DSP的PWM電機(jī)控制程序代碼分析

中南大學(xué)DSP原理及應(yīng)用課程代碼分析報(bào)告報(bào)告題目：DSP的PWM電機(jī)控制程序代碼分析學(xué)院：信息科學(xué)與工程學(xué)院專業(yè)班級(jí):姓名：學(xué)號(hào)：0909082203指導(dǎo)老師：劉建成目錄基本原理數(shù)據(jù)存儲(chǔ)空間（匯編源程序）、頭文件和變量聲明（C源程序）分析算法分析與流程圖總結(jié)基本原理每個(gè)240X器件都包含兩個(gè)事件管理模塊EVA和EVB,每個(gè)時(shí)間管理器模塊包括通用定時(shí)器、比較單元、捕獲單元，以及正交編碼脈沖電路。直流電機(jī)控制：直流電動(dòng)機(jī)是最早出現(xiàn)的電動(dòng)機(jī)，也是最早能實(shí)現(xiàn)調(diào)速的電動(dòng)機(jī)。近年來，直流電動(dòng)機(jī)的結(jié)構(gòu)和控制方法都發(fā)生了很大的變化。隨著計(jì)算機(jī)進(jìn)入控制領(lǐng)域，以及新型的電力電子功率元器件的不斷出現(xiàn)，使采用全控型的開關(guān)功率元件進(jìn)行脈寬調(diào)制（PWM）控制方式已成為絕對(duì)主流。PWM調(diào)壓調(diào)速原理：直流電動(dòng)機(jī)轉(zhuǎn)速n的表達(dá)式為：n=土竺K^其中，U為電樞端電壓；I為電樞電流；R為電樞電路總電阻；4為每級(jí)磁通量；K為電動(dòng)機(jī)結(jié)構(gòu)參數(shù)。所以直流電機(jī)的轉(zhuǎn)速控制方法可分為兩類：對(duì)勵(lì)磁通進(jìn)行控制的勵(lì)磁控制法和對(duì)電樞電壓進(jìn)行控制的電樞控制法。其中勵(lì)磁控制法在低速時(shí)受磁極飽和的限制，在高速時(shí)受換向火花和換向器結(jié)構(gòu)強(qiáng)度的限制，并且勵(lì)磁線圈電感較大，動(dòng)態(tài)響應(yīng)較差，所以這種控制方法用得很少?，F(xiàn)在，大多數(shù)應(yīng)用場(chǎng)合都使用電樞控制法。絕大多數(shù)電流電機(jī)采用開關(guān)驅(qū)動(dòng)方法。開關(guān)驅(qū)動(dòng)方式是使半導(dǎo)體功率器件工作在開關(guān)狀態(tài)，通過脈寬調(diào)制PWM來控制電動(dòng)機(jī)電樞電壓，實(shí)現(xiàn)調(diào)速。具體

數(shù)據(jù)存儲(chǔ)空間（匯編源程序）、頭文件和變量聲明（C源程序）分析在此程序中定義了如下變量（C源程序）/*global.c*/externunsignedintSCSR1pSCSRS^INUCR^lNTaCR;externunsignedintNDCR,淌KEY;externunsignedintINRJFR^IUR^GR;externunsignedintMCRn.MCRB.MCRC^fiDATDlR^BDATDIRpPCDftTDIR.PEDfiTDlR^FDATDIR；externunsignedintA優(yōu)TRL15DCTRL2J牌MHU,CH§ELSEQ1,CH§ELSEQ幻CHSEL3EQ3,CHSEL$E腳；externunsignedintAUTOJEqjH,旺罰L頂RE罰LT1,RE$ULT2,RE罰LT&,RE$ULT9;externunsignedintCANIhJaNTCR.CANRCR.CANIIC^CANBCHS.CANBCRI,CAHE^,CANGSR;externunsignedint甜NCEC,CANIFR,C麗[I1R,甜HLA旭H,CANLAI1OL;externunsignedint呼NIDOHJ州IDOL,削HCTRLO,CANBMA』MEXOB,CMEX0LCANB^[);externunsignpdintCfiNIDIH.CnNIDlL.CANCTRLI.CftNBNIRpCflNB^IB^ANBKIC^fiNBNID；externunsignedintCfiNID2HICfiNID2LFCflHCTRL2ICftNBM2fiFCflHB^0?CftNBK2C]CfiNBH2D;externunsignedintCfiNID3H,C0NID3LpCfiHCTFL3,CfiNBN3fipCflHBX3HjCftNBXaCjCfiNBNSD;externunsignedintCfiNID明，C麗I叫L,朋HCTHL4,朋NBN岫，朋HBX4B,明陽X4C,CfiNB兇D;externunsignedint咔NID5H』州ID5L,CAHCTRL?C州B仍KCAHBX撲淵陽粕C/NBTD;externunsignedintSC[CCR,SC]CTL1JSC[HBAlO,SC]LBflUD,SCICTL2,￡C]R?