有没有使用FPGA实现FOC算法的代码
时间: 2023-08-06 15:05:26 浏览: 74
以下是一个使用Verilog语言实现FPGA FOC的示例代码:
```
module FOC(input clk,
input rst,
input [31:0] current_a,
input [31:0] current_b,
input [31:0] voltage_a,
input [31:0] voltage_b,
output reg [31:0] duty_a,
output reg [31:0] duty_b);
parameter KP = 100; // 比例常数
parameter KI = 10; // 积分常数
parameter KFF = 0; // 前馈常数
reg [31:0] theta; // 电机转子角度
reg [31:0] sin_theta; // 正弦值
reg [31:0] cos_theta; // 余弦值
reg [31:0] voltage_d; // d轴电压
reg [31:0] voltage_q; // q轴电压
reg [31:0] current_d; // d轴电流
reg [31:0] current_q; // q轴电流
reg [31:0] error_d; // d轴误差
reg [31:0] error_q; // q轴误差
reg [31:0] integral_d; // d轴积分项
reg [31:0] integral_q; // q轴积分项
reg [31:0] voltage_a_new; // 新的a轴电压
reg [31:0] voltage_b_new; // 新的b轴电压
always @(posedge clk) begin
if (rst) begin
theta <= 0;
sin_theta <= 0;
cos_theta <= 1;
voltage_d <= 0;
voltage_q <= 0;
current_d <= 0;
current_q <= 0;
error_d <= 0;
error_q <= 0;
integral_d <= 0;
integral_q <= 0;
voltage_a_new <= 0;
voltage_b_new <= 0;
duty_a <= 0;
duty_b <= 0;
end else begin
// 计算转子角度
theta <= theta + 100;
// 计算sin和cos值
sin_theta <= sin(theta);
cos_theta <= cos(theta);
// 坐标变换
current_d <= current_a * cos_theta + current_b * sin_theta;
current_q <= -current_a * sin_theta + current_b * cos_theta;
// 计算d轴电压
error_d <= voltage_d - current_d;
integral_d <= integral_d + error_d;
voltage_d <= KP * error_d + KI * integral_d + KFF * current_d;
// 计算q轴电压
error_q <= voltage_q - current_q;
integral_q <= integral_q + error_q;
voltage_q <= KP * error_q + KI * integral_q + KFF * current_q;
// 逆坐标变换
voltage_a_new <= voltage_d * cos_theta - voltage_q * sin_theta;
voltage_b_new <= voltage_d * sin_theta + voltage_q * cos_theta;
// 更新PWM占空比
duty_a <= voltage_a_new / 100;
duty_b <= voltage_b_new / 100;
end
end
endmodule
```
这个模块使用了PI控制器和前馈控制器来计算d轴和q轴电压,然后进行逆坐标变换得到新的a轴和b轴电压,最后将其转换为PWM占空比输出。在实际应用中,还需要根据具体的电机参数进行调整。