F28035 电机控制SPWM程序

以下是一个基于F28035的三相电机控制SPWM程序的示例：

#include "F2803x_Device.h"
#include "F2803x_Examples.h"

#define PWM_FREQ 20000
#define PWM_PERIOD (1.0 / PWM_FREQ)

#define PWM_TBCLK 150E6

#define MOTOR_POLES 4
#define MOTOR_RATED_SPEED 3000.0 // rpm

#define PWM_RESOLUTION 1000.0

float32 Vref = 0.0;
float32 Vdc = 24.0;

void InitEPwm1(void);
void InitEPwm2(void);
void InitEPwm3(void);

void main(void)
{
    DisableDog();

    InitSysCtrl();

    InitEPwm1();
    InitEPwm2();
    InitEPwm3();

    EINT;  // Enable Global interrupt INTM
    ERTM;  // Enable Global realtime interrupt DBGM

    while (1)
    {
        // TODO: Implement motor control algorithm here
    }
}

void InitEPwm1(void)
{
    EPwm1Regs.TBPRD = (Uint16)(PWM_TBCLK / PWM_FREQ);
    EPwm1Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
    EPwm1Regs.TBCTL.bit.PHSEN = TB_DISABLE;
    EPwm1Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO;
    EPwm1Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
    EPwm1Regs.TBCTL.bit.CLKDIV = TB_DIV1;
    EPwm1Regs.TBCTL.bit.FREE_SOFT = TB_STOP;

    EPwm1Regs.AQCTLA.bit.ZRO = AQ_SET;
    EPwm1Regs.AQCTLA.bit.CAU = AQ_CLEAR;

    EPwm1Regs.CMPA.half.CMPA = 0;

    EPwm1Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO;
    EPwm1Regs.ETSEL.bit.INTEN = 1;
    EPwm1Regs.ETPS.bit.INTPRD = ET_1ST;
}

void InitEPwm2(void)
{
    EPwm2Regs.TBPRD = (Uint16)(PWM_TBCLK / PWM_FREQ);
    EPwm2Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
    EPwm2Regs.TBCTL.bit.PHSEN = TB_DISABLE;
    EPwm2Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO;
    EPwm2Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
    EPwm2Regs.TBCTL.bit.CLKDIV = TB_DIV1;
    EPwm2Regs.TBCTL.bit.FREE_SOFT = TB_STOP;

    EPwm2Regs.AQCTLA.bit.ZRO = AQ_SET;
    EPwm2Regs.AQCTLA.bit.CAU = AQ_CLEAR;

    EPwm2Regs.CMPA.half.CMPA = 0;

    EPwm2Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO;
    EPwm2Regs.ETSEL.bit.INTEN = 1;
    EPwm2Regs.ETPS.bit.INTPRD = ET_1ST;
}

void InitEPwm3(void)
{
    EPwm3Regs.TBPRD = (Uint16)(PWM_TBCLK / PWM_FREQ);
    EPwm3Regs.TBCTL.bit.CTRMODE = TB_COUNT_UPDOWN;
    EPwm3Regs.TBCTL.bit.PHSEN = TB_DISABLE;
    EPwm3Regs.TBCTL.bit.SYNCOSEL = TB_CTR_ZERO;
    EPwm3Regs.TBCTL.bit.HSPCLKDIV = TB_DIV1;
    EPwm3Regs.TBCTL.bit.CLKDIV = TB_DIV1;
    EPwm3Regs.TBCTL.bit.FREE_SOFT = TB_STOP;

    EPwm3Regs.AQCTLA.bit.ZRO = AQ_SET;
    EPwm3Regs.AQCTLA.bit.CAU = AQ_CLEAR;

    EPwm3Regs.CMPA.half.CMPA = 0;

    EPwm3Regs.ETSEL.bit.INTSEL = ET_CTR_ZERO;
    EPwm3Regs.ETSEL.bit.INTEN = 1;
    EPwm3Regs.ETPS.bit.INTPRD = ET_1ST;
}

interrupt void epwm1_isr(void)
{
    // Clear interrupt flag
    EPwm1Regs.ETCLR.bit.INT = 1;

    // Calculate duty cycle of PWM signals
    float32 dutyA = 0.5 + 0.5 * Vref / Vdc;
    float32 dutyB = 0.5 + 0.5 * Vref / Vdc * sin(2.0 * PI / 3.0);
    float32 dutyC = 0.5 + 0.5 * Vref / Vdc * sin(4.0 * PI / 3.0);

    // Convert duty cycle to compare value
    Uint16 CMPA = (Uint16)(dutyA * PWM_RESOLUTION * EPwm1Regs.TBPRD);
    Uint16 CMPB = (Uint16)(dutyB * PWM_RESOLUTION * EPwm1Regs.TBPRD);
    Uint16 CMPC = (Uint16)(dutyC * PWM_RESOLUTION * EPwm1Regs.TBPRD);

    // Update compare values
    EPwm1Regs.CMPA.half.CMPA = CMPA;
    EPwm2Regs.CMPA.half.CMPA = CMPB;
    EPwm3Regs.CMPA.half.CMPA = CMPC;
}

在上面的代码中，我们初始化了三个PWM模块（EPwm1、EPwm2和EPwm3），并且实现了一个中断函数epwm1_isr()，用于执行SPWM算法，并更新PWM信号的占空比。在while(1)循环中，您可以实现自己的电机控制算法，例如PID控制、矢量控制等。

需要注意的是，上面的代码仅提供了一个基本的SPWM实现，您需要根据实际应用来适当地调整PWM频率、占空比和分辨率等参数。