第6章空间矢量脉宽调制技术例1、CLARK变换的DSP实现图CLARK变换实现波形图/*---------------------------------------------------------------------------------------------------------------------------------------- CLARKE变换相关变量定义----------------------------------------------------------------------------------------------------------------------------------------*/ typedef struct { float32 As; // 输入：A相定子电流float32 Bs; // 输入：B相定子电流float32 Alpha; // 输出：静止坐标系d轴定子电流float32 Beta; // 输出：静止坐标系q轴定子电流void (*calc)(); // 计算函数指针} CLARKE;typedef CLARKE *CLARKE_handle;/*---------------------------------------------------------------------------------------------------------------------------------------- 定义CLARKE变换初始化参数----------------------------------------------------------------------------------------------------------------------------------------*/ #define CLARKE_DEFAULTS { 0, \0, \0, \0, \(void (*)(Uint32))clarke_calc }/*---------------------------------------------------------------------------------------------------------------------------------------- CLARKE变换函数原型CLARKE.C----------------------------------------------------------------------------------------------------------------------------------------*/ void clarke_calc(CLARKE_handle);#include "dmctype.h"#include "clarke.h"void clarke_calc(CLARKE *v){v->Alpha = v->As;v->Beta = (v->As + 2*v->Bs)*0.57735026918963; // 1/sqrt(3) = 0.57735026918963}例2、PARK变换的DSP实现图PARK变换DSP实现坐标映射/*---------------------------------------------------------------------------------------------------------------------------------------- PARK变换相关变量定义----------------------------------------------------------------------------------------------------------------------------------------*/ typedef struct { float32 Alpha; // 输入：静止坐标系d轴定子变量loat32 Beta; // 输入：静止坐标系q轴定子变量float32 Angle; // 输入：转子角度（弧度）float32 Ds; // 输出：旋转d轴定子变量（M轴）float32 Qs; // 输出：旋转q轴定子变量（T轴）void (*calc)(); // 函数指针} PARK;typedef PARK *PARK_handle;/*---------------------------------------------------------------------------------------------------------------------------------------- PARK变换变量初始化参数----------------------------------------------------------------------------------------------------------------------------------------*/ #define PARK_DEFAULTS { 0, \0, \0, \0, \0, \(void (*)(Uint32))park_calc }/*---------------------------------------------------------------------------------------------------------------------------------------- PARK函数原型----------------------------------------------------------------------------------------------------------------------------------------*/ void park_calc(PARK_handle);#include "dmctype.h"#include "park.h"extern float32 sin_tab[];void park_calc(PARK *v){float32 Cosine,Sine;// 采用查表法// (PI/2)/(2*PI) = 0.25// ((PI/2)/(2*PI))*256 = 0.25*256 = 64// ((PI/2)-2*PI)/(2*PI) = -0.75// (((PI/2)-2*PI)/(2*PI))*256 = -0.75*256 = -192// 查表发求解正弦if (v->Angle+0.25 > 1.0){Sine = sin_tab[(int16)(v->Angle*256)];Cosine = sin_tab[(int16)(v->Angle*256) - 192];}else{Sine = sin_tab[(int16)(v->Angle*256)];Cosine = sin_tab[(int16)(v->Angle*256) + 64];}v->Ds = v->Alpha*Cosine + v->Beta*Sine;v->Qs = v->Beta*Cosine - v->Alpha*Sine;}图6.7 PARK变换坐标映射图/*---------------------------------------------------------------------------------------------------------------------------------------- PARK逆变换参数定义----------------------------------------------------------------------------------------------------------------------------------------*/ typedef struct { float ds; /* 输出：定子参考坐标系d-轴变量*/float qs; /* 输出：定子参考坐标系q-轴变量*/float ang; /* 输入：转子转动角度(rad) */float de; /* 输入：旋转d-轴定子变量*/float qe; /* 输入：旋转q-轴定子变量*/void (*calc)(); /* 计算函数指针*/} IPARK;typedef IPARK *IPARK_handle;/*---------------------------------------------------------------------------------------------------------------------------------------- Default initalizer for the IPARK object.