；ST]SC[RXEtlUJSCIHKBUFpSCIHBUF5SC[PRIexternunsignedintGPTCDNfi.TICHTJIPRJICOH.T^CHL^PHJ^COH.EUAIMRfipEUAlMRa^UfilFRft.EUfllFRB;externunsignedintGPTCDNEJSCHTJSCMPRJ3PRJSCOH^CMCDN^ACTRA^BTCCNA^HPRIfEUB1IIRA?EUBIFRA;在此程序中定義如下數(shù)據(jù)空間（匯編程序）:.includeLf2407a-hp"?include"F2^07RECS.H".global.global.globalaglubal.ylobdl.ylobdl.global.global.globalaglubal.ylubeil.ylobal.global.global.global?globalaylubal.ylobalBglobal.globalc_intuP_c_intlIMRa_JFR一SCSR1a_￡CSR2T_XIMT1EHP_^[HT2CRWDCmRp.WDIKEVjJMR他的aJTCRB._MCRCB_P汕0TDJ：R._P日知TDIR，_PKDfiTDIR,_PEMiTPIRV_PF知TOIRfiDCTBLIB_ftDCTRL2.JIIRlXCOHy,_CHSELSEQ1B_CHSELSEQ2B_CHSELSEQSs_C[H$EL￡E0hAUTO_SEU__SR?_RESULTi,_RESULT1rJRESULT?,_flESULT?—RESULT9CAHCEC,EaNIFFI,CftHLAMilurCAK^MOlL,—CAhlIOOL._CAHID0H,_CANCTRL0甲_CfiHB^0Ap_CftHEX0Bs_CftHBK0C,_CfiNBKOD0.global.global.globalaglubal.ylobdl.ylobdl.global.global.globalaglubal.ylubeil.ylobal.global.global.global?globalaylubal.ylobalBglobal.globalCAHCEC,EaNIFFI,CftHLAMilurCAK^MOlL,—CAhlIOOL._CAHID0H,_CANCTRL0甲_CfiHB^0Ap_CftHEX0Bs_CftHBK0C,_CfiNBKOD0ANI01Lb_CAIHID1Ha_C^iHCTRL1.Bb_CAHEH1Bs_CfiHBK1C.CfiNBSWCnNI02LB_CfiilHID2Ha_C^lHCTRL2.._CfiimK2Bs_CfthBK2C.CAM1O^LP?CftHID3H.JGRHGTRL3,P_CftHBN30aJGBWK3G,cnisrBMUCAHIirmL,CRNIDUHaJC11HI；TRLH,?_CftHHXm.05jCflHHKlBC,CRH105L,「。的ID5HaJC^MCTRL5,CAMBK5AP2cftHBN5BaJEAHBX5C,cnmsDSCICirap-SCICTLI^iC]!H麗師f_SClLbRUDiPZSCICTL2SZ^CIRKSTpSC1OEMUP_SCIRKBUF?_SCITXBUF，—托1PRIGPTCDMft,?T1CHT1PRg?T1CON,_T直:H"_T2PR._T2CDMEUfilllRft^EUfiilMRB^EUniFRfii^EUfilFRBp^PiyRGPTCOimP?T3CIHT^lioriPR?_T3Fr?_TSGOHp_COMCOMfi^fiGTRfi^DBTCOHfiia_CWR1P_EUBIFRfiWSGIR由于在程序中要用到中斷，故在匯編程序中定義了中斷向量地址表:;建立中斷向量表".vectors".sectRSUECTBcintoIHT1BPHANT0I1IHT2Bcint2INT3BPHANTOMINT4BPHANTOMINT5BPHANTOMINT6BPHANTOM中斷子向量入口定義-textPHANTOM;KICKDOGRET_end具體變量和塊在存儲(chǔ)器中的地址為：******************************************************************************TMS320C24xxCOFFLinkerVersion7.02******************************************************************************OUTPUTFILENAME:<ex.out>ENTRYPOINTSYMBOL:"_c_int0"address:00008904SECTIONALLOCATIONMAPoutputattributes/sectionpageoriginlengthinputsections.vectors0000080000000000e000080000000000eDefine.obj(.vectors).text000008860000001490