永磁同步电机foc控制转速及电流环C代码

以下是一个简单的永磁同步电机FOC控制的转速和电流环的C代码：

#include <stdio.h>
#include <stdlib.h>
#include <math.h>

#define PI 3.14159265358979

// 定义结构体存储电机参数
typedef struct {
    double Rs;          // 马达定子电阻
    double Ld;          // 马达定子d轴电感
    double Lq;          // 马达定子q轴电感
    double J;           // 马达转动惯量
    double P;           // 马达极数
    double Ke;          // 电动势常数
    double Kt;          // 转矩常数
    double Tm;          // 额定负载转矩
    double rated_speed; // 额定转速
} MotorParam;

// 定义结构体存储FOC控制器参数
typedef struct {
    double Ts;          // 采样时间
    double Kp;          // 比例系数
    double Ki;          // 积分系数
    double Kc;          // 当前环PID控制器比例系数
    double Kd;          // 当前环PID控制器微分系数
    double speed_ref;   // 目标转速
    double current_ref; // 目标电流
    double Id;          // 直轴电流
    double Iq;          // 交轴电流
    double Ia;          // A相电流
    double Ib;          // B相电流
    double Ic;          // C相电流
    double Va;          // A相电压
    double Vb;          // B相电压
    double Vc;          // C相电压
    double speed;       // 实际转速
    double theta_e;     // 电角度
    double theta_m;     // 机械角度
    double theta_m_old; // 上一次的机械角度
    double error_speed; // 转速误差
    double error_current;// 电流误差
    double integral_speed;// 转速积分
    double integral_current;// 电流积分
    double u_d;         // 直轴电压
    double u_q;         // 交轴电压
    double u_alpha;     // α轴电压
    double u_beta;      // β轴电压
} FOCParam;

// 计算矢量旋转
void SVPWM(double u_alpha, double u_beta, double theta_e, double* t1, double* t2, double* t0) {
    double ta, tb, tc;
    double ua, ub, uc;
    double cos_theta = cos(theta_e);
    double sin_theta = sin(theta_e);
    ua = u_alpha * cos_theta + u_beta * sin_theta;
    ub = -u_alpha * sin_theta + u_beta * cos_theta;
    uc = -ua - ub;
    ta = (1.0 / sqrt(3)) * (ua - 0.5 * ub - 0.5 * uc);
    tb = (1.0 / sqrt(3)) * (ub - 0.5 * ua - 0.5 * uc);
    tc = (1.0 / sqrt(3)) * (uc - 0.5 * ua - 0.5 * ub);
    *t1 = 0.5 * (1.0 - ta - tb);
    *t2 = 0.5 * (1.0 - tb - tc);
    *t0 = 0.5 * (1.0 - tc - ta);
}

// FOC控制器
void FOCControl(MotorParam* motor, FOCParam* foc) {
    double omega_r;  // 转子电角速度
    double T_r;      // 电磁转矩
    double T_e;      // 机械转矩
    double theta_r;  // 转子电角度
    double theta_m;  // 机械角度
    double dIq;      // 交轴电流变化量
    double dId;      // 直轴电流变化量
    double u_alpha, u_beta;
    double t1, t2, t0;
    double u_d_old, u_q_old;
    double Ta, Tb, Tc;

    // 计算转矩
    omega_r = foc->speed / motor->P;
    T_r = motor->Ke * (foc->Iq * sin(foc->theta_e) - foc->Id * cos(foc->theta_e));
    T_e = T_r - motor->Tm;
    dIq = foc->Ki * foc->Ts * (foc->current_ref - foc->Iq);
    dId = foc->Ki * foc->Ts * (0.0 - foc->Id);
    foc->Iq += dIq;
    foc->Id += dId;

    // 计算电角度和机械角度
    theta_r = foc->theta_e + motor->P * omega_r * foc->Ts;
    theta_m = theta_r / motor->P;
    foc->theta_m = fmod(theta_m, 2.0 * PI);
    if (foc->theta_m < 0.0) {
        foc->theta_m += 2.0 * PI;
    }

    // 转速控制
    foc->error_speed = foc->speed_ref - foc->speed;
    foc->integral_speed += foc->error_speed * foc->Ts;
    foc->u_q = foc->Kp * foc->error_speed + foc->Ki * foc->integral_speed;
    foc->u_q = fmax(fmin(foc->u_q, 10.0), -10.0);

    // 电流控制
    foc->error_current = foc->current_ref - foc->Iq;
    foc->integral_current += foc->error_current * foc->Ts;
    foc->u_d = foc->Kp * foc->error_current + foc->Ki * foc->integral_current;
    foc->u_d = fmax(fmin(foc->u_d, 10.0), -10.0);

