手写最简单的simplefoc的svpwm算法（便于理解）
作者：互联网
此帖子用于记录学习过程中写的程序（半成品）。
1.arduino代码：
test.ino
// (010)U2 II U6(110)
// *********
// III * * * * I
// * * * *
// (011)U3 *************** U4(100)
// * * * *
// IV * * * * VI
// *********
// (001)U1 V U5(101)
//author:liuzhitong
//mail:953598974@qq.com
#include "svpwm.h"
#include <SimpleFOC.h>
#define sl 500
#define pi 3.1415926
#define f 30
Motor motor1;
MagneticSensorI2C sensor = MagneticSensorI2C(AS5600_I2C);
TwoWire I2Cone = TwoWire(0);
long t;
void setup() {
Serial.begin(115200);
motor1.init();
I2Cone.begin(18, 5, 400000);
sensor.init(&I2Cone);
t=millis();
}
void loop() {
//if((motor1.angle_c!=motor1.angle_go)&&((millis()-motor1.old_time)>1))
if((millis()-motor1.old_time)>25)
{
motor1.calculate();
}
if((millis()-t)>200)
{
sensor.update();
Serial.println(sensor.getVelocity());
t=millis();
}
motor1.svpwm();
}svpwm.cpp
#define sqrt_3 1.7320
#define pi 3.1415926
#define T 200
#define enable_pinA 33
#define enable_pinB 32
#define enable_pinC 23
#define piA 25
#define piB 19
#define piC 22
class Motor{
public:
double angle_c=0.0;//默认开头是0度,电机角度在U4处
double velocity_m=10.0;
long angle_go=41400;//目标角度
int T0=0,T1=0,T2=0,T7=0;
int sector;//sector为扇区
float U_dc=12.0,U_ref=6.0;
float oumiga=pi;
int cal_flag=1;//计算扇区和T0,T1,T2,T7的标志位，需要计算时为1，不需要计算时为0
long old_time=0;//用于判断速度
void init();
void calculate();
void svpwm();
};
//计算标志位的函数
void Motor::init()
{
pinMode(22,OUTPUT);
digitalWrite(22,HIGH);
pinMode(32,OUTPUT);
pinMode(33,OUTPUT);
pinMode(25,OUTPUT);
//默认开启的时候在第一区间
digitalWrite(32,1);
digitalWrite(33,0);
digitalWrite(25,0);
delay(1000);
old_time=millis();
}
//T=1ms=1us;
//计算标志位的函数
void Motor::calculate()
{
int angleInSector=int(angle_c)%60;
sector=(int(angle_c)%360)/60+1;
T1=sqrt_3*U_ref/U_dc*T*sin(pi*(60-angleInSector)/180);
T2=sqrt_3*U_ref/U_dc*T*sin(pi*angleInSector/180);
T0=(T-T1-T2)/2;
T7=T0;
// if(angle_c<angle_go)
// {
velocity_m=396.0*oumiga/(10.0*pi);
angle_c=angle_c+2.5*velocity_m;
// }
old_time=millis();
// Serial.println("-");
// Serial.println(angle_c);
// Serial.println(sector);
// Serial.println(T0);
// Serial.println(T1);
// Serial.println(T2);
// Serial.println(T7);
}
void Motor::svpwm()
{
switch(sector)
{
case 1:
{
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T0/2);
digitalWrite(32,1);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T1/2);
digitalWrite(32,1);
digitalWrite(33,1);
digitalWrite(25,0);
delayMicroseconds(T2/2);
digitalWrite(32,1);
digitalWrite(33,1);
digitalWrite(25,1);
delayMicroseconds(T7);
digitalWrite(32,1);
digitalWrite(33,1);
digitalWrite(25,0);
delayMicroseconds(T2/2);
digitalWrite(32,1);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T1/2);
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T0/2);
break;
}
case 2:
{
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T0/2);
digitalWrite(32,1);
digitalWrite(33,1);
digitalWrite(25,0);
delayMicroseconds(T1/2);
digitalWrite(32,0);
digitalWrite(33,1);
digitalWrite(25,0);
delayMicroseconds(T2/2);
digitalWrite(32,1);
digitalWrite(33,1);
digitalWrite(25,1);
delayMicroseconds(T7);
digitalWrite(32,0);
digitalWrite(33,1);
digitalWrite(25,0);
delayMicroseconds(T2/2);
digitalWrite(32,1);
digitalWrite(33,1);
digitalWrite(25,0);
delayMicroseconds(T1/2);
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T0/2);
break;
}
case 3:
{
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T0/2);
digitalWrite(32,0);
digitalWrite(33,1);
digitalWrite(25,0);
delayMicroseconds(T1/2);
digitalWrite(32,0);
digitalWrite(33,1);
digitalWrite(25,1);
delayMicroseconds(T2/2);
digitalWrite(32,1);
digitalWrite(33,1);
digitalWrite(25,1);
delayMicroseconds(T7);
digitalWrite(32,0);
digitalWrite(33,1);
digitalWrite(25,1);
delayMicroseconds(T2/2);
digitalWrite(32,0);
digitalWrite(33,1);
digitalWrite(25,0);
delayMicroseconds(T1/2);
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T0/2);
break;
}
case 4:
{
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T0/2);
digitalWrite(32,0);
digitalWrite(33,1);
digitalWrite(25,1);
delayMicroseconds(T1/2);
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,1);
delayMicroseconds(T2/2);
digitalWrite(32,1);
digitalWrite(33,1);
digitalWrite(25,1);
delayMicroseconds(T7);
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,1);
delayMicroseconds(T2/2);
digitalWrite(32,0);
digitalWrite(33,1);
digitalWrite(25,1);
delayMicroseconds(T1/2);
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T0/2);
break;
}
case 5:
{
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T0/2);
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,1);
delayMicroseconds(T1/2);
digitalWrite(32,1);
digitalWrite(33,0);
digitalWrite(25,1);
delayMicroseconds(T2/2);
digitalWrite(32,1);
digitalWrite(33,1);
digitalWrite(25,1);
delayMicroseconds(T7);
digitalWrite(32,1);
digitalWrite(33,0);
digitalWrite(25,1);
delayMicroseconds(T2/2);
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,1);
delayMicroseconds(T1/2);
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T0/2);
break;
}
case 6:
{
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T0/2);
digitalWrite(32,1);
digitalWrite(33,0);
digitalWrite(25,1);
delayMicroseconds(T1/2);
digitalWrite(32,1);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T2/2);
digitalWrite(32,1);
digitalWrite(33,1);
digitalWrite(25,1);
delayMicroseconds(T7);
digitalWrite(32,1);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T2/2);
digitalWrite(32,1);
digitalWrite(33,0);
digitalWrite(25,1);
delayMicroseconds(T1/2);
digitalWrite(32,0);
digitalWrite(33,0);
digitalWrite(25,0);
delayMicroseconds(T0/2);
break;
}
}
}2.改进一下
我们上面直接用delay生成的pwm波，这样精确性很差，这里我们使用esp32的mcpwm控制器来产生pwm波。
标签：angle,svpwm,void,simplefoc,millis,motor1,int,手写,define 来源： https://blog.csdn.net/qqliuzhitong/article/details/121865712