?? closebldc.asm
字號:
;**********************************************************************
;* *
;用此軟件控制高壓直流無刷電機的運轉(2007/6/10)
;電機轉速低于2500RPM時閉環控制
;* *
;**********************************************************************
; Filename: SensBLDC.asm *
;**********************************************************************
; Files required: p16f877.inc *
;**********************************************************************
; Notes: Sensored brushless motor control *
;**********************************************************************
list p=16f877a ; list directive to define processor
#include <p16f877a.inc> ; processor specific variable definitions
;**********************************************************************
;*
;* Define variable storage
;*
CBLOCK 0x20
ADC ; PWM threshold is ADC result
adctemp ;當前ADC的值
adctemp1
LastSensor ; last read motor sensor data
DriveWord ; six bit motor drive data
sensortemp
flag
delaycount1
delaycount2
timer2ifcount
timer1ifcount ;用于增加TIMER1的時間
timer1ifcounttemp
timer2ifcounttemp
pulse ;當前轉速脈沖數
prepulse
pulsetemp1
pulsetemp2
pulsetemp3
pulse0 ;規定的轉速脈沖數
e1
e1temp ;當前轉速偏差
e0 ;上一次轉速偏差
e0temp
z1 ;當前規正轉速偏差
z1temp
z0 ;上一次
z0temp
de1 ;轉速偏差的偏差
de1temp
de0
de0temp
deltw1 ;查表偏移值
deltw2 ;delte查表偏移值
fuzzyflag ;模糊計算標志
wtemp
ENDC
;**********************************************************************
;*
;* Define I/O
;*
#define OffMask B'00000000'
#define DrivePort PORTB
#define DrivePortTris TRISB
#define SensorMask B'00000111' ;RA2,RA3,RA4分別對應SA,SB,SC
#define SensorPort PORTA
#define led1 portd,0 ;燈1
#define led2 portd,1 ;燈2
#define led3 portd,2 ;燈3
#define RUNSTOPKEY PORTD,6 ;運行停止鍵
#define directionkey portd,7 ;改變方向鍵
#define directionbit flag,0 ;方向標志位
#define runstopbit flag,1 ;運行標志,1代表運行,0代表停止
#define starttime flag,2 ;軟啟動開始
#define errorflag flag,3 ;錯誤標志
#define voltageerrorflag flag,4
#define led4 portc,0 ;燈4
#define overcurrent portc,1 ;過流檢測
#define voltagefault portc,2 ;電壓檢測
#define overtemp porte,2 ;IGBT模塊溫度檢測
#define startadc d'0' ;電機啟動時的ADC
#define startendadc d'50' ;電機啟動結束時的ADC
#define deltadc d'8' ;啟動時增加的ADC
#define refmin d'25'
#define adcmin d'20'
#define deltstopadc d'8' ;停止時減小的ADC
模糊控制參數
#define tmr1hstart d'15'
#define tmr1lstart d'0'
#define timer1ifcountmax d'5' ;采樣時間為500ms
#define prescale d'3'
#define edn6 d'0' ;e的模糊數等級
#define edn5 d'1'
#define edn4 d'2'
#define edn3 d'3'
#define edn2 d'4'
#define edn1 d'5'
#define ed0 d'6'
#define edp1 d'7'
#define edp2 d'8'
#define edp3 d'9'
#define edp4 d'10'
#define edp5 d'11'
#define edp6 d'12'
#define dedn6 d'1' ;de的模糊數等級
#define dedn5 d'14'
#define dedn4 d'27'
#define dedn3 d'40'
#define dedn2 d'53'
#define dedn1 d'66'
#define ded0 d'79'
#define dedp1 d'92'
#define dedp2 d'105'
#define dedp3 d'118'
#define dedp4 d'131'
#define dedp5 d'144'
#define dedp6 d'157'
#define fodn6 d'168' ;模糊輸出等級adc=40
#define fodn55 d'140'
#define fodn5 fodn55-d'2'
#define fodn45 fodn55-d'3'
#define fodn4 fodn55-d'4'
#define fodn35 fodn55-d'5'
#define fodn3 fodn55-d'6'
#define fodn25 fodn55-d'7'
#define fodn2 fodn55-d'8'
#define fodn15 fodn55-d'9'
#define fodn1 fodn55-d'10'
#define fodn05 fodn55-d'11'
#define fod0 d'0'
#define fodp6 d'40' ;模糊輸出等級adc=200
#define fodp55 d'12'
#define fodp5 fodp55-d'2'
#define fodp45 fodp55-d'3'
#define fodp4 fodp55-d'4'
#define fodp35 fodp55-d'5'
#define fodp3 fodp55-d'6'
#define fodp25 fodp55-d'7'
#define fodp2 fodp55-d'8'
#define fodp15 fodp55-d'9'
