3 phase inverter controlled by an Arduino ATmega328 HD

µÃÖ#include"avr/io.h"

#define cbi(sfr,bit)SFR_BYTE(sfr)&=_BV(bit)

#define sbi(sfr,bit)SFR_BYTE(sfr)| =_BV(bit)

#define UN (400.0) // motor rated voltage

#define FN (50.0) // motor nominal frequency

#define P (UN/FN) // associate Determining the ratio of voltage to nominal frequency

#define T_PWM (0.000255) // PWM signal period - set by the prescaler in the counters

#define T_MAX (4.0) // Specify the maximum output voltage period

#define T_MIN (0.02) // minimum output voltage

#define K_MAX floor (T_MAX/T_PWM) // number of period values for T_MAX

#define K_MIN ceil (T_MIN/T_PWM) // number of period values for T_MIN

volatile static unsigned int length_tab_sin; // variable containing the number of values in the full // period of the output voltage

static unsigned int i = 0; // auxiliary variable

volatile static unsigned int main_counter = 0; // variable in the interrupt

// ^ every T_PWM period increasing its value by 1

static unsigned int next_value_sin = 0; // variable which value sin should be calculated

static double t_param = 50; // parameter specifying the period of the output voltage

static float t = T_PWM; // T_PWM

static float omega_t; // pulsation of the output voltage multiplied by T_PWM

static float t_out; // output voltage period

static float U_o_param; // parameter specifying the size of the output voltage

// ^ calculated on the basis of t_out and U_in

static unsigned int ocr0a, ocr0b, ocr1a; // auxiliary variables to store obl. fillings

static unsigned int ocr1b, ocr2a, ocr2b; // ^

static double sin_in; // variable containing the parameter of the function sin

static double error = 1; // variable used to stop generating voltage when overloaded

static unsigned int analog = 0; // variable containing the measured value

static double U_in = 0; // variable holding the voltage measurement of the intermediate system

static double U_rms_max; // maximum currently possible to generate the effective voltage value

static bool a = 0; // logical variable for the implementation of two alternating measurements

//void setup()

//{

// Serial.begin(57600);

//}

int main()

{

io_init(); // initiate entry and exit

timers_init(); // initialization of PWM meters

adc_init(); // initialization of the ADC transducer

while (1) // infinite loop with the main program

{

if (i == 185) // condition specifying the entry to the change function

{ // parameter of the discharge voltage, calling approx. 100ms

chang_para(); // function to change the parameters of the output voltage

i = 0;

}

next_value_sin = main_counter % length_tab_sin; // the next sine value to be calculated

sin_in = omega_t*next_value_sin;

// calculating the value to registers specifying the completion of the output signal /

ocr0a = round(error * (U_o_param * (sin(sin_in) + 1) * 254 / 2) + 1); // pin

ocr0b = ocr0a - 1;

ocr1a = round (error * (U_o_param * (sin(sin_in - 2.09) + 1) * 254 / 2) + 1); // pin

ocr1b = ocr1a - 1;

ocr2a = round(error * (U_o_param * (sin(sin_in + 2.09) + 1) * 254 / 2) + 1); // pin

ocr2b = ocr2a - 1;

// updating values in registers /

cli(); // prohibition on obsloge interruptions in case if

// an interrupt occurred during the upgrade

OCR0A = ocr0a; // pin

OCR0B = ocr0b; // pin

OCR1AL = ocr1a; // pin

OCR1BL = ocr1b; // pin

OCR2A = ocr2a; // pin

OCR2B = ocr2b; // pin

sei(); // allow for interruption obsloge

i++;

}

void adc_init()

{

ADCSRA |= _BV(ADEN); // start the transmitter

ADCSRA |= _BV(ADPS2); // setting the prescaler

ADCSRA |= _BV(ADPS1); // ^

ADCSRA |= _BV(ADPS0); // ^

ADMUX |= _BV(REFS0); // reference voltage set as power supply

ADMUX |= ADMUX &= 0b11110000; // choose the ADC0 input for measurement

}

void timers_init()

{

cli(); // interrupt handler is forbidden

// timer0 init

TCCR0A |= _BV(COM0A1) | _BV(COM0B0) | _BV(COM0B1) | _BV(WGM00);

TCCR0B |= _BV(CS01); // preskaler 8 | _BV(WGM02)

TIMSK0 |= _BV (TOIE0); // flag from value 0 enabled //

// timer1 init

TCCR1A |= _BV(COM1A1) | _BV(COM1B0) | _BV(COM1B1) | _BV(WGM10);

TCCR1B |= _BV (CS11); // preskaler 8 // | _BV(WGM02)

// timer2 init

TCCR2A |= _BV(COM2A1) | _BV(COM2B0) | _BV(COM2B1) | _BV(WGM20);

TCCR2B |= _BV(CS21); // preskaler 8 | _BV(WGM02)

// resetting counter values

TCNT0 = 0;

TCNT1L = 0;

