永磁同步电机FOC控制求助
在永磁同步电机FOC控制中，计算得到的电压Valfa和Vbeta经过极坐标变换得到|V|和sita，然后在第一扇区（0-60°）里面计算得到VT1和VT2（见计算1），再得到VTA，VTB，VTC（计算2），分配给定时器（决定中占空比）寄存器的比较值。请问下在其他象限中，这个VT1和VT2还需要计算吗？看分配图3中就是根据象限A~F直接分配即可？迷惑中。。。。由于是汇编语言，比较难看。我把汇编程序发上来吧，大家分析下：CV_SectorA:
djnz guc_sector,CV_SectorB
movCCU6_CC60RH,r2
movCCU6_CC60RL,r3 ; CC60CR = V_TB
movCCU6_CC61RL,a
movCCU6_CC61RH,r4 ; CC61CR = V_TC
movCCU6_CC62RH,r0
movCCU6_CC62RL,r1 ; CC60CR = V_TA
movCCU6_PAGE,#0x00
mova,#AD_TRIGGER_CM_L ; A= AD_TRIGGER_CM_L
adda,r7 ; A= AD_TRIGGER_CM_L + T2/2_L
movCCU6_CC63RL,a
mova,#AD_TRIGGER_CM_H ; A= AD_TRIGGER_CM_H
addc a,r6 ; A= AD_TRIGGER_CM_H + T2/2_H
movCCU6_CC63RH,a
movCCU6_PAGE,#0x01
mova,#AD_TRIGGER_PM_L ; A= AD_TRIGGER_PM_L
adda,r5 ; A= AD_TRIGGER_PM_L + T1/2_L
movCCU6_T13PRL,a
mova,#AD_TRIGGER_PM_H ; A= AD_TRIGGER_PM_H
addc a,b ; A= AD_TRIGGER_PM_H + T1/2_H
movCCU6_T13PRH,a
ljmp compare_values_end
CV_SectorB:
djnz guc_sector,CV_SectorC
movCCU6_CC60RL,a
movCCU6_CC60RH,r4 ; CC60CR = V_TC
movCCU6_CC61RH,r2
movCCU6_CC61RL,r3 ; CC61CR = V_TB
movCCU6_CC62RH,r0
movCCU6_CC62RL,r1 ; CC60CR = V_TA
movCCU6_PAGE,#0x00
mova,#AD_TRIGGER_CM_L ; A= AD_TRIGGER_CM_L
adda,r5 ; A= AD_TRIGGER_CM_L + T1/2_L
movCCU6_CC63RL,a
mova,#AD_TRIGGER_CM_H ; A= AD_TRIGGER_CM_H
addc a,b ; A= AD_TRIGGER_CM_H + T1/2_H
movCCU6_CC63RH,a
movCCU6_PAGE,#0x01
mova,#AD_TRIGGER_PM_L ; A= AD_TRIGGER_PM_L
adda,r7 ; A= AD_TRIGGER_PM_L + T2/2_L
movCCU6_T13PRL,a
mova,#AD_TRIGGER_PM_H ; A= AD_TRIGGER_PM_H
addc a,r6 ; A= AD_TRIGGER_PM_H + T2/2_H
movCCU6_T13PRH,a
ljmp compare_values_end
CV_SectorC:
djnz guc_sector,CV_SectorD
movCCU6_CC60RH,r0
movCCU6_CC60RL,r1 ; CC60CR = V_TA
movCCU6_CC61RH,r2
movCCU6_CC61RL,r3 ; CC60CR = V_TB
movCCU6_CC62RL,a
movCCU6_CC62RH,r4 ; CC61CR = V_TC
movCCU6_PAGE,#0x00
mova,#AD_TRIGGER_CM_L ; A= AD_TRIGGER_CM_L
adda,r7 ; A= AD_TRIGGER_CM_L + T2/2_L
movCCU6_CC63RL,a
mova,#AD_TRIGGER_CM_H ; A= AD_TRIGGER_CM_H
addc a,r6 ; A= AD_TRIGGER_CM_H + T2/2_H
movCCU6_CC63RH,a
movCCU6_PAGE,#0x01
mova,#AD_TRIGGER_PM_L ; A= AD_TRIGGER_PM_L
adda,r5 ; A= AD_TRIGGER_PM_L + T1/2_L
movCCU6_T13PRL,a
mova,#AD_TRIGGER_PM_H ; A= AD_TRIGGER_PM_H
addc a,b ; A= AD_TRIGGER_PM_H + T1/2_H
movCCU6_T13PRH,a
ljmp compare_values_end
CV_SectorD:
djnz guc_sector,CV_SectorE
movCCU6_CC60RH,r0
movCCU6_CC60RL,r1 ; CC60CR = V_TA
movCCU6_CC61RL,a
movCCU6_CC61RH,r4 ; CC61CR = V_TC
movCCU6_CC62RH,r2
movCCU6_CC62RL,r3 ; CC60CR = V_TB
movCCU6_PAGE,#0x00
mova,#AD_TRIGGER_CM_L ; A= AD_TRIGGER_CM_L
adda,r5 ; A= AD_TRIGGER_CM_L + T1/2_L
movCCU6_CC63RL,a
mova,#AD_TRIGGER_CM_H ; A= AD_TRIGGER_CM_H
