?? nofeedback.asm
字號:
*** This program is used to control the induction motor at 5Hz***
.include "f2407.h"
.include "vector.h"
KICK_DOG .macro
LDP #00E0h
SPLK #05555h,WDKEY
SPLK #0AAAAh,WDKEY
LDP #0h
.endm
.sect ".table"
sintab .include sin200.tab ; sine wave for 3-phase voltage input
.data
*** axis transformation constants
sqrt3inv .set 093dh ;1/sqrt(3) 4.12 format
sqrt32 .set 0ddbh ;sqrt(3)/2 4.12 format
*** pwm modulation constants
pwmprd .set 1500 ;pwm period=2*1500 -> tc=2*1500*33ns=100us (33ns resolution)
*** vqr and vdr limitations
vbase .set 01000h ;bemf at base speed=87V
vdc .set 0cdfh ;Vdc_ref=70V,pu=0.8046,Q12=0cdfh
.bss tmp,1 ;temporary variable
.bss tmp1,1
.bss tmptmp,1
.bss tmpA,1
.bss indexA,1
.bss indexB,1 ;sine wave ub table
.bss indextemp,1
.bss ua,1 ; uao=44*sqrt(2)*cos(theta)
.bss ub,1 ; ubo=44*sqrt(2)*cos(theta-120)
.bss uc,1 ; uao=44*sqrt(2)*cos(theta-240)
.bss ualpfa,1 ;alfa-axis voltage
.bss ubeta,1 ;beta-axis voltage
.bss um,1 ;the max of the phase voltage
.bss theta,1 ;rotor electrical position in the range [0;10000]
.bss sinthetaA,1 ;generated sine wave value
.bss sinthetaB,1 ;generated cosine wave value
.bss vdcinvt,1 ;used in svpwm,vdcinvt=T/(2*vdc/87)
.bss sector,1 ;svpwm sector
.bss X,1 ;svpwm variable
.bss Y,1 ;svpwm variable
.bss Z,1 ;svpwm variable
.bss t1,1 ;svpwm t1 (see sv pwm references for details)
.bss t2,1 ;svpwm t2 (see sv pwm references for details)
.bss taon,1 ;pwm commutation instant phase 1
.bss tbon,1 ;pwm commutation instant phase 2
.bss tcon,1 ;pwm commutation instant phase 3
.bss Vref1,1 ;variable for sector calculation
.bss Vref2,1 ;variable for sector calculation
.bss Vref3,1 ;variable for sector calculation
.bss taontemp,1
.bss count,1
.bss uaaddress,1
.bss ubaddress,1
.bss t1tmp,1
*** end variables and constants initializations
.text
START:
LDP #T3PR>>7h
SPLK #0004h,T3PR ;temporary init only
SPLK #1001011001000000b,T3CON ;f=cpu/8
LDP #0h
setc INTM
LACC IFR
SACL IFR
clrc CNF
setc OVM
spm 0
setc SXM
SPLK #0000h,IMR
LDP #WDKEY>>7h
SPLK #0208h,SCSR1
SPLK #000eh,SCSR2
SPLK #006Fh,WDCR
KICK_DOG
MAR *,AR0
LDP #0E1h
lar ar4,#79h
lar ar5,#60h
lar ar0,#08000h
lar ar1,#08800h
lar ar6,#800h
lar ar7,#0c00h
****************************************************************
* I/O port initialization
****************************************************************
LDP #DP_PF2
LACL MCRA
OR #0000h
SACL MCRA
LACL MCRC
OR #00ffh
SACL MCRC
LACL MCRB
OR #0000h
SACL MCRB
ldp #tmp
zac
sacl indexA
sacl indextemp
sacl tmp
sacl tmptmp
sacl Vref1
sacl Vref2
sacl Vref3
splk #1,count
splk #0c00h,taontemp
splk #748h,vdcinvt ;4.12,if VDCpu=0.8046,vdcinvt=PWMPRD/VDC=1864=748h
splk #1000h,um ;peak43.5V
splk #134,indexB
splk #8000h,uaaddress
splk #9000h,ubaddress
LDP #GPTCONB>>7h
splk #0666h,ACTRB
splk #0ffebh,DBTCONB
SPLK #pwmprd,T3PR
splk #300,CMPR4 ;no current sent to the motor
splk #300,CMPR5
splk #300,CMPR6
splk #0307h,COMCONB
splk #8307h,COMCONB
SPLK #0000000000000000b,GPTCONB
SPLK #0000000000000000b,T3CNT
SPLK #0000h,T3CMPR
SPLK #0000001000000001b,EVBIMRA
SPLK #0000001000000001b,EVBIFRA
SPLK #0000100001000000b,T3CON
LDP #0
SPLK #0000000000000011b,IMR
CLRC INTM
WAIT:
NOP
NOP
B WAIT
GISR2:
NOP
setc INTM
mar *,ar4 ;ar4 active auxiliary reg (stack pointer)