TCNT2 = 0; /* the counter counts in g3re to 255, then in d3 ณ: / \ / \ / \

at the value of 255 there is an interruption at which it occurs

voltage and current measurements

sei(); // allow for interruption obsloge

}

void io_init()

{

pinMode(13, OUTPUT); // OC0A Arduino Mega2560 pin 13

pinMode(4, OUTPUT); // OC0B Arduino Mega2560 pin 4

pinMode(11, OUTPUT); // OC1A Arduino Mega2560 pin 11

pinMode(12, OUTPUT); // OC1B Arduino Mega2560 pin 12

pinMode(10, OUTPUT); // OC2A Arduino Mega2560 pin 10

pinMode(9, OUTPUT); // OC2B Arduino Mega2560 pin 9

pinMode(14, INPUT_PULLUP); // up Arduino Mega2560 14

pinMode(15, INPUT_PULLUP); // dn Arduino Mega2560 15

pinMode(16, OUTPUT); // Arduino Mega2560 16

}

ISR(TIMER0_OVF_vect) // interrupt at 0 counter 0

{

analog = ADC;

if (a)

{

U_in = 0.0709 * analog;

ADMUX |= _BV(MUX0); // choose the ADC1 input to measure the current

}

else

{

ADMUX |= ADMUX &= 0b11110000; // select the ADC0 input to measure the voltage

if (analog > 579)

{

error = 0; // if the overload turn off the voltage generation

digitalWrite(16, HIGH); // lighting the diode

}

ADCSRA |= _BV(ADSC); // start reading the measurement

a = a ^ 1; // the XOR gate negates the logical value a

main_counter++;

if (main_counter >= length_tab_sin) main_counter = 0;

}

void chang_para()

{

t_param = map(analogRead(3), 0, 102, 0, 100);

U_rms_max = U_in * 0.62; // value 0.62 experimentally limited

bool up; // logical variable, informs you that the button has been pressed to increase the frequency

bool down; // logical variable, informs you that the button has been pressed to decrease the frequency

up = digitalRead(14); // read: if you press the button, increase the frequency

down = digitalRead(15); // read: if you press the button you will decrease the frequency

if (!up) t_param--; // if you press the button to increase the frequency then you will decrease the period

if (!down) t_param ++; // if the button you press decreases the frequency, it will increase the period

if (t_param < 0) t_param = 0; // protection of exceeding the extreme values

if (t_param > 100) t_param = 100; // ^

length_tab_sin = ceil((K_MAX - K_MIN) * t_param / 500 + K_MIN); // amount of values filled in one period

t_out = T_PWM * length_tab_sin; // calculate the period of the output voltage

omega_t = t * 2 * PI / t_out; // calculate the output voltage pulsation

U_o_param = (P / t_out) / U_rms_max; // calculate the parameter determining the value of the output voltage

if (t_out > 1) U_o_param = 0.5 * (18.5 / U_rms_max); // voltage at the output at low frequencies of 10v

if (U_o_param > 1) U_o_param = 1; //protection of exceeding the extreme values

error = 1; //if the overload turn off the voltage generation

//digitalWrite(13, HIGH); //diode lighting

//if the overload turn off the voltage generation

digitalWrite(16, LOW); //diode lighting

// Serial.println(t_param);

}§â´Â Sompong Tungmepol

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//Arduino Atmega 168 Atmega 328P 3 phase induction motor Variable Speed Controller //Code

// Complier By Arduino Version 101 Version 106 Software

//ÃØè¹¹Õéà»ç¹áºº AUTO RE RUN â¤ê´¹ÕéãªéÇÍÅÅØèÁ 5KB µÑÇà´ÕÂÇ·ÓË¹éÒ·Õè »Ô´ -»Ô´ »ÃÑºÃÍº ãËéãªé R //4K7 µèÍ ä¿+5Vdc áÅéÇµèÍà¢éÒ ¢Ò¢éÒ§´éÒ¹ + MAX ¢Í§ VR µèÍ R 1K-10 K µèÍ à¢éÒ A3 ¢Í§ //ATmega 168 ATmega 328 P

#define UN (400.0) //napiecie znamionowe silnika

#define FN (50.0) //czestotliwosc znamionowa silnika

#define P (UN/FN) //wsp. okreslajacy proporcje napiecia do czestotliwoci znamionowej

#define T_PWM (0.000255) //okres sygnalu PWM - ustawiony przez preskaler w licznikach

#define T_MAX (4.0) //okreslenie maksymalnego okresu napiecia wyjsciowego

#define T_MIN (0.02) //minimalny okres napiecia wyjsciowego

#define K_MAX floor(T_MAX/T_PWM) //liczba wartosci okresu dla T_MAX

#define K_MIN ceil(T_MIN/T_PWM) //liczba wartosci okresu dla T_MIN

volatile static unsigned int dlugosc_tab_sin; //zmienna zawierajaca liczbe wartosci w pelnym

//okresie napiecia wyjsciowego

static unsigned int i = 0; //zmienna pomocniacza

volatile static unsigned int licznik_glowny = 0;//zmienna wystepujaca w przerwaniu czyklicznie

