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电机发热问题

2016-12-30 分类：C2000™ 32位实时 MCU 阅读(979)

我修改开关频率后必须要重新执行1次void main(void)以下代码，开关频率确实按照要求修改了，但是此时电机发热，脉冲有毛刺产生，这是为什么发热呢？有没有一种方案能够修改开关频率而电机不发热？（我修改 PWM_setPeriod和USER_PWM_FREQ_kHz的值都可以改变开关频率 ）

如果不执行void main(void)以下代码，无法正确修改开关频率。

void main(void)
{
  uint_least8_t estNumber = 0;

#ifdef FAST_ROM_V1p6
  uint_least8_t ctrlNumber = 0;
#endif

  // Only used if running from FLASH
  // Note that the variable FLASH is defined by the project
  #ifdef FLASH
  // Copy time critical code and Flash setup code to RAM
  // The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
  // symbols are created by the linker. Refer to the linker files.
  memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);

  #ifdef F2802xF
    //copy .econst to unsecure RAM
    if(*econst_end – *econst_start)
      {
        memCopy((uint16_t *)&econst_start,(uint16_t *)&econst_end,(uint16_t *)&econst_ram_load);
      }

    //copy .switch ot unsecure RAM
    if(*switch_end – *switch_start)
      {
        memCopy((uint16_t *)&switch_start,(uint16_t *)&switch_end,(uint16_t *)&switch_ram_load);
      }
  #endif

  #endif

  // initialize the hardware abstraction layer
  halHandle = HAL_init(&hal,sizeof(hal));

  // check for errors in user parameters
  USER_checkForErrors(&gUserParams);

  // store user parameter error in global variable
  gMotorVars.UserErrorCode = USER_getErrorCode(&gUserParams);

  // do not allow code execution if there is a user parameter error
  if(gMotorVars.UserErrorCode != USER_ErrorCode_NoError)
    {
      for(;;)
        {
          gMotorVars.Flag_enableSys = false;
        }
    }

  // initialize the user parameters
  USER_setParams(&gUserParams);

  // set the hardware abstraction layer parameters
  HAL_setParams(halHandle,&gUserParams);

  // initialize the controller
#ifdef FAST_ROM_V1p6
  ctrlHandle = CTRL_initCtrl(ctrlNumber, estNumber);    //v1p6 format (06xF and 06xM devices)
#else
  ctrlHandle = CTRL_initCtrl(estNumber,&ctrl,sizeof(ctrl)); //v1p7 format default
#endif

  {
    CTRL_Version version;

    // get the version number
    CTRL_getVersion(ctrlHandle,&version);

    gMotorVars.CtrlVersion = version;
  }

  // set the default controller parameters
  CTRL_setParams(ctrlHandle,&gUserParams);

  // Initialize and setup the 100% SVM generator
  svgencurrentHandle = SVGENCURRENT_init(&svgencurrent,sizeof(svgencurrent));

  // setup svgen current
  {
    float_t minWidth_microseconds = 2.0;
    uint16_t minWidth_counts = (uint16_t)(minWidth_microseconds * USER_SYSTEM_FREQ_MHz);

    SVGENCURRENT_setMinWidth(svgencurrentHandle, minWidth_counts);
    SVGENCURRENT_setIgnoreShunt(svgencurrentHandle, use_all);
  }

  // set overmodulation to maximum value
  gMotorVars.OverModulation = _IQ(MATH_TWO_OVER_THREE);

  // setup faults
  HAL_setupFaults(halHandle);

  // initialize the interrupt vector table
  HAL_initIntVectorTable(halHandle);

  // enable the ADC interrupts
  HAL_enableAdcInts(halHandle);

  // enable global interrupts
  HAL_enableGlobalInts(halHandle);

  // enable debug interrupts
  HAL_enableDebugInt(halHandle);

  // disable the PWM
  HAL_disablePwm(halHandle);

#ifdef DRV8301_SPI
  // turn on the DRV8301 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8301 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
#endif