addc a,b ; A= AD_TRIGGER_CM_H + T1/2_H
movCCU6_CC63RH,a
movCCU6_PAGE,#0x01
mova,#AD_TRIGGER_PM_L ; A= AD_TRIGGER_PM_L
adda,r7 ; A= AD_TRIGGER_PM_L + T2/2_L
movCCU6_T13PRL,a
mova,#AD_TRIGGER_PM_H ; A= AD_TRIGGER_PM_H
addc a,r6 ; A= AD_TRIGGER_PM_H + T2/2_H
movCCU6_T13PRH,a
ljmp compare_values_end
CV_SectorE:
djnz guc_sector,CV_SectorF
movCCU6_CC60RL,a
movCCU6_CC60RH,r4 ; CC61CR = V_TC
movCCU6_CC61RH,r0
movCCU6_CC61RL,r1 ; CC60CR = V_TA
movCCU6_CC62RH,r2
movCCU6_CC62RL,r3 ; CC60CR = V_TB
movCCU6_PAGE,#0x00
mova,#AD_TRIGGER_CM_L ; A= AD_TRIGGER_CM_L
adda,r7 ; A= AD_TRIGGER_CM_L + T2/2_L
movCCU6_CC63RL,a
mova,#AD_TRIGGER_CM_H ; A= AD_TRIGGER_CM_H
addc a,r6 ; A= AD_TRIGGER_CM_H + T2/2_H
movCCU6_CC63RH,a
movCCU6_PAGE,#0x01
mova,#AD_TRIGGER_PM_L ; A= AD_TRIGGER_PM_L
adda,r5 ; A= AD_TRIGGER_PM_L + T1/2_L
movCCU6_T13PRL,a
mova,#AD_TRIGGER_PM_H ; A= AD_TRIGGER_PM_H
addc a,b ; A= AD_TRIGGER_PM_H + T1/2_H
movCCU6_T13PRH,a
ljmp compare_values_end
CV_SectorF:
mov CCU6_CC60RH,r2
mov CCU6_CC60RL,r3 ; CC61CR = V_TB
mov CCU6_CC61RH,r0
mov CCU6_CC61RL,r1 ; CC60CR = V_TA
mov CCU6_CC62RL,a
mov CCU6_CC62RH,r4 ; CC60CR = V_TC
movCCU6_PAGE,#0x00
mova,#AD_TRIGGER_CM_L ; A= AD_TRIGGER_CM_L
adda,r5 ; A= AD_TRIGGER_CM_L + T1/2_L
movCCU6_CC63RL,a
mova,#AD_TRIGGER_CM_H ; A= AD_TRIGGER_CM_H
addc a,b ; A= AD_TRIGGER_CM_H + T1/2_H
movCCU6_CC63RH,a
movCCU6_PAGE,#0x01
mova,#AD_TRIGGER_PM_L ; A= AD_TRIGGER_PM_L
adda,r7 ; A= AD_TRIGGER_PM_L + T2/2_L
movCCU6_T13PRL,a
mova,#AD_TRIGGER_PM_H ; A= AD_TRIGGER_PM_H
addc a,r6 ; A= AD_TRIGGER_PM_H + T2/2_H
movCCU6_T13PRH,a
compare_values_end:
另外，扇区判断怎么在程序里面实现，难道按照simulink仿真里面的方法？请指点。 算一次就好了,其他扇区里计算公式也是一样的,所以可以直接用,顶多符合不同. 感谢archdevil 回答。另外扇区判断在程序中是怎么实现的？是不是也要和simulink模型那样跟据电压符号判断扇区？如果FOC是从第一扇区开始执行的，是不是在接下来就不需要判断扇区了，直接在上个扇区基础上加1就行了？另外上面的汇编语言中：CV_SectorA:~CV_SectorF: 是什么东西？我对汇编不了解，看程序都很费劲。请大侠们指点小弟了。 随便着个2407或者2812的dsp的书，书后面都有附带的svpwm的例程的。一般扇区是每次计算判断的，因为你不知道什么时候该加1。 电机所处扇区是不是可以通过转子位置角得到呢？看下面一段程序：
movMDU_MD4,CD_CORDZL ; MD4 = Z = Angle
movMDU_MD5,CD_CORDZH ; MD5 = Z = Angle
movMDU_MDUCON,#0x10; ; start Multiplikation (gi_angle * 6) -> Sector,gamma
movMDU_MD4,r7 ;4 MD4 = amp_L
movMDU_MD5,r6 ;8 MD5 = amp_H
_MD_01:
clra ;10
movCD_STATC,a ;12 clear keep bits- interrupt disabled
movCD_CORDZL,a ;14 Z = 0
movdptr,#Sinus60_tab ; MDU ready / get pointer at Sinustable
movr2,MDU_MR1 ; R2 = gamma 8bit
movguc_sector,MDU_MR2 ; R3 = guc_sector0 ... 5
通过(gi_angle * 6) -> Sector,gamma，在其他的地方根本没看到有扇区判断程序。。。。好迷惑
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