//^ co okres T_PWM zwiekszajaca swoja wartosc o 1

static unsigned int next_value_sin = 0; //zmienna ktora wartosc sin nalezy obliczyc

static double t_param=100; //parametr okreslajacy okres napiecia wyjsciowego

static float t = T_PWM; //T_PWM

static float omega_t; //pulsacja napiecia wyjsciowego pomnozona przez T_PWM

static float t_out; //okres wyjsciowy napiecia

static float U_o_param; //parametr okreslajacy wielkosc napiecie wyjsciowego

//^ obliczony na podstawie t_out i U_in

static unsigned int ocr0a, ocr0b, ocr1a;//zmienne pomocnicze do przechowywania obl. wypelnien

static unsigned int ocr1b, ocr2a, ocr2b;//^

static double sin_in; //zmienna zawierajaca parametr funkcji sin

static double blad = 1; //zmienna uzyta do zatrzymania generowania napiecia przy przeciazeniu

static unsigned int analog=0; //zmienna zawierajaca zmierzona wartosc

static double U_in = 0; //zmienna przechowuj¹ca pomiar napiecia ukladu posredniczacego

static double U_rms_max; //maksymalna aktualnie mozliwa do generacji wartosc skuteczna napiecia

static bool a=0; //zmienna logiczna do realizacji dwoch naprzemiennych pomiarow

int main()

{

io_init(); //inicjalizacja wejsc i wyjsc

timers_init(); //inicjalizacja licznikow PWM

adc_init(); //inicjalizacja przetwornika ADC

while(1) //nieskonczona petla z programem glownym

{

if(i==185) //warunek okreslajacy wejscie do funkcji zmiany

{ //parametrow napiecia wysjciowego, wywolanie co okolo 100ms

zmien_predkosc(); //funkcja zmiany parametrow napiecia wyjsciowego

i=0;

}

next_value_sin = licznik_glowny%dlugosc_tab_sin; //kolejna warto?æ sinusa do obliczenia

sin_in=omega_t*next_value_sin;

//obliczenie wartosci do rejestrow okreslajacych wypelnienie sygnalu wyjscioweg/

ocr0a = round(blad*(U_o_param*(sin(sin_in)+1)*254/2)+1);//pin 6

ocr0b = ocr0a - 1;

ocr1a = round(blad*(U_o_param*(sin(sin_in-2.09)+1)*254/2)+1);//pin 9

ocr1b = ocr1a - 1;

ocr2a = round(blad*(U_o_param*(sin(sin_in+2.09)+1)*254/2)+1);//pin 11

ocr2b = ocr2a - 1;

//uaktualnienie wartosci w rejestrach/

cli(); //zabronienie na obsloge przerwan na wypadek gdyby

//podczas uaktualniania wystapilo przerwanie

OCR0A = ocr0a; //pin 6

OCR0B = ocr0b; //pin 5

OCR1AL = ocr1a; //pin 9

OCR1BL = ocr1b; //pin 10

OCR2A = ocr2a; //pin 11

OCR2B = ocr2b; //pin 3

sei(); //zezwolenie na obsloge przerwan

i++;

}

void adc_init()

{

ADCSRA |= _BV(ADEN);//uruchomienie przetwornika

ADCSRA |= _BV(ADPS2);//ustawienie preskalera

ADCSRA |= _BV(ADPS1);//^

ADCSRA |= _BV(ADPS0);//^

ADMUX |= _BV(REFS0);// napiecie odniesienia ustawione jako napiecie zasilania

ADMUX |= ADMUX &= 0b11110000; //wybranie wejscia ADC0 do pomiaru

}

void timers_init()

{

cli(); // obsloga przerwan zabroniona

//timer0 init

TCCR0A |= _BV(COM0A1) | _BV(COM0B0) | _BV(COM0B1) | _BV(WGM00);

TCCR0B |= _BV(CS01); //preskaler 8

TIMSK0 |= _BV(TOIE0); //flaga od wartosci 0 wlaczona

//timer1 init

TCCR1A |= _BV(COM1A1) | _BV(COM1B0) | _BV(COM1B1) | _BV(WGM10);

TCCR1B |= _BV(CS11); //preskaler 8

//timer2 init

TCCR2A |= _BV(COM2A1) | _BV(COM2B0) | _BV(COM2B1) | _BV(WGM20);

TCCR2B |= _BV(CS21); //preskaler 8

//zerowanie wartosci liczników

TCNT0 = 0;

TCNT1L = 0;

TCNT2 = 0;

/* licznik zlicza w góre do 255, nastepnie w dó³: /\/\/\

przy wartosci 255 jest przerwanie przy ktorym dokonuje sie

pomiarow napiec i pradow

sei(); //zezwolenie na obsloge przerwan

}

void io_init()

{

pinMode(6, OUTPUT); //OC0A

pinMode(5, OUTPUT); //OC0B

pinMode(9, OUTPUT); //OC1A

pinMode(10, OUTPUT);//OC1B

pinMode(11, OUTPUT);//OC2A

pinMode(3, OUTPUT); //OC2B

pinMode(2, INPUT);

pinMode(4, INPUT);

pinMode(12, OUTPUT);

