = 0;

DlogCh1 = 0;
DlogCh2 = 0;
DlogCh3 = 0;
DlogCh4 = 0;

ChSel[16]   = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
TrigSel[16] = {5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5};
ACQPS[16]   = {8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8};

SpeedLoopPrescaler = 10;
SpeedLoopCount     = 1;

cap1   ={1,0};
clarke1={0,0,0,0,0};
park1  ={0,0,0,0,0,0,0};
ipark1 ={0,0,0,0,0,0,0};

pwmdac1={1000,500,0×4000,0x4000};
svgen1 ={0,0,0,0,0};
rc1    ={0,5,-1,1,0,0,0,0};
rg1    ={0,0,0,1,0,1};volt1  ={0,0,0,0,1,0,0,0,0,0};
dlog   ={0UL,NULL,NULL,NULL,NULL,0,1,0,0,0UL,
         0x0C0,(int (*)(int))DLOG_4CH_init,(int (*)(int))DLOG_4CH_update};//13

CpuTimer0Regs.PRD.all = 60000;  
CpuTimer1Regs.PRD.all = 300000;  
CpuTimer2Regs.PRD.all = 3000000; 

Alpha_State_Ptr = &A0;
A_Task_Ptr      = &A1;
B_Task_Ptr      = &B1;
C_Task_Ptr      = &C1;

pwm1            ={1000,100,0×4000,0x4000,0x4000};
pwm1.PeriodMax  = 3000;
pwm1.HalfPerMax = 1500;
pwm1.Deadband   = 120;

pwmdac1.PeriodMax  = 500;
pwmdac1.HalfPerMax = 250;

dlog.iptr1  = &DlogCh1;
dlog.iptr2  = &DlogCh2;
dlog.iptr3  = &DlogCh3;
dlog.iptr4  = &DlogCh4;
dlog.trig_value = 0x1;
dlog.size       = 0x0C8;
dlog.prescalar  = 5;

ChSel[0] = 1;  
ChSel[1] = 1;  
ChSel[2] = 9;  ChSel[3] = 3;  
ChSel[4] = 15; 
ChSel[5] = 14; 
ChSel[6] = 12; 
ChSel[7] = 7; 

qep1                 ={0x0,0x0,0x0,0x0,0x0,0x0,0x00020000,0x0,2,0,0×0};//11
qep1.LineEncoder     = 2048;
qep1.MechScaler      = 0.0001220703125;/*1/8192*/ 
qep1.PolePairs       = 2;
qep1.CalibratedAngle = 0;

(*eQEP[m]).QDECCTL.all = 0x0000       
(*eQEP[m]).QEPCTL.all  = 0x821E,1000 0010 0001 1110    
(*eQEP[m]).QPOSCTL.all = 0x0000      (*eQEP[m]).QUPRD       = 600000; /*Unit Timer for 60Hz*/ 
(*eQEP[m]).QCAPCTL.all = 0x8075      
(*eQEP[m]).QPOSMAX     = 8192;  /*4*v.LineEncoder*/

speed1         ={0,1,0,0,0,0,0,0,0,0}; 
speed1.K1      = 83.3333333;
speed1.K2      = 0.99686824;
speed1.K3      = 0.00313175;
speed1.BaseRpm = 3600;

speed2             ={0,0,0,260,0,0,0,1800,0};
speed2.InputSelect = 1;
speed2.BaseRpm     = 3600;
speed2.SpeedScaler = 488.28125000;

rg1.StepAngleMax = 0.012;

fel_const    = {0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0};//16
fe1_const.Rs = 11.05;
fe1_const.Rr = 6.11;
fe1_const.Ls = 0.316423;
fe1_const.Lr = 0.316423;
fe1_const.Lm = 0.293939;
fe1_const.Ib = 10;
fe1_const.Vb = 236.140;
fe1_const.Ts = 0.0001;

fe1_const.Tr = 0.0518
fe1_const.K1 = 0.9981
fe1_const.K2 = 0.0019
fe1_const.K3 = 0.9289
fe1_const.K4 = 0.1475
fe1_const.K5 = 0.4679
fe1_const.K6 = 0.0080
fe1_const.K7 = 1.0765
fe1_const.K8 = 0.1588

fel    ={0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0};//35
fe1.K1 = 0;
fe1.K2 = 0;
fe1.K3 = 0;
fe1.K4 = 0;
fe1.K5 = 0;
fe1.K6 = 0;
fe1.K7 = 0;
fe1.K8 = 0;
fe1.Kp = 2.8;fe1.Ki = 0.00022222;

