3.22EjemploDRM007 Co..

Source Code
*/
SINT16 PIController (void) // 171 max, 152 typ
{
ControlDifference = RefSpeed - Speed;
if (ControlDifference >= 0)
{
P_Portion = (SINT16)((UBYTE)(ControlDifference) * (UBYTE)(P_Gain));
I_Portion = (SINT16)((UBYTE)(ControlDifference) * (UBYTE)(I_Gain));
}
else
{
ControlDifference = -ControlDifference;
P_Portion = (SINT16)(-((UBYTE)(ControlDifference) * (UBYTE)(P_Gain)));
I_Portion = (SINT16)(-((UBYTE)(ControlDifference) * (UBYTE)(I_Gain)));
}
if (I_PortionK_1 > MAXINTEGRAL)
I_PortionK_1 = MAXINTEGRAL;
else if (I_PortionK_1 < MININTEGRAL)
I_PortionK_1 = MININTEGRAL;
I_PortionK_1 = I_PortionK_1 + I_Portion;
}
return (I_PortionK_1 + P_Portion);
/*****************************************************************************\
* void Motor_Stalled_Protection (void): This subroutines doesn't let the *
* motor to stop. It calls NextSequence if a period of *
* time has passed and no hall sensor changes have
*
* arrived. If a longer period of time has passed with *
* no hall sensor changes, the motor is stopped. *
* *
* Parameters: None. *
* *
* Return: None. *
\*****************************************************************************/
void MotorStalledProtection(void) // 140 max, 43 typ
{
extern UBYTE FAULTState;
Time_Out++;
/* If no hall sensor interrupt has occured in a timeframe of 250 milli
second, stop the motor and quit process execution */
if (Time_Out > 250)
DRM007
BLDC Motor Control Board for Industrial and Appliance Applications
134 Source Code MOTOROLA