}

ISR(TIMER0_OVF_vect) //przerwanie przy wartosci 0 licznika0

{

analog = ADC;

if(a)

{

U_in = 0.0709*analog;

ADMUX |= _BV(MUX0); //wybranie wejscia ADC1 do pomiaru pradu

}

else

{

ADMUX |= ADMUX &= 0b11110000; //wybranie wejscia ADC0 do pomiaru napiecia

if(analog>579)

{

blad = 0; //jezeli przeciazenie wylaczenie generacji napiecia

digitalWrite(12, HIGH); //zapalenie diody

}

ADCSRA |= _BV(ADSC);//start odczytywania pomiaru

a=a^1; //bramka XOR neguje wartosc logiczna a

licznik_glowny++;

if(licznik_glowny>=dlugosc_tab_sin) licznik_glowny = 0;

}

void zmien_predkosc()

{

t_param = map(analogRead(3),0,1023,0,100);

U_rms_max = U_in*0.62; //wartosc 0.62 wyzanczona eksperymentalnie

bool up; //zmienna logiczna, informuje o nacisnietym przycisku zwieksz czestotliwosc

bool down; //zmienna logiczna, informuje o nacisnietym przycisku zmiejsz czestotliwosc

up = digitalRead(4); //odczyt: czy nacisniety przycisk zwieksz czestotliwosc

down = digitalRead(2); //odczyt: czy nacisniety przycisk zmiejsz czestotliwosc

if(up==1) t_param--; //jezeli nacisniety przycisk zwieksz czestotliwosc to zmiejsz okres

if(down==1) t_param++; //jezeli nacisniety przycisk zmniejsz czestotliwosc to zwieksz okres

if(t_param<0) t_param=0; //zabezpieczenie przekroczenia wartosci skrajnych

if(t_param>100) t_param=100;//^

dlugosc_tab_sin = ceil((K_MAX-K_MIN)*t_param/500+K_MIN);//ilosc wartosci wypelnien w jednym okresie

t_out = T_PWM*dlugosc_tab_sin; //obliczenie okresu napiecia wyjsciowego

omega_t = t*2*PI/t_out; //obliczenie pulsacji napiecia wyjsciowego

U_o_param = (P/t_out)/U_rms_max; //obliczenie parametru okreslajacego wielkosc napiecia wyjsciowego

if(t_out>1) U_o_param = 0.5*(18.5/U_rms_max); //napiêcie na wyjsciu przy niskiej czestotliwosci 10V

if(U_o_param>1) U_o_param=1;

//zabezpieczenie przekroczenia wartosci skrajnych

blad = 1; //jezeli przeciazenie wylaczenie generacji napiecia

digitalWrite(12, LOW); //zapalenie diody

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// software for direct drive motor Arduino mega2560

//Danijel Gorupec, 2015

//Edit prescaller 4khz And Sine wave For IGBT GT15J331 L6569 4 Khz PWM By Sompong Tungmepol //2/16/2017

#include <avr/io.h>

#include <avr/interrupt.h>

#include <avr/pgmspace.h>

#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit))

#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))

char sin_table[64]=

{

0, 3, 6, 9, 12, 15, 18, 21, 24, 27, 30, 33, 36, 39, 42, 45,

48, 51, 54, 57, 59, 62, 65, 67, 70, 73, 75, 78, 80, 82, 85, 87,

89, 91, 94, 96, 98, 100,102,103,105,107,108,110,112,113,114,116,

117,118,119,120,121,122,123,123,124,125,125,126,126,126,126,126,

};

unsigned char pwm_table[256]; //holds V-F curve adjusted PWM outputs

unsigned char speed; //output frequency (uint: 0.25Hz)

unsigned char direction; //rotation direction (0 forwared, 1 reverse)

unsigned int phase; //the phase of output sine signal

//some handy macros

#define LED_ON {SREG&=0x7F;PORTF|=0x10;SREG|=0x80;}

#define LED_OFF {SREG&=0x7F;PORTF&=0xEF;SREG|=0x80;}

#define INVERTOR_ENABLE {PORTF|=0x20;PORTB|=0x03;PORTE|=0x03;PORTG|=0x03;PORTH|=0x03;PORTL|=0x03;}

#define INVERTOR_DISABLE {PORTF&=0xDF;PORTB&=0xFF;}

#define INPUT_JOG ((PINF&0x02)==0)

#define INPUT_RUN ((PINF&0x04)==0)

#define INPUT_DIR ((PINF&0x08)==0)

#define JOG_SPEED 20

//timer interrupt routing

//It is called in fixed intervals. It advances sine wave phase.