#ifdef DRV8305_SPI
  // turn on the DRV8305 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8305 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8305Vars);
#endif

  // enable DC bus compensation
  CTRL_setFlag_enableDcBusComp(ctrlHandle, true);

  // compute scaling factors for flux and torque calculations
  gFlux_pu_to_Wb_sf = USER_computeFlux_pu_to_Wb_sf();
  gFlux_pu_to_VpHz_sf = USER_computeFlux_pu_to_VpHz_sf();
  gTorque_Ls_Id_Iq_pu_to_Nm_sf = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf();
  gTorque_Flux_Iq_pu_to_Nm_sf = USER_computeTorque_Flux_Iq_pu_to_Nm_sf();

mangui zhang：

发热最可能的原因是频率的问题

驱动和电机都有自己工作的最佳频率    如果频率不对

容易造成电机发热等情况

我修改开关频率后必须要重新执行1次void main(void)以下代码，开关频率确实按照要求修改了，但是此时电机发热，脉冲有毛刺产生，这是为什么发热呢？有没有一种方案能够修改开关频率而电机不发热？（我修改 PWM_setPeriod和USER_PWM_FREQ_kHz的值都可以改变开关频率 ）

如果不执行void main(void)以下代码，无法正确修改开关频率。

void main(void)
{
  uint_least8_t estNumber = 0;

#ifdef FAST_ROM_V1p6
  uint_least8_t ctrlNumber = 0;
#endif

  // Only used if running from FLASH
  // Note that the variable FLASH is defined by the project
  #ifdef FLASH
  // Copy time critical code and Flash setup code to RAM
  // The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
  // symbols are created by the linker. Refer to the linker files.
  memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);

  #ifdef F2802xF
    //copy .econst to unsecure RAM
    if(*econst_end – *econst_start)
      {
        memCopy((uint16_t *)&econst_start,(uint16_t *)&econst_end,(uint16_t *)&econst_ram_load);
      }

    //copy .switch ot unsecure RAM
    if(*switch_end – *switch_start)
      {
        memCopy((uint16_t *)&switch_start,(uint16_t *)&switch_end,(uint16_t *)&switch_ram_load);
      }
  #endif

  #endif

  // initialize the hardware abstraction layer
  halHandle = HAL_init(&hal,sizeof(hal));

  // check for errors in user parameters
  USER_checkForErrors(&gUserParams);

  // store user parameter error in global variable
  gMotorVars.UserErrorCode = USER_getErrorCode(&gUserParams);

  // do not allow code execution if there is a user parameter error
  if(gMotorVars.UserErrorCode != USER_ErrorCode_NoError)
    {
      for(;;)
        {
          gMotorVars.Flag_enableSys = false;
        }
    }

  // initialize the user parameters
  USER_setParams(&gUserParams);

  // set the hardware abstraction layer parameters
  HAL_setParams(halHandle,&gUserParams);

  // initialize the controller
#ifdef FAST_ROM_V1p6
  ctrlHandle = CTRL_initCtrl(ctrlNumber, estNumber);    //v1p6 format (06xF and 06xM devices)
#else
  ctrlHandle = CTRL_initCtrl(estNumber,&ctrl,sizeof(ctrl)); //v1p7 format default
#endif

  {
    CTRL_Version version;

    // get the version number
    CTRL_getVersion(ctrlHandle,&version);

    gMotorVars.CtrlVersion = version;
  }

  // set the default controller parameters
  CTRL_setParams(ctrlHandle,&gUserParams);

  // Initialize and setup the 100% SVM generator
  svgencurrentHandle = SVGENCURRENT_init(&svgencurrent,sizeof(svgencurrent));

  // setup svgen current
  {
    float_t minWidth_microseconds = 2.0;
    uint16_t minWidth_counts = (uint16_t)(minWidth_microseconds * USER_SYSTEM_FREQ_MHz);

    SVGENCURRENT_setMinWidth(svgencurrentHandle, minWidth_counts);
    SVGENCURRENT_setIgnoreShunt(svgencurrentHandle, use_all);
  }

