STM32 FOC5.2电机库中中的电流采样改为反向放大

2019-04-13 21:39发布

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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：
在这里插入图片描述 可是我们的电流采样电路如下：
在这里插入图片描述 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; }

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