昊芯HXS320F28034数字信号处理器项目中电机相位控制与检测调试
本帖最后由 leekom 于 2024-9-11 16:29 编辑<div _blank="" tdoc-data-src="{"mainStory":[{"operationType":"InsertText","param":{"text":"昊芯HXS320F28034数字信号处理器DSP，对电机使用","range":{"gcpBegin":0,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":0,"len":30},"property":{"rFonts":{"hint":"STHint_eastAsia"},"lang":{"val":"en-US","eastAsia":"zh-CN"},"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"InsertText","param":{"text":"差","range":{"gcpBegin":30,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":30,"len":1},"property":{"lang":{"val":"en-US","eastAsia":"zh-CN"},"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"InsertText","param":{"text":"速","range":{"gcpBegin":31,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":31,"len":1},"property":{"lang":{"val":"en-US","eastAsia":"zh-CN"},"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"InsertText","param":{"text":"编码器，也称为增量式编码器，其工作原理是将位移转换成周期性的电信号，再将这个电信号转变成计数脉冲，用脉冲的个数表示位移的大小。","range":{"gcpBegin":32,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":32,"len":63},"property":{"lang":{"val":"en-US","eastAsia":"zh-CN"},"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"InsertText","param":{"text":"\r","range":{"gcpBegin":95,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":95,"len":1},"property":{"lang":{"val":"en-US","eastAsia":"zh-CN"},"isPlaceholder":true,"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"ModifyParagraphProp","param":{"range":{"gcpBegin":95,"len":1},"property":{"pStyle":{"val":"000001"},"ind":{"firstLine":840,"firstLineChars":400},"numPr":{}},"mode":1,"preventFormatTrackChanges":false},"propertyType":"ParagraphProperty","builtinStyleName":"Normal"},{"operationType":"InsertText","param":{"text":"其QEP测速的实现方式如下：","range":{"gcpBegin":96,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":96,"len":14},"property":{"rFonts":{"hint":"STHint_eastAsia"},"lang":{"val":"en-US","eastAsia":"zh-CN"},"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"InsertText","param":{"text":"\r","range":{"gcpBegin":110,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":110,"len":1},"property":{"rFonts":{"hint":"STHint_eastAsia"},"lang":{"val":"en-US","eastAsia":"zh-CN"},"isPlaceholder":true,"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"ModifyParagraphProp","param":{"range":{"gcpBegin":110,"len":1},"property":{"pStyle":{"val":"000001"},"ind":{"firstLine":840,"firstLineChars":400},"numPr":{}},"mode":1,"preventFormatTrackChanges":false},"propertyType":"ParagraphProperty","builtinStyleName":"Normal"},{"operationType":"InsertText","param":{"text":"采用GPIO MUX定义引脚：其引脚对应","range":{"gcpBegin":111,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":111,"len":20},"property":{"rFonts":{"hint":"STHint_eastAsia"},"lang":{"val":"en-US","eastAsia":"zh-CN"},"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"InsertText","param":{"text":"在码盘的边缘上开有相等角度的缝隙（分为透明和不透明部分），在开缝码盘两边分别安装光源及光敏元件。