旋转变压器做为速度反馈时的计算程序

1huangbin

/*=====================================================================================
File name:        RESOLVER.C  (IQ version)                  
                    
Originator:        Digital Control Systems Group
                        Texas Instruments

Description:  Speed and position measurement computation based resolver                  

=====================================================================================
History:
-------------------------------------------------------------------------------------
04-15-2005        Version 3.20
-------------------------------------------------------------------------------------*/

#include "IQmathLib.h"         // Include header for IQmath library
// Don't forget to set a proper GLOBAL_Q in "IQmathLib.h" file
#include "dmctype.h"
#include "resolver.h"

void resolver_calc(RESOLVER *v)
{

   demodulator_calc(v);
   filter_calc(v);
   position_speed_calc(v);
//   angle_comp_calc(v);

}


void demodulator_calc(RESOLVER *v)
{


   v->DemodSin = v->SinIn;
   v->DemodCos = v->CosIn;

/*
// Inputs: v->SinIn, v->CosIn
// Outputs: v->DemodSin, v->DemodCos

   int16 i;

   // Pass the previous resolver signals   
   for(i=v->DemodConst-1;i>0;i--)  {
      v->PreviousDemodSin[i] = v->PreviousDemodSin[i-1];
      v->PreviousDemodCos[i] = v->PreviousDemodCos[i-1];
   }
   
   // Index zero in the array keeps the current resolver signals
   v->PreviousDemodSin[0] = v->SinIn;
   v->PreviousDemodCos[0] = v->CosIn;
   
   // Initialize the demodulated signals
   v->DemodSin = 0;
   v->DemodCos = 0;

   // Demodulate the resolver signals
  for(i=0;i<v->DemodConst;i++)  {
     if (_IQabs(v->PreviousDemodSin[i]) > v->DemodSin)
        v->DemodSin = _IQabs(v->PreviousDemodSin[i]);
     if (_IQabs(v->PreviousDemodCos[i]) > v->DemodCos)
        v->DemodCos = _IQabs(v->PreviousDemodCos[i]);
   }
*/
}


void filter_calc(RESOLVER *v)
{

// Inputs: v->DemodSin, v->DemodCos
// Outputs: v->FilteredSin, v->FilteredCos

   int16 i;

   // Initialize the filtered signals
   v->FilteredSin = 0;
   v->FilteredCos = 0;

   for(i=17;i>=0;i--)  {
     
     if (i>0) {
       // Pass the previous demodulated signals
       v->PreviousSin[i] = v->PreviousSin[i-1];
       v->PreviousCos[i] = v->PreviousCos[i-1];
     }  
     else  {
       // Index zero in the array keeps the current demodulated signals
       v->PreviousSin[0] = v->DemodSin;
       v->PreviousCos[0] = v->DemodCos;
     }

     // Filtering the signals
     v->FilteredSin += _IQmpy(v->FilterGain[i],v->PreviousSin[i]);
     v->FilteredCos += _IQmpy(v->FilterGain[i],v->PreviousCos[i]);

   }
}


void position_speed_calc(RESOLVER *v)
{

// Inputs: v->FilteredSin, v->FilteredCos
// Outputs: v->ElecTheta, v->MechTheta, v->RefTheta, v->Speed

   _iq Tmp1,  FilterGain;

   // Amplify the filtered signals
   v->AmplifiedSin = _IQmpy(v->SignalGain,v->FilteredSin);
   v->AmplifiedCos = _IQmpy(v->SignalGain,v->FilteredCos);
  // v->AmplifiedSin = _IQmpy(v->SignalGain,v->SinIn);
  // v->AmplifiedCos = _IQmpy(v->SignalGain,v->CosIn);

   // Arctan function
   Tmp1 = _IQatan2PU(v->AmplifiedSin,v->AmplifiedCos);
   // Low-pass filter for resolver angles
   FilterGain = _IQ(0);//_IQ(0.95);
   v->FilterTheta1 = _IQmpy(FilterGain,v->FilterTheta1) + _IQmpy((_IQ(1)-FilterGain),Tmp1);
   // Rotor speed computation

   if ((v->FilterTheta1 > _IQ(0.75))&(v->OldTheta < _IQ(0.25)))
      Tmp1 = _IQ21mpy(v->K1,(_IQ(-1)+ v->FilterTheta1 - v->OldTheta));
   else if ((v->OldTheta > _IQ(0.75))&(v->FilterTheta1 < _IQ(0.25)))
      Tmp1 = _IQ21mpy(v->K1,(_IQ(1)- v->OldTheta + v->FilterTheta1));
   else
      Tmp1 = _IQ21mpy(v->K1,(v->FilterTheta1 - v->OldTheta));