ISR (TIMER0_OVF_vect)

{

if (direction==0)

phase+=speed; //phase: 0...16384 equals 0...2*pi

else

phase-=speed;

unsigned int p=phase/64;

unsigned char p1=p%256;

unsigned char p2=p1+85;

unsigned char p3=p1+171;

OCR1A=pwm_table[p2];//pwm_table[p1];

OCR1B=OCR1A-1;//pwm_table[p2];

OCR2A=pwm_table[p3];//pwm_table[p3];

OCR0A=pwm_table[p1];//OCR1A-1;

OCR0B=OCR0A-1;//OCR1B-1;

OCR2B=OCR2A-1;//OCR2A-1;

OCR3A=pwm_table[p2];//pwm_table[p1];

OCR3B=OCR3A-1;//pwm_table[p2];

OCR4A=pwm_table[p3];//pwm_table[p3];

OCR3C=pwm_table[p1];//OCR1A-1;

OCR4B=OCR4A-1;//OCR1B-1;

OCR4C=OCR3C-1;//OCR2A-1;

OCR5A=pwm_table[p2];//pwm_table[p1];

OCR5B=pwm_table[p3];//pwm_table[p3];

OCR5C=pwm_table[p1];//OCR1A-1;

//adjust the next timer interrupt time

TCNT0=256-240;

}

//this function makes a short pause

//time uint: about 10 microseconds (100 = 1 millisecond)

void WaitLoop(unsigned int time)

{

unsigned int i,j;

for (j=0;j<time;j++)

{

for (i=0;i<8;i++) //the ATmega is runs at 8MHz

}

char analog_channel=0;

void ReadAnalogs(void)

{

if (ADCSRA&(1<<ADSC)) {return;} //the conversion still not finished

if (analog_channel==0)

{

//ADCH is the speed reference (but inverted!!! - 255=min speed, 0=max speed)

unsigned char spd_ref=255-ADCH;

if (INPUT_JOG) spd_ref=JOG_SPEED;

if (INPUT_DIR)

{

if (direction==0) spd_ref=10;

if (speed==10) direction=1; //only allow direction change at minimum speed

}

else

{

if (direction==1) spd_ref=10;

if (speed==10) direction=0; //only alow direction change at minimum speed

}

if (spd_ref>speed) speed++;

if (spd_ref<speed) speed--;

if (speed<10) speed=10; //the minimum speed

//in next reading we again read this channel because there are no other analog channels used

analog_channel=0;

ADMUX=0x60;

}

ADCSRA|=(1<<ADSC);

}

int main()

{

//Set ATmega8 fuses to 8MHz, internal RC

//Hardware cosist of ATMega8 microcontroller, 6xIRF840 MOSFET (3 halfbridges)

//wait a bit, cca 300ms, for easier programming

//(otherwise programmer has problems downloading)

WaitLoop(30000);

//F0 - programable input 1 A0(speed reference - inverted analog input, +5V=min speed, 0V=max speed)

//F1 - programable input 2 A1(jog - digital input, active low)

//F2 - programable input 3 A2(run signal - digital input, active low)

//F3 - programable input 4 A3(rotation direction - digital input, active low)

//F4 - LED output A4

//F5 - enable output A5

DDRF=(unsigned char)0xF8;

DDRB=(unsigned char)0xF0;

DDRE=(unsigned char)0x38;

DDRG=(unsigned char)0x20;

DDRH=(unsigned char)0x78;

DDRL=(unsigned char)0x38;

PORTF|=0x0F;

INVERTOR_DISABLE;

//LED test (0.3 sec)

LED_ON;

WaitLoop(30000);

LED_OFF;

//configuring ADC (trigger mode)

ADMUX=0x60; //AVcc for reference, right aligned, mux=ADC0

ADCSRA=0xC7; //ADC frequency (62.5kHz), results in 4.8kHz sampling rate

//wait one more milisecond

WaitLoop(100);

//timer0 init

TCCR0A |= _BV(COM0A1) | _BV(COM0B0) | _BV(COM0B1) | _BV(WGM00);

TCCR0B |= _BV(CS01); //preskaler 8

TIMSK0 |= _BV(TOIE0); //flaga od wartosci 0 wlaczona

//timer1 init

TCCR1A |= _BV(COM1A1) | _BV(COM1B0) | _BV(COM1B1) | _BV(WGM10);

TCCR1B |= _BV(CS11); //preskaler 8

//timer2 init

TCCR2A |= _BV(COM2A1) | _BV(COM2B0) | _BV(COM2B1) | _BV(WGM20);

TCCR2B |= _BV(CS21); //preskaler 8

//timer3 init

TCCR3A |= _BV(COM3A1) | _BV(COM3B0) | _BV(COM3B1) | _BV(WGM30);

TCCR3B |= _BV(CS31);

TCCR3C |= _BV(COM3A1) | _BV(COM3B0) | _BV(COM3B1) | _BV(WGM33);

TCCR3C |= _BV(CS31);//;|(1 << CS00); //preskaler 8

cbi (TCCR3A, COM3C0);

sbi (TCCR3A, COM3C1);

//timer4 init

TCCR4A |= _BV(COM4A1) | _BV(COM4B0) | _BV(COM4B1) | _BV(WGM40);

TCCR4B |= _BV(CS41);

