запущен проект motor identification c терминалкой

2026-06-05 12:15:36 +03:00
commit 177431f3d2
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--- a/Inu_im_1wnd_3lvl/Inu/def.h
+++ b/Inu_im_1wnd_3lvl/Inu/def.h
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+/**************************************************************************
+	Description: Âñÿêèå ðàçíûå ïåðåêëþ÷àòåëè è óñòàâêè.
+
+	Àâòîð: Óëèòîâñêèé Ä.È.
+	Äàòà ïîñëåäíåãî îáíîâëåíèÿ: 2021.11.08
+**************************************************************************/
+
+#ifndef DEF
+#define DEF
+
+// ðàñêîììåíòèðîâàòü, åñëè åñòü ñäâèã ìåæäó îáìîòêàìè ÃÝÄ (30 ãðàä.)
+#define SHIFT
+
+
+// ðåæèìû ðàáîòû (äëÿ state)
+#define	STATE_SHUTDOWN	0 //àâàðèéíàÿ îñòàíîâêà
+#define	STATE_STOP		1 //øòàòíàÿ îñòàíîâêà
+#define	STATE_WORK		2 //ðàáîòà
+
+
+// ÷àñòîòà òàêòîâûõ èìïóëüñîâ ïðîöåññîðà, Ãö
+#define FSYSCLKOUT	200e6 //150e6 //
+// prescaled version of the system clock and is used by
+// all submodules within the ePWM, Ãö
+// (ñì. EPwmxRegs.TBCTL.bit.CLKDIV è EPwmxRegs.TBCTL.bit.HSPCLKDIV)
+#define FTBCLK		(FSYSCLKOUT*0.5*0.5)
+//#define FTBCLK		(FSYSCLKOUT*0.5*0.5*0.5*0.5)
+// ïåðèîä ØÈÌ, c
+#define T_PWM		2220e-6 //F_PWM = 450 Ãö
+//#define T_PWM		6000e-6 //F_PWM = 166.7 Ãö
+// ïåðèîä âûçîâà îñíîâíîé ïðîãðàììû, ñ
+#define TY			(T_PWM*0.5)
+// "ìåðòâîå âðåìÿ", ñ
+#define DT			30e-6
+//#define DT			60e-6
+// Time-Base Period Register, åä. ñ÷¸ò÷èêà òàéìåðà
+#define T1_PRD		(FTBCLK*T_PWM*0.5)
+// ìàêñèìàëüíîå çíà÷åíèå àìïëèòóäû íàïðÿæåíèÿ óïðàâëåíèÿ óñòàíàâëèâàåì òàê,
+// ÷òîáû ìèíèìàëüíàÿ øèðèíà èìïóëüñà áûëà 10 ìêñ, åä. ñ÷¸ò÷èêà òàéìåðà
+#define Y_LIM		(T1_PRD - (DT + 10e-6)*FTBCLK)
+
+
+// êîíñòàíòû äëÿ âû÷èñëåíèÿ âñÿêîãî
+#define PI2			6.283185307179586476925286766559	//pi*2
+#define SQRT2		1.4142135623730950488016887242097	//sqrt(2)
+#define SQRT3		1.7320508075688772935274463415059	//sqrt(3)
+#define ISQRT3		0.57735026918962576450914878050196	//1./sqrt(3)
+
+// Íîìèíàëüíûå âåëè÷èíû ÃÝÄ
+// ... ìîùíîñòü íà âàëó, Âò
+#define P_NOM		(5000e3)
+// ... ëèíåéíîå íàïðÿæåíèå, Â (ampl)
+#define U_NOM		(3000.*SQRT2)
+// ... ìåõàíè÷åñêàÿ ñêîðîñòü, îá/ìèí
+#define N_NOM		165.
+// ... ÷èñëî ïàð ïîëþñîâ
+#define PP			6.