   // Low-pass filter for calculated speed
   FilterGain = _IQ(0.95);
   v->Speed = _IQmpy(FilterGain,v->Speed) + _IQmpy((_IQ(1)-FilterGain),Tmp1);

   // Limit the calculated speed within (-1,1)
   if (v->Speed > _IQ(1))
       v->Speed = _IQ(1);
   else if (v->Speed < _IQ(-1))
      v->Speed = _IQ(-1);

   // Update the mechanical angle
   v->OldTheta = v->FilterTheta1;


    v->MechTheta = v->FilterTheta1;

    if (v->MechTheta >= _IQ(1))
       v->MechTheta = _IQ(1);
    if (v->MechTheta < _IQ(0))
       v->MechTheta = _IQ(0);

    // Low-pass filter
    FilterGain = _IQ(0.70);
    v->RefTheta = _IQmpy(FilterGain,v->RefTheta) + _IQmpy((_IQ(1)-FilterGain),v->MechTheta);

    // Compute electrical angle
    v->ElecTheta = v->MechTheta*v->PolePairs;
    if (v->ElecTheta >= _IQ(1))
       v->ElecTheta -= _IQ(1);

   // Change motor speed from pu value to rpm value (Q15 -> Q0)
   // Q0 = Q0*GLOBAL_Q => _IQXmpy(), X = GLOBAL_Q
    v->SpeedRpm = _IQmpy(v->BaseRpm,v->Speed);

}


void angle_comp_calc(RESOLVER *v)
{

// Inputs: v->RefTheta
// Outputs: v->OutputTheta

    // Convert OutputTheta to from mechanical to electrical angle  
    v->OutputTheta = v->RefTheta*v->PolePairs;

    if (v->OutputTheta >= _IQ(1))
       v->OutputTheta -= _IQ(1);

    // Compensate the mechanical angle between resolver signal and back EMF of winding a
    v->OutputTheta += v->CalibratedAngle;

    if (v->OutputTheta >= _IQ(1))
       v->OutputTheta -= _IQ(1);

    // (0.125 pu)*v->PolePairs pu = (45 deg)*v->PolePairs  electrical degree
     v->OutputTheta += _IQ1mpy(v->PolePairs,_IQ25(0.125));

    if (v->OutputTheta >= _IQ(1))
       v->OutputTheta -= _IQ(1);

    // _IQ(0.171) = Mechanical phase delay at base speed due to low-pass filter (FIR 17-order)
     v->OutputTheta += _IQmpy(v->Speed,_IQ1mpy(v->PolePairs,_IQ25(0.171)));

    if (v->OutputTheta >= _IQ(1))
     v->OutputTheta -= _IQ(1);

    // _IQ(0.09) = Mechanical phase delay at base speed due to low-pass filter (1-order)
     v->OutputTheta += _IQmpy(v->Speed,_IQ1mpy(v->PolePairs,_IQ25(0.09)));

    if (v->OutputTheta >= _IQ(1))
      v->OutputTheta -= _IQ(1);
}

有部分不是很理解 可以相互讨论哈

1huangbin

是在cd程序库 里面下的  看名字可以看出是ti公司的代码

1huangbin

用编码器做为转速反馈和用旋变做反馈的代码的区别是哪些

1huangbin

有没有
知道
的
交流一下

oio123

大家快快讨论下啊，坐等高人

forestyang

我来尝试说一下。
回3楼：
常规的光电编码器分三种：增量式方波、增量式正弦波和绝对值式的。
旋变和增量式正弦波和绝对值式的解码代码一致。而增量式方波是通过对上升沿或者下降沿计数来做解码的。

kingle6374

在ti代码库没有看到旋转变压器的doc文档啊

阿弃金W_F2rZp

电角度与机械角度中间相当于一个变速比