TCCR4C |= _BV(CS40); //preskaler 8

cbi (TCCR4A, COM4C0);

sbi (TCCR4A, COM4C1);

//timer5 init

TCCR5A |= _BV(COM5A1) | _BV(COM5B0) | _BV(COM5B1) | _BV(WGM50);

TCCR5B |= _BV(CS51); //preskaler 8

TCCR5C |= _BV(CS51);

cbi (TCCR5A, COM5C0);

sbi (TCCR5A, COM5C1);

//configuring timer 0

TCNT0=0x00; //timer set to start value

TCCR0A|=0x04; //timer/counter 0 input frequency divider set to /8 (that is, 1MHz)

TIMSK0|=0x01; //timer/counter 0 interrupt enabled

SREG|=0x80; //global interrupt enabled

speed=10; //2.5 Hz

//OCR1A=128;

//OCR1B=128;

//OCR2=128;

unsigned char led_cntr=0;

while (1)

{

int i;

if ((INPUT_RUN) || (INPUT_JOG))

{

if (led_cntr>16) LED_OFF else LED_ON //we just make short blinks to save power

led_cntr++;

//The VFfactor defines VF curve (how V depends on speed)

int VFfactor=240; //»¡µÔ +18 äÁèà¡Ô¹ +180 This setting is for asynchronous motor in delta connection (230VAC delta / 400VAC star)

//int VFfactor=speed/2+14; //this settign is for 200VAC servo motor with permanent magnet

if (VFfactor>255) VFfactor=255;

//computing PWM ratios (as we have nothing else to do, this is not optimized)

for (i=0;i<64;i++)

{

int A=sin_table[i];

if (A>127) A=-256+A; //wow! how come I cannot cast char to int?

A=A*VFfactor;

A=A/256;

A+=128+6;

if (A>250) A=250; //because signal delay, we cannot actually create very short impulses

SREG&=0x7F;

pwm_table[i]=A;

pwm_table[127-i]=A;

SREG|=0x80;

A=255-A;

SREG&=0x7F;

pwm_table[i+128]=A;

pwm_table[255-i]=A;

SREG|=0x80;

}

INVERTOR_ENABLE;

}

else

{

INVERTOR_DISABLE;

OCR1A=128;

OCR1B=128;

OCR2A=128;

OCR0A=128;

OCR0B=128;

OCR2B=128;

OCR3A=128;

OCR3B=128;

OCR3C=128;

OCR4A=128;

OCR4B=128;

OCR4C=128;

OCR5A=128;

OCR5B=128;

OCR5C=128;

for (i=0;i<255;i++)

{

SREG&=0x7F;

pwm_table[i]=128;

SREG|=0x80;

}

led_cntr=0;

LED_OFF;

speed=10;

}

ReadAnalogs();

}

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karolina maria3 à´×Í¹·Õè¼èÒ¹ÁÒ

hello good night, I'm experimenting with a 3-phase inverter design with arduino nano, put the program that is here on the internet, but the fault that I present is that it rotates like a stepper motor, please please me you can indicate that it may be happening thank you, karolinamarialopezjhonson@hotmail.com

hola buenas noches, estoy experimentando con un dise?o de inversor trif?sico con arduino nano, pongo el programa que est? aqu? en internet, pero la falla que les presento es que gira como un motor paso a paso, por favor, me pueden indicar que puede estar sucediendo gracias, karolinamarialopezjhonson@hotmail.com?

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Mani sambandam6 à´×Í¹·Õè¼èÒ¹ÁÒ

can i use this in inverter to excite the induction generator? do you have Spwm or SVM code for 3 phase inverter??

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Mani sambandam6 à´×Í¹·Õè¼èÒ¹ÁÒ

i can use directly these code in 328? is that closed loop control??

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Sompong Tungmepol6 à´×Í¹·Õè¼èÒ¹ÁÒ

//ãªé¢ÑºÁÍàµÍÃìÊÒÁà¿Ê ä´é¾ÃéÍÁ¡Ñ¹ 5 µÑÇ

// DDS Sine Generator 3 phase motor x5 mit ATMEGA 2560 PWM 4KHZ

#include "arduino.h" //Store data in flash (program) memory instead of SRAM

#include "avr/pgmspace.h"

#include "avr/io.h"

const byte sine256[] PROGMEM = {

127,130,133,136,139,143,146,149,152,155,158,161,164,167,170,173,176,178,181,184,187,190,192,195,198,200,203,205,208,210,212,215,217,219,221,223,225,227,229,231,233,234,236,238,239,240,

242,243,244,245,247,248,249,249,250,251,252,252,253,253,253,254,254,254,254,254,254,254,253,253,253,252,252,251,250,249,249,248,247,245,244,243,242,240,239,238,236,234,233,231,229,227,225,223,

221,219,217,215,212,210,208,205,203,200,198,195,192,190,187,184,181,178,176,173,170,167,164,161,158,155,152,149,146,143,139,136,133,130,127,124,121,118,115,111,108,105,102,99,96,93,90,87,84,81,78,

