三相鎖相環仿真及其代碼驗證，附C語言源碼

• 鎖相環
• • 原理
  • 仿真
  • 源碼

鎖相環

原理

眾所周知，三相電的鎖相環只需要進行Clark變換和Park變換得到dq分量，進行PI運算就可以輕松的完成鎖相，這里就不簡述Clark變換和Park變換了，網上一搜一大把資料，在此簡單闡述

鎖相環的原理：

鎖相環就是講ABC三相通過clark變換和Park變換轉換成dq分量，通過dq來進行鎖相，鎖相環框圖如下

clark變換：將abc 變換到 靜止 的αβ 坐標系下。

設ABC三相電壓為：

通過U=x+ac+a^c變換合成矢量為

如圖所示，將它們投影到αβ軸上，有
Clark transformation 3s?2s（僅考慮三相三線制情形，零序分量被忽略，詳細推導可參考陳伯時《電力拖動自動控制系統-運動控制系統》第三版 P263）

Park變換：將abc 變換到 旋轉 的 dq 坐標系下

clark變換到park變換

變換矩陣為

仿真

源碼

主要代碼

// // Included Files // #include <math.h> #include "Interrupt.h"/* ABC電壓值變量定義 */ FLOAT32 g_f32Ua; FLOAT32 g_f32Ub; FLOAT32 g_f32Uc;typedef struct STRUCT_SPLL {/* input data */FLOAT32 g_f32VoltD;FLOAT32 g_f32VoltQ;FLOAT32 g_f32Theta;/* output data */FLOAT32 g_f32SinWT;FLOAT32 g_f32CosWT;/* parameter */FLOAT32 g_f32VoltAlpha;FLOAT32 g_f32VoltBeta;PI_CONTROL_STRUCT PllLoop; }ST_SPLL; /* 鎖相環PI控制 */ #define PLL_MAX_OUT 2000 #define PLL_MIN_OUT -2000#define PLL_KP 48.0 * 2.0//12 // 0.3 #define PLL_KI 0.1 * 2.0//0.04 // 0.001ST_SPLL g_stSpll = {0};UINT16 g_u16VoltageIndex = 0; UINT16 g_u16SendFlag = 0; FLOAT32 g_f32VoltageSample[3] = {0};void ISR_APP_ThreePhaseSPLL(ST_SPLL *t_spll, const FLOAT32 *VABC, UINT32 Ts);//中斷頻率50k #pragma CODE_SECTION(ISR_InterruptTask, ".TI.ramfunc"); __interrupt void ISR_InterruptTask(void) {g_u16VoltageIndex++;if(g_u16VoltageIndex > 1000)g_u16VoltageIndex = 0;g_f32VoltageSample[0] = sinf(2 * M_PI * 100 / 1000 * g_u16VoltageIndex);//模擬輸出A相電壓,可由adc采樣值替換g_f32VoltageSample[1] = sinf(2 * M_PI * 100 / 1000 * g_u16VoltageIndex - 2*M_PI/3.0f);//模擬輸出B相電壓g_f32VoltageSample[2] = sinf(2 * M_PI * 100 / 1000 * g_u16VoltageIndex + 2*M_PI/3.0f);//模擬輸出C相電壓g_f32Ua = g_f32VoltageSample[0];g_f32Ub = g_f32VoltageSample[1];g_f32Uc = g_f32VoltageSample[2];ISR_APP_ThreePhaseSPLL(&g_stSpll, g_f32VoltageSample, 1000);//鎖相環函數}void APP_InitSpll(ST_SPLL *t_spll) {t_spll->g_f32VoltD = 0;t_spll->g_f32VoltQ = 0;t_spll->g_f32Theta = 0;/* output data */t_spll->g_f32SinWT = 0;t_spll->g_f32CosWT = 0;/* parameter */t_spll->g_f32VoltAlpha = 0;t_spll->g_f32VoltBeta = 0;t_spll->PllLoop.m_u16CtrFlg = INCREMENTAL_CONTROL; /* 增量式PI控制標志 */t_spll->PllLoop.m_f32Ref = 0; /* 給定 */t_spll->PllLoop.m_f32Fed = 0; /* 反饋 */t_spll->PllLoop.m_f32Err = 0; /* 誤差 */t_spll->PllLoop.m_f32ErrPre = 0; /* 前拍誤差 */t_spll->PllLoop.m_f32Kp = PLL_KP; /* 比例參數 */t_spll->PllLoop.m_f32Ki = PLL_KI; /* 積分參數 */t_spll->PllLoop.m_f32Acc = 0; /* 積分累加 */t_spll->PllLoop.m_f32LoopOut = 0; /* 輸出 */t_spll->PllLoop.m_f32KiMaxACC = PLL_MAX_OUT; /* 積分累加最大限幅 */t_spll->PllLoop.m_f32KiMinACC = PLL_MIN_OUT; /* 積分累加最小限幅 */t_spll->PllLoop.m_f32MaxOutput = PLL_MAX_OUT; /* 輸出最大限幅 */t_spll->PllLoop.m_f32MinOutput = PLL_MIN_OUT; /* 輸出最小限幅 */ } #pragma CODE_SECTION(ISR_APP_ABC2ab, ".TI.ramfunc"); void ISR_APP_ThreePhaseSPLL(ST_SPLL *t_spll, const FLOAT32 *VABC, UINT32 Ts) {FLOAT32 t_f32TempValue = 0;t_spll->g_f32VoltAlpha = 0.6666667f * (VABC[0]-(0.5f*VABC[1])-(0.5*VABC[2]));//Clark變換t_spll->g_f32VoltBeta = 0.6666667f*(((sqrtf(3)/2)*VABC[1])-((sqrtf(3)/2)*VABC[2]));#if 0 //開環theta = 2 * M_PI * 50;#endif//Park變換t_spll->g_f32VoltD = t_spll->g_f32CosWT * t_spll->g_f32VoltAlpha + t_spll->g_f32SinWT * t_spll->g_f32VoltBeta;t_spll->g_f32VoltQ = -t_spll->g_f32SinWT * t_spll->g_f32VoltAlpha + t_spll->g_f32CosWT * t_spll->g_f32VoltBeta;//鎖相環環路計算t_spll->PllLoop.m_f32Ref = t_spll->g_f32VoltD;//0;t_spll->PllLoop.m_f32Fed = 0;//t_spll->g_f32VoltD;t_spll->PllLoop.m_f32Err = t_spll->PllLoop.m_f32Ref - t_spll->PllLoop.m_f32Fed;t_f32TempValue = t_spll->PllLoop.m_f32Ki * t_spll->PllLoop.m_f32Err; /* 積分計算 */t_f32TempValue += t_spll->PllLoop.m_f32Kp * (t_spll->PllLoop.m_f32Err - t_spll->PllLoop.m_f32ErrPre); /* 比例計算 */t_spll->PllLoop.m_f32LoopOut += t_f32TempValue;/* 增量運算 */t_spll->PllLoop.m_f32ErrPre = t_spll->PllLoop.m_f32Err;if (t_spll->PllLoop.m_f32LoopOut > t_spll->PllLoop.m_f32MaxOutput) /* 輸出限幅 */{t_spll->PllLoop.m_f32LoopOut = t_spll->PllLoop.m_f32MaxOutput;}if (t_spll->PllLoop.m_f32LoopOut < t_spll->PllLoop.m_f32MinOutput){t_spll->PllLoop.m_f32LoopOut = t_spll->PllLoop.m_f32MinOutput;}t_spll->g_f32Theta += (t_spll->PllLoop.m_f32LoopOut / Ts);//環路輸出即為w，需要t積分if(t_spll->g_f32Theta > (2 * M_PI)){t_spll->g_f32Theta = t_spll->g_f32Theta - (2 * M_PI);}if(t_spll->g_f32Theta < 0){t_spll->g_f32Theta = t_spll->g_f32Theta + (2 * M_PI);}t_spll->g_f32SinWT = sinf(t_spll->g_f32Theta);t_spll->g_f32CosWT = cosf(t_spll->g_f32Theta); }// // End of File //

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