000886000000006Define.obj(.text)0000886600000000global.obj(.text)000088660000009eMain.obj(.text)0000890400000027rts2xx.lib:boot.obj(.text)0000892b00000050:exit.obj(.text)0000897b0000002e:saverest.obj(.text).cinit0000089a900000010000089a900000009Main.obj(.cinit)000089b200000006rts2xx.lib:exit.obj(.cinit)000089b800000001--HOLE--[fill=0000].data1.data100000860000000000000086000000000Define.obj(.data)0000086000000000rts2xx.lib:saverest.obj(.data)0000086000000000:exit.obj(.data)0000086000000000:boot.obj(.data)0000086000000000Main.obj(.data)0000086000000000global.obj(.data)UNINITIALIZED

.bss10000088000000025UNINITIALIZED0000088000000022rts2xx.lib:exit.obj(.bss)000008a200000000:boot.obj(.bss)000008a200000000global.obj(.bss)000008a200000000rts2xx.lib:saverest.obj(.bss)000008a200000000Define.obj(.bss)000008a200000003Main.obj(.bss).const10000086000000000UNINITIALIZED.switch00000886000000000UNINITIALIZED.stack1000008a5000000a0UNINITIALIZED000008a500000000rts2xx.lib:boot.obj(.stack).system10000086000000000UNINITIALIZED算法分析與流程圖六、程序流程圖開始系統(tǒng)初始化設(shè)置引腳功能設(shè)置XPWMPWM初始化開中斷循環(huán)算法分析：/*Main.c*//*PWM電機(jī)控制程序，正反轉(zhuǎn)，默認(rèn)設(shè)置的工作頻率1kHz*/#include"global.c"voidSystemInit();voidPWM_Init();voidKickDog();intnumled0=200;unsignedintt0=0;unsignedintXPWM=0;main(){SystemInit();//系統(tǒng)初始化MCRA二MCRA&0xC0FF;//IOPB0-6設(shè)為IO口模式PBDATDIR=0xFFC2;//所有LED=0PBDATDIR=PBDATDIR|0x003D;//所有LED=1XPWM=2400;〃最大值2500/*whenxpwm=0?900,逆時(shí)針方向旋轉(zhuǎn),值越小，轉(zhuǎn)速越快whenxpwm=1600?2500,順時(shí)針方向旋轉(zhuǎn)，值越大,轉(zhuǎn)速越快whenxpwm=900?1600,電機(jī)兩端電壓太低,基本上不足以起轉(zhuǎn)*/PWM_Init();//定時(shí)器初始化asm(=CLRCINTM7wh=e(svoidsysiemlnsasm(=SETCINTM=)7*KsJa-B-Bf<asm(=CLRCCNF7_*BO繭浴3苛OnlczpDARAM*、asm(=CLRCOVM_*SCSR1H0X83FE_*測(cè)瀚3事CLKOUTH20*2H40M*、_*苫斗ADCmVAEVBnANasSICLKOUTH40M*、WDCRH0X006EKkkDogo;ifrhoxfffeIMRH0X0002;_*瓣斤郵口茴、郵口密靠-H-64i<_*咨?K郵口茴*_、*?編-#罪*卅<、*苫斗-#罪2<voidPWM_Init(){MCRA二MCRA|0X00C0;//PA6-PA7為PWM口EVAIFRA=0xFFFF;//清除中斷標(biāo)志ACTRA=0x0006;//PWM1,2低有效DBTCONA=0x0530;〃使能死區(qū)定時(shí)器1,分頻40M/16=2.5M,EVAIFRA=0xFFFF;//清除中斷標(biāo)志ACTRA=0x0006;//PWM1,2低有效DBTCONA=0x0530;〃使能死區(qū)定時(shí)器1,分頻40M/16=2.5M,死區(qū)時(shí)間5*0.4us=2usT1PR=2500;//定時(shí)器1周期值