  // set overmodulation to maximum value
  gMotorVars.OverModulation = _IQ(MATH_TWO_OVER_THREE);

  // setup faults
  HAL_setupFaults(halHandle);

  // initialize the interrupt vector table
  HAL_initIntVectorTable(halHandle);

  // enable the ADC interrupts
  HAL_enableAdcInts(halHandle);

  // enable global interrupts
  HAL_enableGlobalInts(halHandle);

  // enable debug interrupts
  HAL_enableDebugInt(halHandle);

  // disable the PWM
  HAL_disablePwm(halHandle);

#ifdef DRV8301_SPI
  // turn on the DRV8301 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8301 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
#endif

#ifdef DRV8305_SPI
  // turn on the DRV8305 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8305 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8305Vars);
#endif

  // enable DC bus compensation
  CTRL_setFlag_enableDcBusComp(ctrlHandle, true);

  // compute scaling factors for flux and torque calculations
  gFlux_pu_to_Wb_sf = USER_computeFlux_pu_to_Wb_sf();
  gFlux_pu_to_VpHz_sf = USER_computeFlux_pu_to_VpHz_sf();
  gTorque_Ls_Id_Iq_pu_to_Nm_sf = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf();
  gTorque_Flux_Iq_pu_to_Nm_sf = USER_computeTorque_Flux_Iq_pu_to_Nm_sf();

user4708725：

回复 mangui zhang:

发热的原因应该不是频率的问题，因为在同一频率下：如果main()函数以下代码执行一次，电机不发热，main()函数以下代码执行两次才发热。执行了两次main()函数以下代码为什么电机就有热量产生呢？我现在电机运行过程中修改开关频率，谁有好的方案，不妨分享一下？谢谢。

我修改开关频率后必须要重新执行1次void main(void)以下代码，开关频率确实按照要求修改了，但是此时电机发热，脉冲有毛刺产生，这是为什么发热呢？有没有一种方案能够修改开关频率而电机不发热？（我修改 PWM_setPeriod和USER_PWM_FREQ_kHz的值都可以改变开关频率 ）

如果不执行void main(void)以下代码，无法正确修改开关频率。

void main(void)
{
  uint_least8_t estNumber = 0;

#ifdef FAST_ROM_V1p6
  uint_least8_t ctrlNumber = 0;
#endif

  // Only used if running from FLASH
  // Note that the variable FLASH is defined by the project
  #ifdef FLASH
  // Copy time critical code and Flash setup code to RAM
  // The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
  // symbols are created by the linker. Refer to the linker files.
  memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);

  #ifdef F2802xF
    //copy .econst to unsecure RAM
    if(*econst_end – *econst_start)
      {
        memCopy((uint16_t *)&econst_start,(uint16_t *)&econst_end,(uint16_t *)&econst_ram_load);
      }

    //copy .switch ot unsecure RAM
    if(*switch_end – *switch_start)
      {
        memCopy((uint16_t *)&switch_start,(uint16_t *)&switch_end,(uint16_t *)&switch_ram_load);
      }
  #endif

  #endif

  // initialize the hardware abstraction layer
  halHandle = HAL_init(&hal,sizeof(hal));

  // check for errors in user parameters
  USER_checkForErrors(&gUserParams);

  // store user parameter error in global variable
  gMotorVars.UserErrorCode = USER_getErrorCode(&gUserParams);

  // do not allow code execution if there is a user parameter error
  if(gMotorVars.UserErrorCode != USER_ErrorCode_NoError)
    {
      for(;;)
        {
          gMotorVars.Flag_enableSys = false;
        }
    }

  // initialize the user parameters
  USER_setParams(&gUserParams);

  // set the hardware abstraction layer parameters
  HAL_setParams(halHandle,&gUserParams);