+// ... êîýôôèöèåíò ìîùíîñòè
+#define COS_FI		0.89
+// ... ÊÏÄ
+#define EFF			0.962
+// ... ïðèâåäåííûé ê âàëó ìîìåíò èíåðöèè, êã*ì^2
+#define J			(87e3)
+// ... ïîëíàÿ ìîùíîñòü, ÂÀ
+#define S_NOM		(P_NOM/(COS_FI*EFF))
+// ... ìåõàíè÷åñêàÿ ñêîðîñòü, ðàä/ñ
+#define WM_NOM		(N_NOM/60.*PI2)
+// ... ìîìåíò íà âàëó, Í*ì
+#define M_NOM		(P_NOM/WM_NOM)
+
+
+// Áàçîâûå âåëè÷èíû ÃÝÄ
+// ... ïîëíàÿ ìîùíîñòü, BA
+#define S_BAZ		S_NOM
+// ... ëèíåéíîå íàïðÿæåíèå, Â (ampl)
+#define U_BAZ		U_NOM
+// ... ôàçíûé òîê, À (ampl)
+#define I_BAZ		(S_BAZ*2./(U_BAZ*SQRT3)) //0.5 - ò.ê. îáìîòîê äâå
+// ... ìåõàíè÷åñêàÿ ñêîðîñòü, îá/ìèí
+#define N_BAZ		N_NOM
+// ... ìåõàíè÷åñêàÿ ñêîðîñòü, ðàä/ñ
+#define WM_BAZ		(N_BAZ/60.*PI2)
+// ... ýëåêòðè÷åñêàÿ ñêîðîñòü, ðàä/ñ
+#define WE_BAZ		(WM_BAZ*PP)
+// ... ìîìåíò íà âàëó, Í*ì
+#define M_BAZ		(S_BAZ/WM_BAZ)
+// ... ïîòîêîñöåïëåíèå ñòàòîðà, Âá
+#define PSI_BAZ		(U_BAZ/(WE_BAZ*SQRT3))
+// ... èíäóêòèâíîñòü, Ãí
+#define L_BAZ		(PSI_BAZ/I_BAZ)
+// ... ñîïðîòèâëåíèå, Îì
+#define R_BAZ		(U_BAZ/(I_BAZ*SQRT3))
+
+
+// äëÿ ïåðåñ÷¸òà èç àìïëèòóäû ôàçíîãî íàïðÿæåíèÿ â åäèíèöû ñèãíàëà óïðàâëåíèÿ
+#define U_2_Y	(T1_PRD*SQRT3/U_BAZ)
+
+// íàïðÿæåíèå â çâåíå ïîñò. òîêà, êîòîðîå äàëî áû íà âûõîäå ÀÖÏ çíà÷. 2048, Â
+#define UDC_SENS_MAX	(U_BAZ*1.15*1.3)
+// âûõîäíîé òîê, êîòîðûé äàë áû íà âûõîäå ÀÖÏ çíà÷. 2048, À (ampl)
+#define IAC_SENS_MAX	(I_BAZ*1.5)
+// number of pulses per rev. (from tacho, Hall, optical sensor...etc)
+#define NOP				1024.
+// ïðèðàùåíèå ñ÷¸ò÷èêà QEP çà TY ñåê. ïðè ÷àñòîòå âðàù. WM_BAZ
+#define QEP_CNT_DEL_NOM	(NOP*4.*TY*WM_BAZ/PI2)
+
+
+// êîýôôèöèåíòû äëÿ ïåðåâîäà èçìåðåííûõ âåëè÷èí â o.e.
+#define GAIN_UDC		(UDC_SENS_MAX/(2048.*U_BAZ))
+#define GAIN_IAC		(IAC_SENS_MAX/(2048.*I_BAZ))
+#define GAIN_WM			(1.0/QEP_CNT_DEL_NOM)
+
+
+// ìèíèìàëüíàÿ ñêîðîñòü äëÿ ïåðåñ÷¸òà ìîùíîñòè â òîê, o.e.
+#define WM_MIN				0.03 //0.003 //?
+// äëÿ ïðîðåæèâàíèÿ ðåãóëÿòîðîâ ïîòîêà, ñêîðîñòè è ìîùíîñòè
+#define DECIM_PSI_WM_PM		2. //1. //5. //?
+
+
+// for specify the PLL
+#define PLLSTS_DIVSEL	2
+#define PLLCR_DIV		10
+
+// äëÿ âûâîäà
+#define	CONTROLLER_BIAS		3.2
+#define	CONTROLLER_GAIN		2500.