sel_const    ={0,0,0,0,0,0,0,0,0,0,
               0,0,0,0,0,0};//16
se1_const.Rr = 6.11;
se1_const.Lr = 0.316423;
se1_const.fb = 120;
se1_const.fc = 3;
se1_const.Ts = 0.0001;
se1_const.Tc = 0.0531
se1_const.Wb = 753.9822
se1_const.K1 = 0.0256
se1_const.K2 = 83.3333
se1_const.K3 = 0.9981
se1_const.K4 = 0.0019

se1          ={0,0,0,0,0.1,0,0,0.1,0,0.1,             0,0.1,0,3600,0,0,0};//17
se1.K1       = 0;
se1.K2       = 0;
se1.K3       = 0;
se1.K4       = 0;
se1.BaseRpm  = 3600;

pi_spd       ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12 pi_spd.Kp    = 2.0;
pi_spd.Ki    = 0.002;
pi_spd.Umax  = 0.95;
pi_spd.Umin  =-0.95;

pi_id        ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12pi_id.Kp     = 1.0;
pi_id.Ki     = 2.5;
pi_id.Umax   = 0.3;
pi_id.Umin   =-0.3;

pi_iq        ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12pi_iq.Kp     = 1.0;
pi_iq.Ki     = 2.5;
pi_iq.Umax   = 0.8;
pi_iq.Umin   =-0.8;

Eric Ma：

回复 jianqing wang:

你用的是自己的板子吧。

如果要确定采样问题，你可以用信号发生器输入一个电流信号给到霍尔采样，然后通过C2000采样1000个点出来分析一下。

ERIC

我把HVACI_Sensorless程序里面的变量做了一个归纳，在此跟大家共享，希望有用。

****************************************************************************
#define FALSE  0
#define TRUE   1

#define PI     3.14159265358979

#define ONE_THIRD  0.33333333333333     // 1/3
#define TWO_THIRD  0.66666666666667     // 2/3
#define INV_SQRT3  0.57735026918963     // 1/sqrt(3)

#define SYSTEM_FREQUENCY 60
#define ISR_FREQUENCY   10

#define RS  11.05          // Stator resistance (ohm)#define RR    6.11          // Rotor resistance (ohm)#define LS    0.316423        // Stator inductance (H)#define LR    0.316423    // Rotor inductance (H)  
#define LM    0.293939     // Magnatizing inductance (H)
#define POLES   4   // Number of poles

#define BASE_VOLTAGE    236.140      // Base peak phase voltage (volt)
#define BASE_CURRENT    10           // Base peak phase current (amp)
#define BASE_TORQUE           // Base torque (N.m)
#define BASE_FLUX         // Base flux linkage (volt.sec/rad)
#define BASE_FREQ       120          // Base electrical frequency (Hz)**************************************************************************** 

VdTesting = 0.2;
VqTesting = 0.2;
IdRef     = 0.1;
IqRef     = 0.05;
SpeedRef  = 0.3;

T = 0.0001;

offsetFlag = 0;
offsetA    = 0;
offsetB    = 0;
offsetC    = 0;

K1 = 0.998;
K2 = 0.001999;

IsrTicker   = 0;
BackTicker  = 0;
Isw         = 0;
TripFlagDMC = 0;

DlogCh1 = 0;
DlogCh2 = 0;
DlogCh3 = 0;
DlogCh4 = 0;

ChSel[16]   = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0};
TrigSel[16] = {5,5,5,5,5,5,5,5,5,5,5,5,5,5,5,5};
ACQPS[16]   = {8,8,8,8,8,8,8,8,8,8,8,8,8,8,8,8};

SpeedLoopPrescaler = 10;
SpeedLoopCount     = 1;

cap1   ={1,0};
clarke1={0,0,0,0,0};
park1  ={0,0,0,0,0,0,0};
ipark1 ={0,0,0,0,0,0,0};

pwmdac1={1000,500,0×4000,0x4000};
svgen1 ={0,0,0,0,0};
rc1    ={0,5,-1,1,0,0,0,0};
rg1    ={0,0,0,1,0,1};volt1  ={0,0,0,0,1,0,0,0,0,0};
dlog   ={0UL,NULL,NULL,NULL,NULL,0,1,0,0,0UL,
         0x0C0,(int (*)(int))DLOG_4CH_init,(int (*)(int))DLOG_4CH_update};//13

CpuTimer0Regs.PRD.all = 60000;  
CpuTimer1Regs.PRD.all = 300000;  
CpuTimer2Regs.PRD.all = 3000000; 