----------------------------------------------------------------------------------------------------------------------------------------*/ #define IPARK_DEFAULTS { 0, \0, \0, \0, \0, \(void (*)(long))ipark_calc }/*---------------------------------------------------------------------------------------------------------------------------------------- 逆变换函数IPARK.C----------------------------------------------------------------------------------------------------------------------------------------*/ void ipark_calc(IPARK_handle);/*----------------------------------------------------------------------------------------------------------------------------------------文件名称：: IPARK.C----------------------------------------------------------------------------------------------------------------------------------------*/ #include "ipark.h"extern float sin_tab[];void ipark_calc(IPARK *v){float cos_ang,sin_ang;/*采用查表法计算正弦角度*//* (PI/2)/(2*PI) = 0.25 *//* ((PI/2)/(2*PI))*256 = 0.25*256 = 64 *//* ((PI/2)-2*PI)/(2*PI) = -0.75 *//* (((PI/2)-2*PI)/(2*PI))*256 = -0.75*256 = -192 */if (v->ang+0.25 > 1){sin_ang = sin_tab[(int)(v->ang*256)];cos_ang = sin_tab[(int)(v->ang*256) - 192];}else{sin_ang = sin_tab[(int)(v->ang*256)];cos_ang = sin_tab[(int)(v->ang*256) + 64];}v->ds = v->de*cos_ang - v->qe*sin_ang;v->qs = v->qe*cos_ang + v->de*sin_ang;}例3、空间矢量的算法程序/*----------------------------------------------------------------------------------------------------------------------------------------空间矢量的产生: SVGEN_DQ.C (IQ version)----------------------------------------------------------------------------------------------------------------------------------------*/ #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 "svgen_dq.h"void svgendq_calc(SVGENDQ *v){_iq Va,Vb,Vc,t1,t2;Uint32 Sector = 0; // Sector is treated as Q0 - independently with global Q// CLARKE 逆变换 Va = v->Ubeta;Vb = _IQmpy(_IQ(-0.5),v->Ubeta) + _IQmpy(_IQ(0.8660254),v->Ualpha); Vc = _IQmpy(_IQ(-0.5),v->Ubeta) - _IQmpy(_IQ(0.8660254),v->Ualpha);// 0.8660254 = sqrt(3)/2// 60o 扇区确定 if (Va>_IQ(0)) Sector = 1; if (Vb>_IQ(0)) Sector = Sector + 2; if (Vc>_IQ(0)) Sector = Sector + 4;// X,Y,Z (Va,Vb,Vc) 计算Va = v->Ubeta; // X = Va Vb = _IQmpy(_IQ(0.5),v->Ubeta) + _IQmpy(_IQ(0.8660254),v->Ualpha); // Y = Vb Vc = _IQmpy(_IQ(0.5),v->Ubeta) - _IQmpy(_IQ(0.8660254),v->Ualpha); // Z = Vcif (Sector==0) // Sector 0: 当(αU ，βU ) = (0,0) {v->Ta = _IQ(0.5); v->Tb = _IQ(0.5); v->Tc = _IQ(0.5); }if (Sector==1) // Sector 1: t1=Z 和 t2=Y (abc ---> Tb,Ta,Tc) {t1 = Vc;v->Tb = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); // tbon = (1-t1-t2)/2v->Ta = v->Tb+t1; // taon = tbon+t1v->Tc = v->Ta+t2; // tcon = taon+t2 }else if (Sector==2) // Sector 2: t1=Y和t2=-X (abc ---> Ta,Tc,Tb) {t1 = Vb;t2 = -Va;v->Ta = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); // taon = (1-t1-t2)/2v->Tc = v->Ta+t1; // tcon = taon+t1v->Tb = v->Tc+t2; // tbon = tcon+t2 }else if (Sector==3) // Sector 3: t1=-Z和t2=X (abc ---> Ta,Tb,Tc) {t1 = -Vc;t2 = Va;v->Ta = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); // taon = (1-t1-t2)/2v->Tb = v->Ta+t1; // tbon = taon+t1v->Tc = v->Tb+t2; // tcon = tbon+t2 }else if (Sector==4) // Sector 4: t1=-X和t2=Z (abc ---> Tc,Tb,Ta) {t1 = -Va;t2 = Vc;v->Tc = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); // tcon = (1-t1-t2)/2v->Tb = v->Tc+t1; // tbon = tcon+t1v->Ta = v->Tb+t2; // taon = tbon+t2 }else if (Sector==5) // Sector 5: t1=X和t2=-Y (abc ---> Tb,Tc,Ta) {t1 = Va;v->Tb = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); // tbon = (1-t1-t2)/2v->Tc = v->Tb+t1; // tcon = tbon+t1v->Ta = v->Tc+t2; // taon = tcon+t2 }else if (Sector==6) // Sector 6: t1=-Y和t2=-Z (abc ---> Tc,Ta,Tb){t1 = -Vb;t2 = -Vc;v->Tc = _IQmpy(_IQ(0.5),(_IQ(1)-t1-t2)); // tcon = (1-t1-t2)/2v->Ta = v->Tc+t1; // taon = tcon+t1v->Tb = v->Ta+t2; // tbon = taon+t2 }// Convert the unsigned GLOBAL_Q format (ranged (0,1))// -> signed GLOBAL_Q format (ranged (-1,1))v->Ta = _IQmpy(_IQ(2.0),(v->Ta-_IQ(0.5)));v->Tb = _IQmpy(_IQ(2.0),(v->Tb-_IQ(0.5)));v->Tc = _IQmpy(_IQ(2.0),(v->Tc-_IQ(0.5)));}。