verilog实现FOC控制
时间: 2023-08-09 14:10:18 浏览: 182
以下是一个使用Verilog实现FOC(Field Oriented Control)控制的简单例子:
```verilog
module foc_controller (
input clk,
input rst,
input [15:0] adc_a,
input [15:0] adc_b,
input [15:0] adc_c,
output reg pwm_u,
output reg pwm_v,
output reg pwm_w,
output reg dir_u,
output reg dir_v,
output reg dir_w
);
parameter Kp = 16'h4000;
parameter Ki = 16'h0200;
parameter Kd = 16'h0300;
reg [15:0] theta;
reg [15:0] theta_ref;
reg [15:0] i_alpha;
reg [15:0] i_beta;
reg [15:0] i_d;
reg [15:0] i_q;
reg [15:0] v_alpha;
reg [15:0] v_beta;
reg [15:0] v_d;
reg [15:0] v_q;
reg [15:0] v_u;
reg [15:0] v_v;
reg [15:0] v_w;
reg [15:0] error_d;
reg [15:0] error_q;
reg [15:0] error_int_d;
reg [15:0] error_int_q;
reg [15:0] error_d_prev;
reg [15:0] error_q_prev;
assign pwm_u = v_u > 0;
assign pwm_v = v_v > 0;
assign pwm_w = v_w > 0;
assign dir_u = pwm_u;
assign dir_v = pwm_v;
assign dir_w = pwm_w;
always @(posedge clk) begin
if (rst) begin
theta <= 16'b0;
theta_ref <= 16'b0;
i_alpha <= 16'b0;
i_beta <= 16'b0;
i_d <= 16'b0;
i_q <= 16'b0;
v_alpha <= 16'b0;
v_beta <= 16'b0;
v_d <= 16'b0;
v_q <= 16'b0;
v_u <= 16'b0;
v_v <= 16'b0;
v_w <= 16'b0;
error_d <= 16'b0;
error_q <= 16'b0;
error_int_d <= 16'b0;
error_int_q <= 16'b0;
error_d_prev <= 16'b0;
error_q_prev <= 16'b0;
end else begin
// Clarke transform
i_alpha <= (2*adc_a - adc_b - adc_c) >> 1;
i_beta <= (adc_b - adc_c) >> 1;
// Park transform
i_d <= i_alpha*cos(theta) + i_beta*sin(theta);
i_q <= -i_alpha*sin(theta) + i_beta*cos(theta);
// PID control
error_d <= theta_ref - theta;
error_q <= 0 - i_q;
error_int_d <= error_int_d + error_d;
error_int_q <= error_int_q + error_q;
v_d <= Kp*error_d + Ki*error_int_d + Kd*(error_d - error_d_prev);
v_q <= Kp*error_q + Ki*error_int_q + Kd*(error_q - error_q_prev);
error_d_prev <= error_d;
error_q_prev <= error_q;
// Inverse Park transform
v_alpha <= v_d*cos(theta) - v_q*sin(theta);
v_beta <= v_d*sin(theta) + v_q*cos(theta);
// Inverse Clarke transform
v_u <= v_alpha;
v_v <= (-v_alpha + sqrt(3)*v_beta) >> 1;
v_w <= (-v_alpha - sqrt(3)*v_beta) >> 1;
// Update theta
theta <= theta + (i_q*v_d - i_d*v_q)*65536/1000000;
end
end
endmodule
```
这个模块实现了一个FOC控制器,包含一个基于PLL的角度估算器和一个基于PID的电流控制器。在每个时钟周期内,首先进行Clarke变换和Park变换,将三相交流电流转换成直流坐标系下的d轴电流和q轴电流。然后,根据PID控制器的输出计算d轴电压和q轴电压,并进行反Park变换和反Clarke变换,将d轴电压和q轴电压转换成三相交流电压。最后,根据电流和电压的乘积计算机械角速度,并通过积分获得机械角度。在每个周期结束时,更新机械角度。