+
+// îáùåå êîëè÷åñòâî ïàðàìåòðîâ 
+#define PAR_NUMBER				400
+// íîìåð ïåðâîãî ðåäàêòèðóåìîãî ïàðàìåòðà
+#define FIRST_WRITE_PAR_NUM		150
+
+
+
+// Äèñêðåòíûå âõîäû/âûõîäû (begin)
+//-------------------------------------------------------------------------
+// âõîäû
+// ----------------------------
+#define DI_24V_SOURCE_FAULT		GpioDataRegs.GPBDAT.bit.GPIO50
+
+// âûõîäû
+// ----------------------------
+// ... ðàçíîå
+#define DO_GPIO00_SET			GpioDataRegs.GPASET.bit.GPIO0 = 1
+#define DO_GPIO00_CLEAR			GpioDataRegs.GPACLEAR.bit.GPIO0 = 1
+#define DO_GPIO01_SET			GpioDataRegs.GPASET.bit.GPIO1 = 1
+#define DO_GPIO01_CLEAR			GpioDataRegs.GPACLEAR.bit.GPIO1 = 1
+#define DO_GPIO02_SET			GpioDataRegs.GPASET.bit.GPIO2 = 1
+#define DO_GPIO02_CLEAR			GpioDataRegs.GPACLEAR.bit.GPIO2 = 1
+#define DO_GPIO03_SET			GpioDataRegs.GPASET.bit.GPIO3 = 1
+#define DO_GPIO03_CLEAR			GpioDataRegs.GPACLEAR.bit.GPIO3 = 1
+#define DO_GPIO04_SET			GpioDataRegs.GPASET.bit.GPIO4 = 1
+#define DO_GPIO04_CLEAR			GpioDataRegs.GPACLEAR.bit.GPIO4 = 1
+#define DO_GPIO05_SET			GpioDataRegs.GPASET.bit.GPIO5 = 1
+#define DO_GPIO05_CLEAR			GpioDataRegs.GPACLEAR.bit.GPIO5 = 1
+#define DO_GPIO06_SET			GpioDataRegs.GPASET.bit.GPIO6 = 1
+#define DO_GPIO06_CLEAR			GpioDataRegs.GPACLEAR.bit.GPIO6 = 1
+#define DO_GPIO07_SET			GpioDataRegs.GPASET.bit.GPIO7 = 1
+#define DO_GPIO07_CLEAR			GpioDataRegs.GPACLEAR.bit.GPIO7 = 1
+#define DO_GPIO08_SET			GpioDataRegs.GPASET.bit.GPIO8 = 1
+#define DO_GPIO08_CLEAR			GpioDataRegs.GPACLEAR.bit.GPIO8 = 1
+#define DO_GPIO09_SET			GpioDataRegs.GPASET.bit.GPIO9 = 1
+#define DO_GPIO09_CLEAR			GpioDataRegs.GPACLEAR.bit.GPIO9 = 1
+#define DO_GPIO10_SET			GpioDataRegs.GPASET.bit.GPIO10 = 1
+#define DO_GPIO10_CLEAR			GpioDataRegs.GPACLEAR.bit.GPIO10 = 1
+#define DO_GPIO11_SET			GpioDataRegs.GPASET.bit.GPIO11 = 1
+#define DO_GPIO11_CLEAR			GpioDataRegs.GPACLEAR.bit.GPIO11 = 1
+// ... íå èñïîëüçóþòñÿ
+#define DO_GPIO019_SET			GpioDataRegs.GPASET.bit.GPIO19 = 1
+#define DO_GPIO019_CLEAR		GpioDataRegs.GPACLEAR.bit.GPIO19 = 1
+#define DO_GPIO020_SET			GpioDataRegs.GPASET.bit.GPIO20 = 1
+#define DO_GPIO020_CLEAR		GpioDataRegs.GPACLEAR.bit.GPIO20 = 1
+#define DO_GPIO022_SET			GpioDataRegs.GPASET.bit.GPIO22 = 1
+#define DO_GPIO022_CLEAR		GpioDataRegs.GPACLEAR.bit.GPIO22 = 1
+#define DO_GPIO48_SET			GpioDataRegs.GPBSET.bit.GPIO48 = 1
+#define DO_GPIO48_CLEAR			GpioDataRegs.GPBCLEAR.bit.GPIO48 = 1
+#define DO_GPIO49_SET			GpioDataRegs.GPBSET.bit.GPIO49 = 1
+#define DO_GPIO49_CLEAR			GpioDataRegs.GPBCLEAR.bit.GPIO49 = 1
+// ... äëÿ óïðàâëåíèÿ íîæêîé CS EEPROM
+#define CS_SET					GpioDataRegs.GPBSET.bit.GPIO57 = 1
+#define CS_CLEAR				GpioDataRegs.GPBCLEAR.bit.GPIO57 = 1