  // initialize the controller
#ifdef FAST_ROM_V1p6
  ctrlHandle = CTRL_initCtrl(ctrlNumber, estNumber);    //v1p6 format (06xF and 06xM devices)
#else
  ctrlHandle = CTRL_initCtrl(estNumber,&ctrl,sizeof(ctrl)); //v1p7 format default
#endif

  {
    CTRL_Version version;

    // get the version number
    CTRL_getVersion(ctrlHandle,&version);

    gMotorVars.CtrlVersion = version;
  }

  // set the default controller parameters
  CTRL_setParams(ctrlHandle,&gUserParams);

  // Initialize and setup the 100% SVM generator
  svgencurrentHandle = SVGENCURRENT_init(&svgencurrent,sizeof(svgencurrent));

  // setup svgen current
  {
    float_t minWidth_microseconds = 2.0;
    uint16_t minWidth_counts = (uint16_t)(minWidth_microseconds * USER_SYSTEM_FREQ_MHz);

    SVGENCURRENT_setMinWidth(svgencurrentHandle, minWidth_counts);
    SVGENCURRENT_setIgnoreShunt(svgencurrentHandle, use_all);
  }

  // set overmodulation to maximum value
  gMotorVars.OverModulation = _IQ(MATH_TWO_OVER_THREE);

  // setup faults
  HAL_setupFaults(halHandle);

  // initialize the interrupt vector table
  HAL_initIntVectorTable(halHandle);

  // enable the ADC interrupts
  HAL_enableAdcInts(halHandle);

  // enable global interrupts
  HAL_enableGlobalInts(halHandle);

  // enable debug interrupts
  HAL_enableDebugInt(halHandle);

  // disable the PWM
  HAL_disablePwm(halHandle);

#ifdef DRV8301_SPI
  // turn on the DRV8301 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8301 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
#endif

#ifdef DRV8305_SPI
  // turn on the DRV8305 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8305 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8305Vars);
#endif

  // enable DC bus compensation
  CTRL_setFlag_enableDcBusComp(ctrlHandle, true);

  // compute scaling factors for flux and torque calculations
  gFlux_pu_to_Wb_sf = USER_computeFlux_pu_to_Wb_sf();
  gFlux_pu_to_VpHz_sf = USER_computeFlux_pu_to_VpHz_sf();
  gTorque_Ls_Id_Iq_pu_to_Nm_sf = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf();
  gTorque_Flux_Iq_pu_to_Nm_sf = USER_computeTorque_Flux_Iq_pu_to_Nm_sf();

Eric Ma：

回复 user4708725:

修改PWM周期寄存器就可以改变，不用执行其他的。注意EALLOW保护命令。

为何要修改PWM的频率呢？修改PWM的频率，注意user.h中关于FAST环路频率，电流环频率的设计。

ERIC

我修改开关频率后必须要重新执行1次void main(void)以下代码，开关频率确实按照要求修改了，但是此时电机发热，脉冲有毛刺产生，这是为什么发热呢？有没有一种方案能够修改开关频率而电机不发热？（我修改 PWM_setPeriod和USER_PWM_FREQ_kHz的值都可以改变开关频率 ）

如果不执行void main(void)以下代码，无法正确修改开关频率。

void main(void)
{
  uint_least8_t estNumber = 0;

#ifdef FAST_ROM_V1p6
  uint_least8_t ctrlNumber = 0;
#endif

  // Only used if running from FLASH
  // Note that the variable FLASH is defined by the project
  #ifdef FLASH
  // Copy time critical code and Flash setup code to RAM
  // The RamfuncsLoadStart, RamfuncsLoadEnd, and RamfuncsRunStart
  // symbols are created by the linker. Refer to the linker files.
  memCopy((uint16_t *)&RamfuncsLoadStart,(uint16_t *)&RamfuncsLoadEnd,(uint16_t *)&RamfuncsRunStart);

  #ifdef F2802xF
    //copy .econst to unsecure RAM
    if(*econst_end – *econst_start)
      {
        memCopy((uint16_t *)&econst_start,(uint16_t *)&econst_end,(uint16_t *)&econst_ram_load);
      }