#define fodp1 fodp55-d'10'
#define fodp05 fodp55-d'11'
#define fon6adc d'40'
#define fop6adc d'200'
#define speedoverflag fuzzyflag,0
#define firstflag fuzzyflag,1
;**********************************************************************
org 0x000 ; startup vector
nop ; required for ICD operation
clrf PCLATH ; ensure page bits are cleared
goto Initialize ; go to beginning of program
ORG 0x004 ; interrupt vector location
; call closedeltadcsub
retfie ; return from interrupt
;**********************************************************************
;*
;* Initialize I/O ports and peripherals
;*
Initialize
clrf DrivePort ; all drivers off
banksel TRISA
; setup I/O
MOVLW B'11000000' ;PORTD7,6輸入,其他輸出
movwf trisd
MOVLW B'11111110' ;PORTC0輸出,其他輸入
MOVWF TRISC
clrf DrivePortTris ; set motor drivers as outputs
movlw B'00011111' ; A/D on RA1, Motor sensors on RA<4:2>
movwf TRISA ;
; setup Timer0
movlw B'11010010' ; Timer0: Fosc, 1:4
movwf OPTION_REG
; Setup ADC (bank1)
movlw B'00001110' ; ADC left justified, AN0 ONLY
movwf ADCON1
banksel ADCON0
; setup ADC (bank0)
movlw B'11000001' ; ADC clock from int RC, AN0, ADC on
movwf ADCON0
bsf ADCON0,GO ; start ADC
movlw b'01111111' ;timer2的prescale為1:16,后分頻比為1:16,on,
movwf t2con ;用于判斷電機是否堵轉
clrf portd
clrf flag
clrf LastSensor ; initialize last sensor reading
call Commutate ; determine present motor positon
clrf ADC ; start speed control threshold at zero until first ADC reading
bsf led1 ;燈1亮
bcf led2
bcf led3
bcf led4
mainloop
btfss runstopkey ;按下runstopkey?
goto mainrunloop
btfss directionkey ;按下DIRECTIONKEY
call directionsub ;是的則DIRECTIONSUB
goto mainloop
mainrunloop ;運行
clrf flag
bcf led2
bcf led3
bcf led4
call readadcsub
bsf led2
call commutate
clrf tmr2
clrf timer2ifcount
clrf timer1ifcount
clrf pulse
clrf fuzzyflag
clrf tmr1L ;TIMER1為0
clrf tmr1h
clrf t1con
bsf t1con,tmr1on ;啟動TIMER1
bsf starttime ;電機處于起動時間
movlw STARTADC ;開始啟動時ADC的值
movwf adc
increaserun ;加速運行(軟啟動)
btfss starttime ;起動結束?
goto normalrun ;正常運轉
BTFSs PIR1,TMR1IF ;TIMER1時間到
goto normalrun ;正常運轉
bcf pir1,tmr1if ;清除tmr1if
movlw deltadc
addwf adc,f
btfsc status,c ;是否超過255?
goto adcgeadctemp ;是的則ADC>=ADCTEMP
movlw startendadc ;沒有超過則比較startendadc
subwf adc,w
btfss status,c
goto normalrun ;adc<startendadc
adcgeadctemp ;adc>=startendadc
; movf adctemp,w
movlw d'100'
movwf adc
; movlw d'130'
; movwf pulse0
bcf starttime
bcf t1con,tmr1on ;關閉TIMER1的運行
; banksel pie1
; bsf pie1,0 ;開放TMR1中斷使能
; banksel t1con
; movlw 0c0h
; movwf intcon
movlw b'00110000'
movwf t1con
movlw tmr1lstart
movwf TMR1L
movlw tmr1hstart
movwf tmr1h
clrf e1
clrf e0
clrf z1
clrf z0
clrf de1
clrf de0
clrf pulse
clrf prepulse
clrf timer1ifcount
clrf pulsetemp1
clrf pulsetemp2
bsf t1con,tmr1on
bsf firstflag
normalrun
btfss starttime
call readadcsub ;運行時讀取ADCTEMP
call runsub
movf adc,w
movwf adctemp1
btfss starttime
call closedeltadcsub ;閉環控制
btfss voltagefault ;如電壓超過242V或低于170V則電機停止運轉
goto voltagefaultstoprun
btfsc errorflag
goto errorstoprun
btfsc directionkey ;是否停止?
goto increaserun
goto stoprun
errorstoprun
bsf led4
goto stoprun
voltagefaultstoprun
bsf led4
bsf led3
bsf voltageerrorflag
stoprun
call norunsub ;減速停止
bcf led2
call delaysub
call delaysub
goto mainloop
;閉環時DELTADC計算子程序
closedeltadcsub
btfss pir1,tmr1if ;TIMER1溢出?
return ;沒有溢出則返回
bcf pir1,tmr1if
bcf t1con,tmr1on
movlw tmr1lstart
movwf tmr1l
movlw tmr1hstart
movwf tmr1h
bsf t1con,tmr1on
incf timer1ifcount,f ;timer1count=38?