+// ... ñâåòîäèîäû
+// (çåë¸íûé "Ãîòîâíîñòü")
+#define LED_GREEN1_ON			GpioDataRegs.GPBCLEAR.bit.GPIO59 = 1
+#define LED_GREEN1_OFF			GpioDataRegs.GPBSET.bit.GPIO59 = 1
+#define LED_GREEN1_TOGGLE		GpioDataRegs.GPBTOGGLE.bit.GPIO59 = 1
+// (çåë¸íûé "Ðàáîòà")
+#define LED_GREEN2_ON			GpioDataRegs.GPBCLEAR.bit.GPIO60 = 1
+#define LED_GREEN2_OFF			GpioDataRegs.GPBSET.bit.GPIO60 = 1
+#define LED_GREEN2_TOGGLE		GpioDataRegs.GPBTOGGLE.bit.GPIO60 = 1
+// (êðàñíûé "Àâàðèÿ")
+#define LED_RED_ON				GpioDataRegs.GPBCLEAR.bit.GPIO61 = 1
+#define LED_RED_OFF				GpioDataRegs.GPBSET.bit.GPIO61 = 1
+#define LED_RED_TOGGLE			GpioDataRegs.GPBTOGGLE.bit.GPIO61 = 1
+// ... íå èñïîëüçóåòñÿ
+#define DO_GPIO63_SET			GpioDataRegs.GPBSET.bit.GPIO63 = 1
+#define DO_GPIO63_CLEAR			GpioDataRegs.GPBCLEAR.bit.GPIO63 = 1
+//-------------------------------------------------------------------------
+// Äèñêðåòíûå âõîäû/âûõîäû (end)
+
+
+#include "DSP2833x_Device.h"
+#include "math.h"
+#include "C28x_FPU_FastRTS.h"
+
+
+// ñòðóêòóðà äëÿ ðåãóëÿòîðîâ òîêà (ñì. control_current())
+struct Cc {
+	short once;
+	float KpOrig;
+	float KiOrig;
+	float Kp;
+	float Ki;
+	float K1;
+	float K2;
+	float K3;
+	float Xyff;
+	float yffAux2;
+	float yffAux3;
+	float del;
+	float kYlim;
+	float yd1P;
+	float yd1I;
+	float yd1FF;
+	float yd1;
+	float yq1P;
+	float yq1I;
+	float yq1FF;
+	float yq1;
+	float y1;
+	float yd2P;
+	float yd2I;
+	float yd2FF;
+	float yd2;
+	float yq2P;
+	float yq2I;
+	float yq2FF;
+	float yq2;
+	float y2;
+	short y1LimFlag;
+	short y2LimFlag;
+}; //Cc
+
+
+// ñòðóêòóðà äëÿ ðåãóëÿòîðà ïîòîêà (ñì. control_flux())
+struct Cf {
+	short once;
+	float KpOrig;
+	float KiOrig;
+	float Kp;
+	float Ki;
+	float IdLim;
+	float IdLimNeg;
+	float del;
+	float idP;
+	float idI;
+	float idFF;
+	short idLimFlag;
+}; //Cf
+
+
+// ñòðóêòóðà äëÿ ðåãóëÿòîðîâ ñêîðîñòè è ìîùíîñòè (ñì. control_speed_power())
+struct Csp {
+	short once;
+	float KpOrig;
+	float KiOrig;
+	float Kp;
+	float Ki;
+	float kMeNom;
+	float del;
+	float iqP;
+	float iqI;
+	float iqFF;
+	float IlimIncr;
+	float iqLimAux;
+	float iqLimZi;
+	float IqLim;
+	float IqLimNeg;
+	float iqLim;
+	float iqLimNeg;
+	float delWmAbs;
+	float KizIncr;
+	float pmZiRampDown;
+	float wmLimZi;
+	float pmLimZi;
+	short iqLimFlag;
+}; //Csp
+
+
+// ñòðóêòóðà äëÿ çàïèñè â EEPROM âñÿêîãî
+struct Eprom {
+	short writeRequestNumber;
+	short readFaultNo;
+}; //Eprom
+
+
+// ñòðóêòóðà äëÿ çàïîìèíàíèÿ âåëè÷èí â ìîìåíò ñðàáàòûâàíèÿ çàùèòû
+struct Emerg {
+	float udc1;
+	float udc2;
+	float iac1;
+	float iac2;
+	float me;
+	float wm;
+	float pm;
+}; //Emerg
+
+
+// ñòðóêòóðà äëÿ inverse park (ñì. ipark())
+struct Ip {
