使用STM32 FOC 5.2的电机库,硬件做电流采样时使用的是反向放大,但是电机库中使用的是同向放大,ST的配置上位机中的电流采样参考如下图:
可是我们的电流采样电路如下:
所以要修改ST的FOC电机库源码,路径是:../MCSDK_v5.2.0-Full/MotorControl/MCSDK/MCLib/F1xx/Src/r3_hd2_pwm_curr_fdbk.c
对应函数改动如下:
void R3HD2_GetPhaseCurrents( PWMC_Handle_t * pHdl, Curr_Components* pStator_Currents )
{
uint8_t bSector;
int32_t wAux;
PWMC_R3_HD2_Handle_t * pHandle = (PWMC_R3_HD2_Handle_t *) pHdl;
/* Deactivate TIMx CH4 to disable next triggers using bit-banding access */
*(uint32_t*) (pHandle->wTIMxCH4_BB_Addr) = 0u;
/* Reset the SOFOC flag to indicate the start of FOC algorithm*/
pHandle->bSoFOC = 0u;
bSector = (uint8_t) pHdl->hSector;
switch ( bSector )
{
case SECTOR_4:
case SECTOR_5:
/* Current on Phase C is not accessible */
/* Ia = PhaseAOffset - ADC converted value) */
wAux = (int32_t)( ADC1->JDR1 );
wAux *= 2;
wAux = wAux - (int32_t)( pHandle->wPhaseAOffset ) ;
/* Saturation of Ia */
if ( wAux < -INT16_MAX )
{
pStator_Currents->qI_Component1 = -INT16_MAX;
}
else if ( wAux > INT16_MAX )
{
pStator_Currents->qI_Component1 = INT16_MAX;
}
else
{
pStator_Currents->qI_Component1 = (int16_t) wAux;
}
/* Ib = PhaseBOffset - ADC converted value) */
wAux = (int32_t)( pHandle->pParams_str->ADCx2->JDR1 );
wAux *= 2;
wAux = wAux - (int32_t)( pHandle->wPhaseBOffset ) ;
/* Saturation of Ib */
if ( wAux < -INT16_MAX )
{
pStator_Currents->qI_Component2 = -INT16_MAX;
}
else if ( wAux > INT16_MAX )
{
pStator_Currents->qI_Component2 = INT16_MAX;
}
else
{
pStator_Currents->qI_Component2 = (int16_t) wAux;
}
break;
case SECTOR_6:
case SECTOR_1:
/* Current on Phase A is not accessible */
/* Ib = PhaseBOffset - ADC converted value) */
wAux = (int32_t)( ADC1->JDR1 );
wAux *= 2;
wAux = wAux - (int32_t)( pHandle->wPhaseBOffset ) ; //Ib
/* Saturation of Ib */
if ( wAux < -INT16_MAX )
{
pStator_Currents->qI_Component2 = -INT16_MAX;
}
else if ( wAux > INT16_MAX )
{
pStator_Currents->qI_Component2 = INT16_MAX;
}
else
{
pStator_Currents->qI_Component2 = (int16_t) wAux;
}
/* Ia = -Ic -Ib */
wAux = (int32_t)( pHandle->pParams_str->ADCx2->JDR1 );
wAux *= 2;
wAux = (int32_t) pHandle->wPhaseCOffset - wAux; //Ic
wAux -= (int32_t) pStator_Currents->qI_Component2; //-Ic-Ib wAux = -wAux-pStator_Currents->qI_Component2
/* Saturation of Ia */
if ( wAux > INT16_MAX )
{
pStator_Currents->qI_Component1 = INT16_MAX;
}
else if ( wAux < -INT16_MAX )
{
pStator_Currents->qI_Component1 = -INT16_MAX;
}
else
{
pStator_Currents->qI_Component1 = (int16_t) wAux;
}
break;
case SECTOR_2:
case SECTOR_3:
/* Current on Phase B is not accessible */
/* Ia = PhaseAOffset - ADC converted value) */
wAux = (int32_t)( ADC1->JDR1 );
wAux *= 2;
wAux = wAux - (int32_t)( pHandle->wPhaseAOffset ) ;
/* Saturation of Ia */
if ( wAux < -INT16_MAX )
{
pStator_Currents->qI_Component1 = -INT16_MAX;
}
else if ( wAux > INT16_MAX )
{
pStator_Currents->qI_Component1 = INT16_MAX;
}
else
{
pStator_Currents->qI_Component1 = (int16_t) wAux;
}
/* Ib = -Ic -Ia */
wAux = (int32_t)( pHandle->pParams_str->ADCx2->JDR1 );
wAux *= 2;
wAux = (int32_t) pHandle->wPhaseCOffset - wAux;
wAux -= (int32_t) pStator_Currents->qI_Component1;
/* Saturation of Ib */
if ( wAux > INT16_MAX )
{
pStator_Currents->qI_Component2 = INT16_MAX;
}
else if ( wAux < -INT16_MAX )
{
pStator_Currents->qI_Component2 = -INT16_MAX;
}
else
{
pStator_Currents->qI_Component2 = (int16_t) wAux;
}
break;
default:
break;
}
pHandle->_Super.hIa = pStator_Currents->qI_Component1;
pHandle->_Super.hIb = pStator_Currents->qI_Component2;
pHandle->_Super.hIc = -pStator_Currents->qI_Component1 - pStator_Currents->qI_Component2;
}