3.5正弦波永磁同步电动机驱动控制程序//###########################################################################//采用矢量控制算法控制永磁同步电机//TMS320F2812//###########################################################################//=====================================================================//头文件调用//=====================================================================#include"DSP281x_Device.h"//=====================================================================//常量附值//=====================================================================#defineDelta5#definePI3.1415926#defineKpspeed0.7//0.9//转速环PI调节器低速时参数要大一些#defineKispeed0.7//0.6//0.60.6150转时#defineKpd0.1//0.07#defineKid0.1//0.1#defineKpq0.15//0.22//0.22//0.07#defineKiq0.1//0.04//0.04//0.1//=====================================================================//全局变量//=====================================================================unsignedintindex1;//index1为转子位置角用于PARKPARKN变换unsignedintindex2;unsignedinttesttime;//index2为转子位置角加或减2分之PIintcharge=0;//自举充电时间控制位unsignedlongrd=0;//转子定位时间控制位intL2=0;//T2计数器当前计数值intL1=0;//T2计数器上一次计数值intL;//计数器两次差值用于M法转速计算intlin=0;unsignedintcapcount=0;unsignedintcap[50];//通过SCI口发信息unsignedintscienable=0;unsignedintcanchannel=0;//发送选项控制unsignedlonga=0,b=0;unsignedintspeedsci=0;unsignedintspeedsd=0;unsignedintspeedthousand=3;//转速千位unsignedintspeedhundred=3;//转速百位unsignedintspeeddecade=1;//转速十位unsignedintspeedlow=0;unsignedintUdc=3500;//转速个位unsignedintUdcthousand=0;//电压千位unsignedintUdchundred=0;//电压百位unsignedintUdcdecade=4;//电压十位unsignedintUdclow=8;//电压个位unsignedintIdc=0;unsignedintIdcthousand=0;//电流千位unsignedintIdchundred=0;//电流百位unsignedintIdcdecade=6;//电流十位unsignedintIdclow=0;//电流个位unsignedintscicount=0;//向上位机发送数据周期控制unsignedlongsetspeed=2500;//上位机设定的速度unsignedintscisend[6];charReceivedChar=0;charscired[6];intp=0,q=0,sciflag=0,tenable=0;inti,j,t;//AD数字滤波unsignedintonce=0;longIa_now;longIa_fore;longIb_now;longIb_fore;longIc_now;unsignedi