当码盘随工作轴一起转动时，每转过一个缝隙就产生一次光线的明暗变化","range":{"gcpBegin":131,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":131,"len":80},"property":{"rFonts":{"ascii":"Arial","hAnsi":"Arial","cs":"Arial"},"i":{"val":false},"iCs":{"val":false},"caps":{"val":false},"color":{"val":"333333"},"spacing":{"val":0},"sz":{"val":210},"szCs":{"val":210},"shd":{"val":"STShd_clear","color":"STHexColorAuto_auto","fill":"ffffff"},"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"InsertText","param":{"text":"，","range":{"gcpBegin":211,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":211,"len":1},"property":{"rFonts":{"hint":"STHint_eastAsia","ascii":"Arial","hAnsi":"Arial","cs":"Arial"},"i":{"val":false},"iCs":{"val":false},"caps":{"val":false},"color":{"val":"333333"},"spacing":{"val":0},"sz":{"val":210},"szCs":{"val":210},"shd":{"val":"STShd_clear","color":"STHexColorAuto_auto","fill":"ffffff"},"lang":{"eastAsia":"zh-CN"},"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"InsertText","param":{"text":"从而","range":{"gcpBegin":212,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":212,"len":2},"property":{"rFonts":{"hint":"STHint_eastAsia","ascii":"Arial","hAnsi":"Arial","cs":"Arial"},"i":{"val":false},"iCs":{"val":false},"caps":{"val":false},"color":{"val":"333333"},"spacing":{"val":0},"sz":{"val":210},"szCs":{"val":210},"shd":{"val":"STShd_clear","color":"STHexColorAuto_auto","fill":"ffffff"},"lang":{"val":"en-US","eastAsia":"zh-CN"},"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"InsertText","param":{"text":"获取差分编码器正交脉冲QEPA与QEPB、索引QEPI信号；","range":{"gcpBegin":214,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":214,"len":30},"property":{"rFonts":{"hint":"STHint_eastAsia"},"lang":{"val":"en-US","eastAsia":"zh-CN"},"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"InsertText","param":{"text":"\r","range":{"gcpBegin":244,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":244,"len":1},"property":{"rFonts":{"hint":"STHint_eastAsia"},"lang":{"val":"en-US","eastAsia":"zh-CN"},"isPlaceholder":true,"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"ModifyParagraphProp","param":{"range":{"gcpBegin":244,"len":1},"property":{"pStyle":{"val":"000001"},"ind":{"firstLine":840,"firstLineChars":400},"numPr":{}},"mode":1,"preventFormatTrackChanges":false},"propertyType":"ParagraphProperty","builtinStyleName":"Normal"},{"operationType":"InsertText","param":{"text":"通过QDECCTL选择，上升沿、下降沿或双边沿捕获计数方式，得到时钟信号xCLK，","range":{"gcpBegin":245,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":245,"len":46},"property":{"rFonts":{"hint":"STHint_eastAsia"},"lang":{"val":"en-US","eastAsia":"zh-CN"},"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"InsertText","param":{"text":"变化的信号经过整形放大，可以得到一定幅值和功率的电脉冲输出信号。脉冲数就等于转过的缝隙数。将该脉冲信号送到计数器中去进行计数，从测得的数码数就能知道码盘转过的角度","range":{"gcpBegin":291,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"operationType":"ModifyRunProp","param":{"range":{"gcpBegin":291,"len":81},"property":{"rFonts":{"ascii":"Arial","hAnsi":"Arial","cs":"Arial"},"i":{"val":false},"iCs":{"val":false},"caps":{"val":false},"color":{"val":"333333"},"spacing":{"val":0},"sz":{"val":210},"szCs":{"val":210},"shd":{"val":"STShd_clear","color":"STHexColorAuto_auto","fill":"ffffff"},"author":"p.144115233544640245"},"mode":1,"preventFormatTrackChanges":false},"propertyType":"RunProperty","builtinStyleName":""},{"operationType":"InsertText","param":{"text":"；","range":{"gcpBegin":372,"len":0},"preventTextTrackChanges":false},"builtinStyleName":""},{"op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\\d \"<a target=">