    //copy .switch ot unsecure RAM
    if(*switch_end – *switch_start)
      {
        memCopy((uint16_t *)&switch_start,(uint16_t *)&switch_end,(uint16_t *)&switch_ram_load);
      }
  #endif

  #endif

  // initialize the hardware abstraction layer
  halHandle = HAL_init(&hal,sizeof(hal));

  // check for errors in user parameters
  USER_checkForErrors(&gUserParams);

  // store user parameter error in global variable
  gMotorVars.UserErrorCode = USER_getErrorCode(&gUserParams);

  // do not allow code execution if there is a user parameter error
  if(gMotorVars.UserErrorCode != USER_ErrorCode_NoError)
    {
      for(;;)
        {
          gMotorVars.Flag_enableSys = false;
        }
    }

  // initialize the user parameters
  USER_setParams(&gUserParams);

  // set the hardware abstraction layer parameters
  HAL_setParams(halHandle,&gUserParams);

  // initialize the controller
#ifdef FAST_ROM_V1p6
  ctrlHandle = CTRL_initCtrl(ctrlNumber, estNumber);    //v1p6 format (06xF and 06xM devices)
#else
  ctrlHandle = CTRL_initCtrl(estNumber,&ctrl,sizeof(ctrl)); //v1p7 format default
#endif

  {
    CTRL_Version version;

    // get the version number
    CTRL_getVersion(ctrlHandle,&version);

    gMotorVars.CtrlVersion = version;
  }

  // set the default controller parameters
  CTRL_setParams(ctrlHandle,&gUserParams);

  // Initialize and setup the 100% SVM generator
  svgencurrentHandle = SVGENCURRENT_init(&svgencurrent,sizeof(svgencurrent));

  // setup svgen current
  {
    float_t minWidth_microseconds = 2.0;
    uint16_t minWidth_counts = (uint16_t)(minWidth_microseconds * USER_SYSTEM_FREQ_MHz);

    SVGENCURRENT_setMinWidth(svgencurrentHandle, minWidth_counts);
    SVGENCURRENT_setIgnoreShunt(svgencurrentHandle, use_all);
  }

  // set overmodulation to maximum value
  gMotorVars.OverModulation = _IQ(MATH_TWO_OVER_THREE);

  // setup faults
  HAL_setupFaults(halHandle);

  // initialize the interrupt vector table
  HAL_initIntVectorTable(halHandle);

  // enable the ADC interrupts
  HAL_enableAdcInts(halHandle);

  // enable global interrupts
  HAL_enableGlobalInts(halHandle);

  // enable debug interrupts
  HAL_enableDebugInt(halHandle);

  // disable the PWM
  HAL_disablePwm(halHandle);

#ifdef DRV8301_SPI
  // turn on the DRV8301 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8301 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8301Vars);
#endif

#ifdef DRV8305_SPI
  // turn on the DRV8305 if present
  HAL_enableDrv(halHandle);
  // initialize the DRV8305 interface
  HAL_setupDrvSpi(halHandle,&gDrvSpi8305Vars);
#endif

  // enable DC bus compensation
  CTRL_setFlag_enableDcBusComp(ctrlHandle, true);

  // compute scaling factors for flux and torque calculations
  gFlux_pu_to_Wb_sf = USER_computeFlux_pu_to_Wb_sf();
  gFlux_pu_to_VpHz_sf = USER_computeFlux_pu_to_VpHz_sf();
  gTorque_Ls_Id_Iq_pu_to_Nm_sf = USER_computeTorque_Ls_Id_Iq_pu_to_Nm_sf();
  gTorque_Flux_Iq_pu_to_Nm_sf = USER_computeTorque_Flux_Iq_pu_to_Nm_sf();

user4708725：

回复 Eric Ma:

修改了PWM周期寄存器确实不能改变开关频率，必须要执行main()函数以下代码才可以。

变开关频率可以使电机的扭矩性能更好。

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