使用dsPIC30F3010通过BDCM测量速度的技术

您好，我有AN8 POLEBDCM和3个霍尔效应位置传感器在定子上，它们彼此间隔120度，霍尔效应的分辨率为15度。因此，需要6个换向状态来实现一个电循环。4个电循环相当于一个完整的旋转。我已经成功地通过配置6个状态切换来实现对速度的控制，这实现了梯形换流。我想知道是否已经使用了一个霍尔效应传感器来测量转子的速度。我基本上希望能够读取一个传感器的速度，并通过UART发送它来显示一个RPM值。这意味着PIC来计算16位值，然后它可以被转换成正确的速度。我对PIC的编程是比较新的，但是我在不断地开发和建立更多的知识。我不太确定如何测量霍尔传感器的速度以实现输出。是否有任何代码示例说明如何实现这一点？我当前代码的一个例子如下：



      以下为原文

    Hello,

I have an 8-pole BDCM with 3 Hall-effect position sensors stationed on across the stator which are 120 degrees apart from each other.

The resolution of the Hall-effect sensors is 15 degrees. So it takes 6 commutation states to achieve one electrical cycle. 4 electrical cycles equate to one full revolution.

I have managed to achieve control of the speed by configuring 6 state switching which achieves trapezoidal commutation.

I was wondering if any techniques have been achieved to measure the speed of the rotor using one of the hall effect sensors. I basically want to be able to read the speed of one sensor and send it over UART to display an RPM value. I need the PIC to compute the 16-bit value which can then be converted to the right speed.

I am relatively new to programming PIC's but I am continually developing and building more knowledge. I wasn't quite sure how to tackle measuring the Hall-sensors speed in order to achieve an output.

Are there any code examples of how this can be achieved?

An example of my current code is below:

halla= PORTDbits.RD0; /* Input Port register that reads Hall Sensor Blue Wire */
    hallb = PORTDbits.RD1; /* Input Port register that reads Hall Sensor Green Wire */
    hallc = PORTEbits.RE8; /* Input Port register that reads Hall Sensor White Wire */

   /* define angle variable for 6 states of hall effect sensor positioning */
    if (halla == 1 && hallb == 1 && hallc == 0)
    {
        angles = 0;
        a = 1 + b;
    }
    if (halla == 1 && hallb == 0 && hallc == 0)
    {
        angles = 15;
        b = 1 + c;
    }
    if (halla == 1 && hallb == 0 && hallc == 1)
    {
        angles = 30;
        c = 1 + d;
    }
    if (halla == 0 && hallb == 0 && hallc == 1)
    {
        angles = 45;
        d = 1 + e;
    }
    if (halla == 0 && hallb == 1 && hallc == 1)
    {
        angles = 60;
        e = 1 + f;
    }
    if (halla == 0 && hallb == 1 && hallc == 0)
    {
        angles = 75;
        f = 1 + a;
    }
void InitADC(void)
{
    /* Tcy=67.8ns, ADCS=7, Tad=(67.8ns x 8)/2 = 271.37ns */
    TRISBbits.TRISB4 = 1;  /* Port B4 (AN4) is input */
    ADPCFGbits.PCFG4 = 0;  /* Port B4 is analogue mode */
    TRISBbits.TRISB3 = 1;  /* Port B3 (AN3) is input */
    ADPCFGbits.PCFG3 = 0;  /* Port B3 is analogue mode */
    TRISBbits.TRISB2 = 1;  /* Port B2 (AN2) is input */
    ADPCFGbits.PCFG2 = 0;  /* Port B2 is analogue mode */
    TRISBbits.TRISB1 = 1;  /* Port B1 (AN1) is input */
    ADPCFGbits.PCFG1 = 0;  /* Port B1 is analogue mode */
    TRISBbits.TRISB0 = 1;  /* Port B0 (AN0) is input */
    ADPCFGbits.PCFG0 = 0;  /* Port B0 is analogue mode */
    ADCON3bits.SAMC = 1;  /* 1TAD */
    ADCON3bits.ADCS = 7;  /* Clock conversion bits @ x8 PLL */
    ADCON2bits.VCFG = 0;  /* Voltage reference source Avdd, Avss */
    ADCON2bits.CHPS = 2;  /* CH0, CH1, CH2, CH3 */
    ADCON2bits.BUFM = 0;  /* one word buffer */
    ADCON2bits.ALTS = 0;  /* mux a only */
    ADCON2bits.CSCNA = 0;  /* do not scan inputs */
    ADCON2bits.SMPI = 0;  /* interrupt on 1st sample */
    ADCHSbits.CH0SA = 4;  /* channel 0 positive input is AN4 */
    ADCHSbits.CH0NA = 0;  /* channel 0 negative input is vref- */
    ADCHSbits.CH123SA = 0;  /* 1=AN0(CA0), 2=AN1(CL1), 3=AN2(CL2) */
    ADCHSbits.CH123NA = 0;  /* CH1, CH2, CH3 negative input is vref- */
    ADCON1bits.SIMSAM = 1;  /* simultaneous sample */
    ADCON1bits.FORM = 0;  /* integer output */
    ADCON1bits.SSRC = 3;  /* motor control PWM triggers conversion */                 
    ADCON1bits.ASAM = 1;  /* Sampling auto-start on */
    IPC2bits.ADIP = 4;   /* ADC interrupt priority 4 (1=lowest) */
    IFS0bits.ADIF = 0;   /* clear ADC int status flag */
    IEC0bits.ADIE = 1;   /* enable ADC int */
    ADCON1bits.ADON = 1;  /* turn ADC on */
}
void InitUART(void)
{
    U1BRG = 47;             /* 19200 baud @ x8 PLL */
    U1MODEbits.STSEL = 0; /* 1 stop bit */
    U1MODEbits.PDSEL = 00; /* 8 data bits, no parity */
    U1MODEbits.ALTIO = 1; /* Alternate I/O used */
    IPC2bits.U1RXIP = 1; /* uart 1 rx interrupt priority 1 (1=lowest) */
    IFS0bits.U1RXIF = 0; /* clear uart 1 rx int status flag */
    IEC0bits.U1RXIE = 1; /* enable uart 1 rx int */
    U1STAbits.URXISEL = 1; /* Rx interrupt enabled when character received */
    U1MODEbits.UARTEN = 1; /* Uart enabled */
    U1STAbits.UTXEN = 1; /* TX enabled */
}
void InitPWM(void)
{
    /* 6 PWM channels used in 3 complimentary pairs */
    PTPER = 73;  /* 368 set for 20kHz (50us) PWM period, 737 set for 10Khz (100uS) PWM period, up/down mode (x 8 PLL) */
    SEVTCMPbits.SEVTCMP = 0;  /* Special Event Compare */
    SEVTCMPbits.SEVTDIR = 1;  /* Special Event Direction (countdown) */
    PTCONbits.PTMOD = 2; /* up/down counting mode */
    PWMCON2bits.SEVOPS = 0; /* PWM special event trigger postscale (trigger for ADC conversion) */
    PWMCON1bits.PEN1H = 1; /* 1H pin enabled */
    PWMCON1bits.PEN1L = 1; /* 1L pin enabled */
    PWMCON1bits.PEN2H = 1; /* 2H pin enabled */
    PWMCON1bits.PEN2L = 1; /* 2L pin enabled */
    PWMCON1bits.PEN3H = 1; /* 3H pin enabled */
    PWMCON1bits.PEN3L = 1; /* 3L pin enabled */
    PTCONbits.PTEN = 1;  /* PWM timebase is ON */
}
void InitPORT(void)
{
    TRISBbits.TRISB4 = 1; /* set input for pot */
    ADPCFGbits.PCFG4 = 0;  /* AN4/RB4 to analog mode (is by default anyway) */
    TRISBbits.TRISB5 = 0;  /* set as output for ISR test */
    //TRISBbits.TRISB5 = 1; /* set as input for switch button functionality on FIB */
    ADPCFGbits.PCFG5 = 1;   /* AN5/RB5 to digital mode as by default it is set to analog */
     