movlw timer1ifcountmax
subwf timer1ifcount,w
btfss status,z
return
btfss led2
goto setled2
bcf led2
goto led2start
setled2
bsf led2
led2start
btfss firstflag
goto secondtime
movf pulse,w
movwf pulsetemp1
bcf firstflag
goto secondtimeend
secondtime
bcf status,c
rrf pulsetemp1,f
bcf status,c
rrf pulse,f
movf pulsetemp1,w
addwf pulse,f
movf pulse,w
movwf pulsetemp1
secondtimeend
movf timer1ifcount,w
movwf timer1ifcounttemp
movlw d'255' ;如PULSE=255則不進行閉環控制
subwf pulse,w
btfsc status,z
return
movf pulse0,w ;該次速度脈沖數計算結束,需要計算DELTADC
SUBWF PULSE,w
movwf e1 ;e1=pulse-pulse0
btfss status,c ;e1>=0
goto e1ltzero ;e1<0則轉到E1LTZERO
btfsc status,z
goto e1eqzero ;e1=0
movlw d'2' ;e1=1?
subwf e1,w
btfss status,c
goto e1eqp1 ;e1=1
movlw d'4' ;e1=2?
subwf e1,w
btfss status,c
goto e1eqp2 ;e1=2
movlw d'6' ;e1=3?
subwf e1,w
btfss status,c
goto e1eqp3 ;e1=3
movlw d'8' ;e1=4?
subwf e1,w
btfss status,c
goto e1eqp4 ;e1=4
movlw d'10' ;e1=5?
subwf e1,w
btfss status,c
goto e1eqp5 ;e1=5
movlw edp6 ;轉速差大于30以上
movwf deltw1 ;e1>3(n>30rpm)
goto e1pend
e1eqzero
movlw ed0 ;轉速差為ZERO
movwf deltw1
goto e1pend
e1eqp1
movlw edp1 ;轉速差為10RPM
movwf deltw1
goto e1pend
e1eqp2
movlw edp2 ;轉速差為20RPM
movwf deltw1
goto e1pend
e1eqp3
movlw edp3 ;轉速差為30RPM
movwf deltw1
goto e1pend
e1eqp4
movlw edp4
movwf deltw1
goto e1pend
e1eqp5
movlw edp5
movwf deltw1
e1pend
goto e1end
e1ltzero
movf pulse,w
subwf pulse0,w
movwf e1
movlw d'2' ;e1=-1?
subwf e1,w
btfss status,c
goto e1eqn1 ;e1=-1
movlw d'4' ;e1=-2?
subwf e1,w
btfss status,c
goto e1eqn2 ;e1=-2
movlw d'6' ;e1=-3?
subwf e1,w
btfss status,c
goto e1eqn3 ;e1=-3
movlw d'8' ;e1=-4?
subwf e1,w
btfss status,c
goto e1eqn4 ;e1=-4
movlw d'10' ;e1=-5?
subwf e1,w
btfss status,c
goto e1eqn5 ;e1=-3
movlw edn6 ;轉速差大于-30以上
movwf deltw1 ;e1>-3(n>30rpm)
goto e1nend
e1eqn1
movlw edn1
movwf deltw1
goto e1nend
e1eqn2
movlw edn2
movwf deltw1
goto e1nend
e1eqn3
movlw edn3
movwf deltw1
goto e1nend
e1eqn4
movlw edn4
movwf deltw1
goto e1nend
e1eqn5
movlw edn5
movwf deltw1
e1nend
e1end
movf deltw1,w ;計算轉速偏差的偏差
movwf z1
movf z0,w
SUBWF z1,w
movwf de1 ;de1=z1-z0
btfss status,c ;de1>=0
goto de1ltzero ;de1<0則轉到dE1LTZERO
btfsc status,z
goto de1eqzero ;de1=dez
movlw d'1' ;de1=1?
subwf de1,w
btfsc status,z
goto de1eqp1 ;de1=1
movlw d'2' ;de1=2?
subwf de1,w
btfsc status,z
goto de1eqp2 ;de1=2
movlw d'3' ;de1=3?
subwf de1,w
btfsc status,z
goto de1eqp3 ;de1=3
movlw d'4' ;de1=4?
subwf de1,w
btfsc status,z
goto de1eqp4 ;de1=4
movlw d'5' ;de1=5?
subwf de1,w
btfsc status,z
goto de1eqp5 ;de1=5
movlw dedp6 ;de1=dep6
movwf deltw2
goto de1pend
de1eqzero
movlw ded0 ;de1=dez
movwf deltw2
goto de1pend
de1eqp1
movlw dedp1 ;de1=1
movwf deltw2
goto de1pend
de1eqp2
movlw dedp2 ;de1=2
movwf deltw2
goto de1pend
de1eqp3
movlw dedp3 ;de1=3
movwf deltw2
goto de1pend
de1eqp4
movlw dedp4 ;de1=4
movwf deltw2
goto de1pend
de1eqp5
movlw dedp5 ;de1=5
movwf deltw2
de1pend
goto de1end
de1ltzero
movf z1,w
subwf z0,w
movwf de1
movlw d'1' ;de1=-1?
subwf de1,w
btfsc status,z
goto de1eqn1 ;de1=-1
movlw d'2' ;de1=-2?
subwf de1,w
btfsc status,z
goto de1eqn2 ;de1=-2
movlw d'3' ;de1=-3?
subwf de1,w
btfsc status,z
goto de1eqn3 ;de1=-3
movlw d'4' ;de1=-4?
subwf de1,w
btfsc status,z
goto de1eqn4 ;de1=-4
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