<div>昊芯HXS320F28034数字信号处理器DSP，对电机使用差分编码器，也称为增量式编码器，其工作原理是将位移转换成周期性的电信号，再将这</div>
<div>个电信号转变成计数脉冲，用脉冲的个数表示位移的大小。</div>
<div>其QEP测速的实现方式如下：<br />
采用GPIO MUX定义引脚：其引脚对应在码盘的边缘上开有相等角度的缝隙（分为透明和不透明部分），在开缝码盘两边分别安装光源及光敏元</div>
<div>件。当码盘随工作轴一起转动时，每转过一个缝隙就产生一次光线的明暗变化，从而获取差分编码器正交脉冲QEPA与QEPB、索引QEPI信号；</div>
<div>通过QDECCTL选择，上升沿、下降沿或双边沿捕获计数方式，得到时钟信号xCLK，变化的信号经过整形放大，可以得到一定幅值和功率的</div>
<div>电脉冲输出信号。脉冲数就等于转过的缝隙数。将该脉冲信号送到计数器中去进行计数，从测得的数码数就能知道码盘转过的角度；</div>
<div>经解码QDU逻辑处理，得到方向的高低电平信号iDIR；<br />
通过QDECCTL选择引脚模式：正交、方向、增或减计数，读取方向QDIR、时钟QCLK信号；<br />
通过QEPCTL选择，位置计数控制PCCU模式：索引位置事件、最大位置锁存、单位超时锁存；使能QEPCTL，捕获N线光电编码器</div>
<div>输出双边沿脉冲，使位置计数器产生计数，从而计算电机转速。</div>
<div></div>
<div>其A\B\C对应差分编码器，通过检测码盘上的缝隙引起的光线明暗变化，将其转换为电脉冲信号，并通过计数器计算脉冲数量来测量位移大小。</div>
<div>同时，通过两套光电转换装置产生的相位差信号来判断旋转方向，常用方法如下：</div>
<div>（1）T法：一个脉冲周期fclk内，捕获脉冲计数，载入16位定时器QCTMR。单位事件发生时，更新载入QCPRDLAT，电机转速n=60*fclk/(4N*QCPRDLAT)。QCTMR上溢时，位置方向QDIR将变化，使捕获单元QEPSTS发生错误标志，故仅适用于低速测量。</div>
<div>（2）M法：规定检测事件Tc内，捕获脉冲计数。单位事件发生时，锁存到32位QPOSILAT和QPOSSLAT，故电机转速n=60*QPOSSLAT/(4N*Tc)，适用于高速测量。</div>
<div>由此设计QEP测速实例：EPWM配置1KHz PWM波，模拟1000线编码器旋转，EQEP采用M法与T法测量60rpm与6000rpm下旋转的转速，单位周期为 SysFreq*100，采用上升沿计数，捕获得到脉冲计数，实现转速测量，采用定时器中断实现三种不同功能切换，故硬件连接如下：GPIO0-GPIO20,GPIO1-GPIO21。基于以上分析，在CDK上开发QEP脉冲捕获输出，代码包括：EPWM与EQEP的GPIO引脚配置，EPWM 1KHz两路互差90°的PWM波输出配置，EQEP单位时间锁存计数捕获功能配置，定时器Timer0配置，计数捕获、M法与T法测速程序及其功能切换的定时器中断服务程序，主程序调用执行。</div>
<div>int main(void)</div>
<div>{</div>
<div>/*初始化系统控制*/</div>
<div>InitSysCtrl();</div>
<div>/*初始EPWM GPIO*/</div>
<div>InitEPwm1Gpio();</div>
<div>/*EQEP1引脚配置*/</div>
<div>InitEQep1Gpio();</div>
<div>/*初始化LED配置，用于指示实际转速是否到达给定转速*/</div>
<div>InitLED();</div>
<div>/*关中断*/</div>
<div>InitPieCtrl();</div>
<div>/*清中断*/</div>
<div>IER = 0x0000;</div>
<div>IFR = 0x0000;</div>
<div>/*初始化PIE中断向量表*/</div>
<div>InitPieVectTable();</div>
<div>/*定时器配置*/</div>
<div>Timer0_init();</div>
<div>EALLOW;</div>
<div>/*将timer0_ISR入口地址赋给TINT0，执行M法、T法测速切换中断服务程序*/</div>
<div>PieVectTable.TINT0 = &timer0_ISR;</div>
<div>EDIS;</div>
<div>/*电机转速初始化*/</div>
<div>MotorSpeed_init();</div>
<div>EALLOW;</div>
<div>/*禁用TBCLK同步，允许EPWM初始化配置*/</div>
<div>SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 0;</div>
<div>EDIS;</div>
<div>/*配置epwm1，用于模拟编码器旋转*/</div>
<div>EPWM1_Config();</div>
<div>EALLOW;</div>
<div>/*使能TBCLK同步，EPWM配置功能起作用*/</div>
<div>SysCtrlRegs.PCLKCR0.bit.TBCLKSYNC = 1;</div>
<div>EDIS;</div>
<div>/*EQEP脉冲捕获配置*/</div>
<div>EQEP_pulseCap();</div>
<div>/*使能打开相应的CPU IER中断*/</div>
<div>IER |= M_INT1;</div>
<div>/*使能打开相应的PIE IER中断*/</div>
<div>PieCtrlRegs.PIEIER1.bit.INTx7 = 1;</div>
<div>/*使能打开全局中断*/</div>
<div>EINT;</div>
<div>while(1)</div>
<div>{}</div>
<div>return 0;</div>
<div>}</div>
<div>A\B\C三个相位如下图：</div>
<div></div>
<div>CDK上开发QEP测速程序，其编译结果为：</div>
<div></div>
<div>编译通过后，就可以开始调试了，其中M法测速调试结果如下：</div>
<div></div>
<div>T法测速调试结果如下：</div>
<div></div>
<div>所捕获的光电编码器QEP正交脉冲波形为</div>
<div></div>
<div> </div>
<div> </div>
<!--importdoc--></div>
<div>
<div>
<p><!--importdoc--></p>
</div>
</div>
<p>T法和M法主要的区别是什么</p>
<p>后续更新测量与FPGA监测方法</p>
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