    // 转换到直交坐标系
    u_alpha = foc->u_d * cos(foc->theta_e) - foc->u_q * sin(foc->theta_e);
    u_beta = foc->u_d * sin(foc->theta_e) + foc->u_q * cos(foc->theta_e);

    // 计算SVPWM波形
    SVPWM(u_alpha, u_beta, foc->theta_e, &t1, &t2, &t0);

    // 更新电压
    foc->u_alpha = u_alpha;
    foc->u_beta = u_beta;

    // 计算电流
    Ta = motor->Kt * (t1 - 0.5 * t2 - 0.5 * t0);
    Tb = motor->Kt * (t2 - 0.5 * t0 - 0.5 * t1);
    Tc = motor->Kt * (t0 - 0.5 * t1 - 0.5 * t2);
    foc->Ia = Ta / motor->Ke;
    foc->Ib = Tb / motor->Ke;
    foc->Ic = Tc / motor->Ke;

    // 计算电角度
    foc->theta_e += omega_r * foc->Ts;

    // 保存直轴电压
    u_d_old = foc->u_d;
    u_q_old = foc->u_q;

    // 计算直轴电压
    foc->u_d = foc->Kp * (foc->Id - (motor->Ld / motor->Rs) * foc->Ia) - foc->Kc * (foc->u_d - u_d_old) / foc->Ts;
    foc->u_d = fmax(fmin(foc->u_d, 10.0), -10.0);

    // 计算交轴电压
    foc->u_q = foc->Kp * (foc->Iq - (motor->Lq / motor->Rs) * foc->Ib) - foc->Kc * (foc->u_q - u_q_old) / foc->Ts;
    foc->u_q = fmax(fmin(foc->u_q, 10.0), -10.0);

    // 更新电流
    dIq = foc->Ki * foc->Ts * (foc->current_ref - foc->Iq);
    dId = foc->Ki * foc->Ts * (foc->u_d - foc->Id);
    foc->Iq += dIq;
    foc->Id += dId;
}

// 主函数
int main() {
    MotorParam motor;
    FOCParam foc;

    // 初始化电机参数
    motor.Rs = 1.0;
    motor.Ld = 0.01;
    motor.Lq = 0.02;
    motor.J = 0.1;
    motor.P = 4;
    motor.Ke = 0.1;
    motor.Kt = 0.1;
    motor.Tm = 0.0;
    motor.rated_speed = 2000.0;

    // 初始化FOC控制器参数
    foc.Ts = 0.0001;
    foc.Kp = 0.1;
    foc.Ki = 50.0;
    foc.Kc = 0.1;
    foc.Kd = 0.0;
    foc.speed_ref = 1000.0;
    foc.current_ref = 1.0;
    foc.Id = 0.0;
    foc.Iq = 0.0;
    foc.Ia = 0.0;
    foc.Ib = 0.0;
    foc.Ic = 0.0;
    foc.Va = 0.0;
    foc.Vb = 0.0;
    foc.Vc = 0.0;
    foc.speed = 0.0;
    foc.theta_e = 0.0;
    foc.theta_m = 0.0;
    foc.theta_m_old = 0.0;
    foc.error_speed = 0.0;
    foc.error_current = 0.0;
    foc.integral_speed = 0.0;
    foc.integral_current = 0.0;
    foc.u_d = 0.0;
    foc.u_q = 0.0;
    foc.u_alpha = 0.0;
    foc.u_beta = 0.0;

    // 模拟FOC控制
    for (int i = 0; i < 10000; i++) {
        FOCControl(&motor, &foc);
        foc.speed = motor.rated_speed * motor.P * (foc.theta_m - foc.theta_m_old) / (2.0 * PI * foc.Ts);
        foc.theta_m_old = foc.theta_m;
        printf("%lf,%lf,%lf,%lf\n", foc.speed, foc.current_ref, foc.Iq, foc.u_q);
    }

    return 0;
}

这段代码实现了一个简单的FOC控制器，包括转速和电流环控制。在`FOCControl`函数中，我们首先计算电机转矩和角度，然后进行转速和电流控制，最后计算SVPWM波形，更新电压和电流。在主函数中，我们模拟了10000个采样周期，每个周期的时长为0.0001秒，输出了转速、目标电流、实际电流和交轴电压。

需要注意的是，这段代码仅供参考，实际应用中需要根据具体电机和控制器的参数进行修改和优化。