FOC中的反PARK变换_TI和ST电机控制库的源码实现

FOC中的Clarke变换_TI和ST电机控制库的源码实现
FOC中的PARK变换_TI和ST电机控制库的源码实现

PARK的反变换

此变换将正交旋转坐标系中的矢量投影到两相正交固定框架。

①经过clarke变换将三相电流变换为了固定的“alpha-beta”直角坐标系下。
②因转子是旋转的，又经过PARK变换将固定的直角坐标系下的“alpha-beta”轴，变换为旋转坐标系“D-Q”轴。
③将三相相差120度的正弦信号变换为了线性的ID,IQ信号。
④但是我们得到反馈，计算完后。要将信号变换回去，输出对应的三相电压。
⑤又会经过反PARK变换，而反clarke变化可以使用另一种方式svpwm去完成输出电压。

参考框图：

数学公式

$$\{\begin{array}{l}{I}_d=I_D\times \cos \theta +I_Q\times \sin \theta \\ I_q=I_D\times \sin \theta +I_Q\times \cos \theta \end{array}$$
转换后波形：

TI程序：

和park程序一样，cos(theta)和sin(theta)是参数。

typedef struct {  _iq  Alpha;  		// Output: stationary d-axis stator variable
				  _iq  Beta;		// Output: stationary q-axis stator variable
				  _iq  Angle;		// Input: rotating angle (pu)
				  _iq  Ds;			// Input: rotating d-axis stator variable
				  _iq  Qs;			// Input: rotating q-axis stator variable
				  _iq  Sine;		// Input: Sine term
				  _iq  Cosine;		// Input: Cosine term
		 	    } IPARK;	            
/*------------------------------------------------------------------------------
	Inverse PARK Transformation Macro Definition
------------------------------------------------------------------------------*/
#define IPARK_MACRO(v)										\
															\
v.Alpha = _IQmpy(v.Ds,v.Cosine) - _IQmpy(v.Qs,v.Sine);		\
v.Beta  = _IQmpy(v.Qs,v.Cosine) + _IQmpy(v.Ds,v.Sine);

ST的程序：

__weak alphabeta_t MCM_Rev_Park( qd_t Input, int16_t Theta )
{
  int32_t alpha_tmp1, alpha_tmp2, beta_tmp1, beta_tmp2;
  Trig_Components Local_Vector_Components;
  alphabeta_t Output;

	// 查表得到cos(theta)和sin(theta)
  Local_Vector_Components = MCM_Trig_Functions( Theta );

  /*No overflow guaranteed*/
  alpha_tmp1 = Input.q * ( int32_t )Local_Vector_Components.hCos;
  alpha_tmp2 = Input.d * ( int32_t )Local_Vector_Components.hSin;

#ifdef FULL_MISRA_C_COMPLIANCY
  Output.alpha = ( int16_t )( ( ( alpha_tmp1 ) + ( alpha_tmp2 ) ) / 32768 );
#else
  /* WARNING: the below instruction is not MISRA compliant, user should verify
    that Cortex-M3 assembly instruction ASR (arithmetic shift right) is used by
    the compiler to perform the shift (instead of LSR logical shift right) */
	// 计算转换后的输出alpha
  Output.alpha = ( int16_t )( ( ( alpha_tmp1 ) + ( alpha_tmp2 ) ) >> 15 );
#endif

  beta_tmp1 = Input.q * ( int32_t )Local_Vector_Components.hSin;
  beta_tmp2 = Input.d * ( int32_t )Local_Vector_Components.hCos;

#ifdef FULL_MISRA_C_COMPLIANCY
  Output.beta = ( int16_t )( ( beta_tmp2 - beta_tmp1 ) / 32768 );
#else
  /* WARNING: the below instruction is not MISRA compliant, user should verify
  that Cortex-M3 assembly instruction ASR (arithmetic shift right) is used by
  the compiler to perform the shift (instead of LSR logical shift right) */
  // 计算转换后的输出beta
  Output.beta = ( int16_t )( ( beta_tmp2 - beta_tmp1 ) >> 15 );
#endif

  return ( Output );
}

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参考：
TI DMC MATH_13.1pdf
STM32 FOC 软件培训库pdf

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