76,73,70,67,64,62,59,56,54,51,49,46,44,42,39,37,35,33,31,29,27,25,23,21,20,18,16,15,14,12,11,10,9,7,6,5,5,4,3,2,2,1,1,1,0,0,0,0,0,0,0,1,1,1,2,2,3,4,5,5,6,7,9,10,11,12,14,15,16,18,20,21,23,25,27,29,31,

33,35,37,39,42,44,46,49,51,54,56,59,62,64,67,70,73,76,78,81,84,87,90,93,96,99,102,105,108,111,115,118,121,124

};

#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) //define a bit to have the properties of a clear bit operator

#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit))//define a bit to have the properties of a set bit operator

int PWM1= 2;// PWM1 output, phase 1

int PWM2 = 3; //[WM2 ouput, phase 2

int PWM3 = 4; //PWM3 output, phase 3

int PWM4= 5;// PWM1 output, phase 1

int PWM5 = 6; //[WM2 ouput, phase 2

int PWM6 = 7; //PWM3 output, phase 3

int PWM7 = 8;// PWM1 output, phase 1

int PWM8 = 9; //[WM2 ouput, phase 2

int PWM9 = 10; //PWM3 output, phase 3

int PWM10 = 11;// PWM1 output, phase 1

int PWM11 = 12; //[WM2 ouput, phase 2

int PWM12 = 13; //PWM3 output, phase 3

int PWM13 = 44;// PWM1 output, phase 1

int PWM14 = 45; //[WM2 ouput, phase 2

int PWM15 = 46; //PWM3 output, phase 3

int offset_1 = 85; //offset 1 is 120 degrees out of phase with previous phase, Refer to PWM to sine.xls

int offset_2 = 170; //offset 2 is 120 degrees out of phase with offset 1. Refer to PWM to sine.xls

int program_exec_time = 52; //monitor how quickly the interrupt trigger

int ISR_exec_time = 53; //monitor how long the interrupt takes

double dfreq;

const double refclk=31376.6; // measured output frequency

// variables used inside interrupt service declared as voilatile

volatile byte current_count; // Keep track of where the current count is in sine 256 array

volatile byte ms4_delay; //variable used to generate a 4ms delay

volatile byte c4ms; // after every 4ms this variable is incremented, its used to create a delay of 1 second

volatile unsigned long phase_accumulator; // pahse accumulator

volatile unsigned long tword_m; // dds tuning word m, refer to DDS_calculator (from Martin Nawrath) for explination.

void setup()

{

pinMode(PWM1, OUTPUT); //sets the digital pin as output

pinMode(PWM2, OUTPUT); //sets the digital pin as output

pinMode(PWM3, OUTPUT);

pinMode(PWM4, OUTPUT); //sets the digital pin as output

pinMode(PWM5, OUTPUT); //sets the digital pin as output

pinMode(PWM6, OUTPUT); //sets the digital pin as output

pinMode(PWM7, OUTPUT); //sets the digital pin as output

pinMode(PWM8, OUTPUT); //sets the digital pin as output

pinMode(PWM9, OUTPUT);

pinMode(PWM10, OUTPUT); //sets the digital pin as output

pinMode(PWM11, OUTPUT); //sets the digital pin as output

pinMode(PWM12, OUTPUT);

pinMode(PWM13, OUTPUT); //sets the digital pin as output

pinMode(PWM14, OUTPUT); //sets the digital pin as output

pinMode(PWM15, OUTPUT);

pinMode(50, OUTPUT); //sets the digital pin as output

pinMode(52, OUTPUT); //sets the digital pin as output

pinMode(53, OUTPUT);

sbi(PORTB,program_exec_time); //Sets the pin

Setup_timer0();

Setup_timer1();

Setup_timer2();

Setup_timer3();

Setup_timer4();

Setup_timer5();

//Disable Timer 1 interrupt to avoid any timing delays

cbi (TIMSK0,TOIE0); //disable Timer0 !!! delay() is now not available

sbi (TIMSK2,TOIE2); //enable Timer2 Interrupt

tword_m=pow(2,32)*dfreq/refclk; //calulate DDS new tuning word

}

void loop()

{

while(1)

{

sbi(PORTB,program_exec_time); //Sets the pin

if (c4ms > 0) // c4ms = 4ms, thus 4ms *250 = 1 second delay

{

c4ms=0; //Reset c4ms

//dfreq=map(analogRead(0),0,1230,0,1000);

dfreq=map(analogRead(0),0,1023,0,1000); //Read voltage on analog 1 to see desired output frequency, 0V = 0Hz, 5V = 1.023kHz

cbi (TIMSK2,TOIE2); //Disable Timer2 Interrupt

tword_m=pow(2,32)*dfreq/refclk; //Calulate DDS new tuning word

sbi (TIMSK2,TOIE2); //Enable Timer2 Interrupt

}

void Setup_timer0(void)

{

TCCR0B = (TCCR0B & 0b11111000) | 0x02;