Alpha_State_Ptr = &A0;
A_Task_Ptr      = &A1;
B_Task_Ptr      = &B1;
C_Task_Ptr      = &C1;

pwm1            ={1000,100,0×4000,0x4000,0x4000};
pwm1.PeriodMax  = 3000;
pwm1.HalfPerMax = 1500;
pwm1.Deadband   = 120;

pwmdac1.PeriodMax  = 500;
pwmdac1.HalfPerMax = 250;

dlog.iptr1  = &DlogCh1;
dlog.iptr2  = &DlogCh2;
dlog.iptr3  = &DlogCh3;
dlog.iptr4  = &DlogCh4;
dlog.trig_value = 0x1;
dlog.size       = 0x0C8;
dlog.prescalar  = 5;

ChSel[0] = 1;  
ChSel[1] = 1;  
ChSel[2] = 9;  ChSel[3] = 3;  
ChSel[4] = 15; 
ChSel[5] = 14; 
ChSel[6] = 12; 
ChSel[7] = 7; 

qep1                 ={0x0,0x0,0x0,0x0,0x0,0x0,0x00020000,0x0,2,0,0×0};//11
qep1.LineEncoder     = 2048;
qep1.MechScaler      = 0.0001220703125;/*1/8192*/ 
qep1.PolePairs       = 2;
qep1.CalibratedAngle = 0;

(*eQEP[m]).QDECCTL.all = 0x0000       
(*eQEP[m]).QEPCTL.all  = 0x821E,1000 0010 0001 1110    
(*eQEP[m]).QPOSCTL.all = 0x0000      (*eQEP[m]).QUPRD       = 600000; /*Unit Timer for 60Hz*/ 
(*eQEP[m]).QCAPCTL.all = 0x8075      
(*eQEP[m]).QPOSMAX     = 8192;  /*4*v.LineEncoder*/

speed1         ={0,1,0,0,0,0,0,0,0,0}; 
speed1.K1      = 83.3333333;
speed1.K2      = 0.99686824;
speed1.K3      = 0.00313175;
speed1.BaseRpm = 3600;

speed2             ={0,0,0,260,0,0,0,1800,0};
speed2.InputSelect = 1;
speed2.BaseRpm     = 3600;
speed2.SpeedScaler = 488.28125000;

rg1.StepAngleMax = 0.012;

fel_const    = {0,0,0,0,0,0,0,0,0,0, 0,0,0,0,0,0};//16
fe1_const.Rs = 11.05;
fe1_const.Rr = 6.11;
fe1_const.Ls = 0.316423;
fe1_const.Lr = 0.316423;
fe1_const.Lm = 0.293939;
fe1_const.Ib = 10;
fe1_const.Vb = 236.140;
fe1_const.Ts = 0.0001;

fe1_const.Tr = 0.0518
fe1_const.K1 = 0.9981
fe1_const.K2 = 0.0019
fe1_const.K3 = 0.9289
fe1_const.K4 = 0.1475
fe1_const.K5 = 0.4679
fe1_const.K6 = 0.0080
fe1_const.K7 = 1.0765
fe1_const.K8 = 0.1588

fel    ={0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0,0,0,0,0,0,
       0,0,0,0,0};//35
fe1.K1 = 0;
fe1.K2 = 0;
fe1.K3 = 0;
fe1.K4 = 0;
fe1.K5 = 0;
fe1.K6 = 0;
fe1.K7 = 0;
fe1.K8 = 0;
fe1.Kp = 2.8;fe1.Ki = 0.00022222;

sel_const    ={0,0,0,0,0,0,0,0,0,0,
               0,0,0,0,0,0};//16
se1_const.Rr = 6.11;
se1_const.Lr = 0.316423;
se1_const.fb = 120;
se1_const.fc = 3;
se1_const.Ts = 0.0001;
se1_const.Tc = 0.0531
se1_const.Wb = 753.9822
se1_const.K1 = 0.0256
se1_const.K2 = 83.3333
se1_const.K3 = 0.9981
se1_const.K4 = 0.0019

se1          ={0,0,0,0,0.1,0,0,0.1,0,0.1,             0,0.1,0,3600,0,0,0};//17
se1.K1       = 0;
se1.K2       = 0;
se1.K3       = 0;
se1.K4       = 0;
se1.BaseRpm  = 3600;

pi_spd       ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12 pi_spd.Kp    = 2.0;
pi_spd.Ki    = 0.002;
pi_spd.Umax  = 0.95;
pi_spd.Umin  =-0.95;

pi_id        ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12pi_id.Kp     = 1.0;
pi_id.Ki     = 2.5;
pi_id.Umax   = 0.3;
pi_id.Umin   =-0.3;

pi_iq        ={0,0,0,1.0,0.0,1.0,-1.0,0.0,0.0,0.0,0.0,1.0};//12pi_iq.Kp     = 1.0;
pi_iq.Ki     = 2.5;
pi_iq.Umax   = 0.8;
pi_iq.Umin   =-0.8;

jianqing wang：

回复 Eric Ma:

是自己的板子，正打算这么干。有后续问题再请教，谢谢！