;ar4 initial value #79h
mar *-
sst #1,*- ;save status register 1
sst #0,*- ;save status register 0
sach *- ;save ms word of accu
sacl *- ;save ls word of accu
*************************************
* end context saving *
*************************************
ldp #tmp
lacc count
sub #1
sacl count
bgz uacal
lacc #1
sacl count
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; Following program is to test SVPWM agrithm. ;
;; The desired input three-phase sine-voltages ;
;; is get by lookup table. ;
;; Ua=Umax*sin(teta) ;
;; Ub=Umax*sin(teta-120) ;
;; Uc=Umax*sin(teta+120) ;
;; theta=omiga*t ;
ldp #tmp
mar *,ar3 ;making ar3 as current AR
lacl indexA ;; judging if indexA is in
and #0ffh ;; 0-200, if larger than
sub #200 ;; 200,then index=index-201
bcnd sin_cirA,LT
sacl indexA
sin_cirA:
; calculating ua
lacl indexA
add #sintab ;look up sine table
sacl tmp
lar ar3,tmp
lacl *
sacl sinthetaA ;get value of sintetaA
lt sinthetaA ; Q15
mpy um ;ua=um*sin(teta),um(Q12)=1000h
pac ; ua(Q12), for Q15*Q12=Q27, get off
sach ua,1 ; low 16 bits,then Q11,so left-shift
; 1 bit, Q12
; calculating ub
lacl indexB
and #0ffh
sub #200
bcnd sin_cirB,LT
sacl indexB
sin_cirB:
lacl indexB
add #sintab ; in sine table lag 67 word
sacl tmp
lar ar3,tmp
lacl * ;look up sine table
sacl sinthetaB ;get value of sintetaA
lt sinthetaB ; Q15
mpy um ;ub=Umax*sintetaB,Umax(Q12)=1000h
pac ; ub(Q12), for Q15*Q12=Q27, get off
sach ub,1 ; low 16 bits,then Q11,so left-shift
; 1 bit, Q12
; lacl indextemp
; sub #1
; bcnd continue,LT
; zac
; sacl indextemp
lacl indexA
and #0ffh
add #1 ; inext=index+1,indicate next
sacl indexA ; element of sine table
lacl indexB
and #0ffh
add #1 ; inext=index+1,indicate next
sacl indexB ; element of sine table
;continue:
; lacl indextemp
; and #0ffh
; add #1
; sacl indextemp
lacc sinthetaA ;format 4.12,adjust ia to suit output
sfr
sfr
sfr ;12 bit dac, [0 1000h] = [0,5] volt
sfr
sacl tmptmp
add #800h ;800h is 2.5 volt.
sacl tmpA ; data sent to dac0 buffer
out tmpA,0
out tmpA,4
;
;; End ua, ub, uc calculation ;
;; We get the desired 3-phase voltages. ;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
;; Clarke transformation ;
;; (a,b)==>(alfa,beta) ;
;; ualpfa=ua ;
;; ubeta=(2*ub+ua)/sqrt(3) ;
uacal:
lacc ua
sacl ualpfa ;usalfa 4.12
lacc ub,1 ;ubeta=(2*ub+ua)/sqrt(3)
add ua
sacl tmp
lt tmp
mpy #sqrt3inv ;093dh, 4.12, 1/sqrt(3)=0.57735
pac
sach ubeta,4 ;usbeta(Q12), for Q12*Q12=Q24,
;get off low 16 bits,then Q8,
;so left-shift 4 bit, Q12
lacc ualpfa ;format 4.12,adjust ia to suit output
sfr
sfr
sfr ;12 bit dac, [0 1000h] = [0,5] volt
sfr
sacl tmptmp
add #800h ;800h is 2.5 volt.
sacl tmpA ; data sent to dac0 buffer
out tmpA,1
out tmpA,5
lacc ubeta ;format 4.12,adjust ia to suit output
sfr
sfr
sfr ;12 bit dac, [0 1000h] = [0,5] volt
sfr
sacl tmptmp
add #800h ;800h is 2.5 volt.
sacl tmpA ; data sent to dac0 buffer
out tmpA,2
out tmpA,6
WP:
clrc c
lacc uaaddress
sub #8fffh
bgez SVPWM
lar ar1,t1tmp
lar ar2,uaaddress
mar *,ar2
sar ar1,*+
sar ar2,uaaddress
lar ar1,ubeta
lar ar2,ubaddress
mar *,ar2
sar ar1,*+
sar ar2,ubaddress
; End Clarke transformation ;
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
?? 快捷鍵說明
復(fù)制代碼
Ctrl + C
搜索代碼
Ctrl + F
全屏模式
F11
切換主題
Ctrl + Shift + D
顯示快捷鍵
?
增大字號
Ctrl + =
減小字號
Ctrl + -