// Timer1 PWM Mode set to Phase Correct PWM

cbi (TCCR0A, COM0A0);

sbi (TCCR0A, COM0A1);

cbi (TCCR0A, COM0B0);

sbi (TCCR0A, COM0B1);

// Mode 1 / Phase Correct PWM

sbi (TCCR0A, WGM00);

cbi (TCCR0A, WGM01);

}

void Setup_timer1(void)

{

TCCR1B = (TCCR1B & 0b11111000) |0x02;

// Timer1 Clock Prescaler to : 8

cbi (TCCR1A, COM1A0);

sbi (TCCR1A, COM1A1);

cbi (TCCR1A, COM1B0);

sbi (TCCR1A, COM1B1);

sbi (TCCR1A, WGM10);

cbi (TCCR1A, WGM11);

cbi (TCCR1B, WGM12);

cbi (TCCR1B, WGM13);

}

void Setup_timer2()

{

TCCR2B = (TCCR2B & 0b11111000) | 0x02;// Timer2 Clock Prescaler to : 8

cbi (TCCR2A, COM2A0); // clear Compare Match

sbi (TCCR2A, COM2A1);

cbi (TCCR2A, COM2B0);

sbi (TCCR2A, COM2B1);

// Mode 1 / Phase Correct PWM

sbi (TCCR2A, WGM20);

cbi (TCCR2A, WGM21);

cbi (TCCR2B, WGM22);

}

void Setup_timer3(void)

{

TCCR3B = (TCCR3B & 0b11111000) |0x02;// Timer1 Clock Prescaler to : 8

cbi (TCCR3A, COM3A0);

sbi (TCCR3A, COM3A1);

cbi (TCCR3A, COM3B0);

sbi (TCCR3A, COM3B1);

cbi (TCCR3A, COM3C0);

sbi (TCCR3A, COM3C1);

// Mode 1 / Phase Correct PWM

sbi (TCCR3A, WGM30);

cbi (TCCR3A, WGM31);

cbi (TCCR3B, WGM32);

cbi (TCCR3B, WGM33);

cbi (TCCR3C, WGM33);

}

void Setup_timer4()

{

TCCR4B = (TCCR4B & 0b11111000) | 0x02;// Timer2 Clock Prescaler to : 8

cbi (TCCR4A, COM4A0); // clear Compare Match

sbi (TCCR4A, COM4A1);

cbi (TCCR4A, COM4B0);

sbi (TCCR4A, COM4B1);

cbi (TCCR4A, COM4C0);

sbi (TCCR4A, COM4C1);

sbi (TCCR4A, WGM40);

cbi (TCCR4A, WGM41);

cbi (TCCR4B, WGM42);

cbi (TCCR4C, WGM43);

}

void Setup_timer5(void)

{

TCCR5B = (TCCR5B & 0b11111000) |0x02;// Timer1 Clock Prescaler to : 8

cbi (TCCR5A, COM5A0);

sbi (TCCR5A, COM5A1);

cbi (TCCR5A, COM5B0);

sbi (TCCR5A, COM5B1);

cbi (TCCR5A, COM5C0);

sbi (TCCR5A, COM5C1);

sbi (TCCR5A, WGM50);

cbi (TCCR5A, WGM51);

cbi (TCCR5B, WGM52);

cbi (TCCR5B, WGM53);

cbi (TCCR5C, WGM50);

}

ISR(TIMER2_OVF_vect)

{

cbi(PORTD,program_exec_time); //Clear the pin

sbi(PORTD,ISR_exec_time); // Sets the pin

phase_accumulator=phase_accumulator+tword_m; //Adds tuning M word to previoud phase accumulator. refer to DDS_calculator (from Martin Nawrath) for explination.

current_count=phase_accumulator >> 24; // use upper 8 bits of phase_accumulator as frequency information

//motor 1

OCR3B = pgm_read_byte_near(sine256 + current_count); // read value fron ROM sine table and send to PWM

OCR3C = pgm_read_byte_near(sine256 + (uint8_t)(current_count + offset_1)); // read value fron ROM sine table and send to PWM, 120 Degree out of phase of PWM1

OCR0B = pgm_read_byte_near(sine256 + (uint8_t)(current_count + offset_2));// read value fron ROM sine table and send to PWM, 120 Degree out of phase of PWM2

//motor 2

OCR3A = OCR3B;

OCR4A = OCR3C;

OCR4B = OCR0B;

//motor 3

OCR4C = OCR3B;

OCR2B = OCR3C;

OCR2A = OCR0B;

//motor 4

OCR1A = OCR3B;

OCR1B = OCR3C;

OCR0A = OCR0B;

//motor 5

OCR5A = OCR3B;

OCR5B = OCR3C;

OCR5C = OCR0B;

//increment variable ms4_delay every 4mS/125 = milliseconds 32uS

if(ms4_delay++ == 125)

{

c4ms++;

ms4_delay=0; //reset count

}

cbi(PORTD,ISR_exec_time); //Clear the pin

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3 phase inverter controlled by an Arduino ATmega328 HD

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