+	float yx1Aux;
+	float yy1Aux;
+	float yx2Aux;
+	float yy2Aux;
+	float theta;
+	float sinTheta;
+	float cosTheta;
+	float yx1;
+	float yy1;
+	float yx2;
+	float yy2;
+}; //Ip
+
+
+// ñòðóêòóðà äëÿ indirect vector control (ñì. indirect_vector_control())
+struct Ivc {
+	short once;
+	float im;
+	float wr;
+	float wsNf;
+	float ws;
+	float sinTheta;
+	float cosTheta;
+	float id1;
+	float iq1;
+	float psi;
+	float id2;
+	float iq2;
+}; //Ivc
+
+
+// ñòðóêòóðà äëÿ äàííûõ, ïîëó÷åííûõ ñ ÂÓ
+struct Mst {
+	short pzMode;
+	short faultReset;
+	short start;
+	float wmZz;
+	float pmZz;
+	float wmLim;
+	float pmLim;
+	float pIncrMaxTy;
+	float pDecrMaxTy;
+}; //Mst
+
+
+// ñòðóêòóðà äëÿ ñìåùåíèé íóëÿ äàò÷èêîâ
+struct Offset {
+	short Udc1;
+	short Udc2;
+	short Ic1;
+	short Ic2;
+	short Ia1;
+	short Ia2;
+	short Ib1;
+	short Ib2;
+}; //Offset
+
+
+// ñòðóêòóðà äëÿ âûâîäà
+struct Out {
+	float K;
+	float udc1;
+	float udc2;
+	float iac1;
+	float iac2;
+	float me;
+	float wm;
+	float pm;
+}; //Out
+
+
+// ñòðóêòóðà äëÿ çàùèò
+struct Protect {
+	short IacMax;
+	short IacMin;
+	unsigned short Tdi24VSource;
+	volatile unsigned short tDI24VSource;
+	unsigned short TudcMin;
+	volatile unsigned short tUdc1Min;
+	volatile unsigned short tUdc2Min;
+	unsigned short TwmMax;
+	volatile unsigned short tWmMax;
+	float UdcMin;
+	float UdcMax;
+	float WmMax;
+}; //Protect
+
+
+// ñòðóêòóðà äëÿ ðåçóëüòàòîâ ÀÖÏ
+struct Result {
+	short udc1;
+	short udc2;
+	short ic1;
+	short ic2;
+	short ia1;
+	short ia2;
+	short ib1;
+	short ib2;
+}; //Result
+
+
+// ñòðóêòóðà äëÿ çàäàííîãî ïîòîêà (ñì. reference_flux())
+struct Rf {
+	short once;
+	float PsiZ;
+	float PsizIncr;
+	float psiZi;
+	float psiZCorr;
+	float psiSub;
+	float psiZCorr2;
+	float psiZ;
+	float KpsiSub;
+	float Kpsiz;
+	float WmNomPsi;
+	float YlimPsi;
+	float pPsiZ;
+	float psiZPrev1;
+	float psiZPrev2;
+	float psiZPrev3;
+}; //Rf
+
+
+// ñòðóêòóðà äëÿ çàäàííîé ìîùíîñòè (ñì. reference_power())
+struct Rp {
+	short once;
+	float pmZz;
+	float pmZi;
+	float pmZ;
+	float Kpmz;
+	float PlimIncr;
+	float KpIncrDecr;
+	volatile float pmEqv;
+}; //Rp
+
+
+// ñòðóêòóðà äëÿ çàäàííîé ñêîðîñòè (ñì. reference_speed())
+struct Rs {
+	short once;
+	float wmZz;
+	float wmZi;
+	float wmZ;
+	float Kwmz;
+	float WlimIncr;
+	float wzIncrNf;
+	float wzIncr;
+	float pWmZ;
+	float wmZPrev1;
+	float wmZPrev2;
+	float wmZPrev3;
+	short tPwmZ;
+}; //Rs
+
+
+// ñòðóêòóðà äëÿ ïàðàìåòðîâ ÃÝÄ
+struct SgmPar {
+	float Rs;
+	float Lls;
+	float Rr;
+	float Llr;
+	float Lm;
+	float Ls;
+	float Lr;
+	float SigmaLs;
+	float LmInv;
+	float LrInv;
+	float Tr;
+	float TrInv;
+	float Kl;
+	float KlInv;
+}; //SgmPar
+
+#endif //DEF