    TRISCbits.TRISC15 = 1; /* set input for nFAULT */
    TRISDbits.TRISD0 = 1; /* set input for H2 (Green Hall Sensor) */
    TRISDbits.TRISD1 = 1; /* set input for H3 (White Hall Sensor) */
    TRISEbits.TRISE8 = 1; /* set input for H1 (Blue Hall Sensor) */
    TRISEbits.TRISE8 = 1; /* set input for H1 (Blue Hall Sensor) */
}
void InitCAPTURE(void)
{
    IC1CONbits.ICM = 0;  /* turn off capture module */
    IC1CONbits.ICTMR = 0; /* use timer 3 */
    IC1CONbits.ICI = 1;  /* interrupt on every 2nd capture */
    IC1CONbits.ICM = 2;  /* capture every falling edge on IC1 */
    IPC0bits.IC1IP = 3;  /* IC1 interrupt priority 3 (1=lowest) */
    IFS0bits.IC1IF = 0;  /* clear IC1 int status flag */
    IEC0bits.IC1IE = 1;  /* enable IC1 int */
}
void InitTimer1(void)
{
    /* Timer 1 (Type-A) used to generate interrupt every 0.284 seconds for UART TX
    Where interrupt time  = Tcy x prescale x period reg
    Tcy = 1 / (Fcy/4) x 8 (x8 PLL)
    e.g. 0.284seconds = 67.8ns x 64 x 65535 */
    TMR1 = 0x0000;    /* clear timer register */
    PR1 = 0xffff;    /* load period register */
    IPC0bits.T1IP = 2;   /* timer 1 interrupt priority 2 (1=lowest) */
    IFS0bits.T1IF = 0;   /* clear timer 1 int status flag */
    IEC0bits.T1IE = 1;   /* enable timer 1 int */
    T1CONbits.TCKPS = 2;  /* 1:64 prescale */
    T1CONbits.TON = 1;   /* start timer 1 */
}
void InitTimer3(void)
{
    /* Timer 3 (Type-C) used by Input Capture Port 1
    Where time  = Tcy x prescale
    Tcy = 1 / (Fcy/4) x 8 (x8 PLL)
    e.g. 67.8ns = 67.8ns x 1 */
    TMR3 = 0x0000;    /* clear timer register */
    PR3 = 0xffff;    /* load period register */
    T3CONbits.TCKPS = 0;  /* 1:1 prescale */
    T3CONbits.TON = 1;   /* start timer 3 */
}
void InitInterrupts(void) /* Added code */
{
    IPC0 = 0x1000; /* Timer 1 Interrupt = Priority 1 (low) */
    IPC2 = 0x6450; /*  Analogue to Digital = 6, Serial Transmit = 4, Receive = 5; */
    IPC9 = 0x7000; /* PWM = = 7 (highest priority) */
    /* Turn on the desired Interrupts */
    IEC2bits.PWMIE = 1; /* PWM interrupt */
    IEC0bits.ADIE = 1; /* A/D interrupt */
    IEC0bits.T1IE = 1;  /* enable timer 1 int */
    IEC0bits.T2IE = 1; /* enable timer 2 int */
}