From 444252c465a0f680d140385f0a791f50e9f8bb32 Mon Sep 17 00:00:00 2001 From: Razvalyaev Date: Thu, 16 Jan 2025 09:27:10 +0300 Subject: [PATCH] =?UTF-8?q?=D0=A7=D0=B5=D1=82=20=D0=BD=D0=B5=20=D0=BF?= =?UTF-8?q?=D0=BE=D0=BB=D1=83=D1=87=D0=B0=D0=B5=D1=82=D1=81=D1=8F=20=D0=B7?= =?UTF-8?q?=D0=B0=D0=BF=D1=83=D1=81=D1=82=D0=B8=D1=82=D1=8C=20simple=5Fsca?= =?UTF-8?q?lar?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- Inu/Src/main/params_pwm24.h | 2 +- Inu/def.h | 2 +- Inu/main_matlab/init28335.c | 3 +- Inu/main_matlab/main_matlab.c | 121 ++++++++++++++++++++++++++++------ Inu/main_matlab/param.c | 14 ++-- Inu/main_matlab/param.h | 1 + Inu/main_matlab/pwm_sim.c | 12 +++- Inu/mcu_wrapper.c | 24 +++---- Inu/mcu_wrapper_conf.h | 1 - inu_im_2wnd_3lvl.slx | Bin 86858 -> 86890 bytes 10 files changed, 139 insertions(+), 41 deletions(-) diff --git a/Inu/Src/main/params_pwm24.h b/Inu/Src/main/params_pwm24.h index a2571a6..fd97d61 100644 --- a/Inu/Src/main/params_pwm24.h +++ b/Inu/Src/main/params_pwm24.h @@ -15,7 +15,7 @@ #define FREQ_PWM 450 //800 /* частота ШИМа */ //3138 // 2360//2477 // #endif -#define DEF_PERIOD_MIN_MKS 60 // 80 //60 // берем минимальное время работы ключа = 2*TK_MIN_TIME_MKS = 30 с запасом +#define DEF_PERIOD_MIN_MKS 0 // 80 //60 // берем минимальное время работы ключа = 2*TK_MIN_TIME_MKS = 30 с запасом // + TK_DEAD_TIME_MKS + 5mks запас = 60 #define DEF_PERIOD_MIN_BR_XTICS 165 diff --git a/Inu/def.h b/Inu/def.h index 49488b2..4cc3abc 100644 --- a/Inu/def.h +++ b/Inu/def.h @@ -11,7 +11,7 @@ // раскомментировать, если есть сдвиг между обмотками ГЭД (30 град.) #define SHIFT -#define SIMULINK_SEQUENCE V_PWM24_PHASE_SEQ_NORMAL_BCA +#define SIMULINK_SEQUENCE V_PWM24_PHASE_SEQ_NORMAL_ABC /* V_PWM24_PHASE_SEQ_NORMAL_ABC, - не то V_PWM24_PHASE_SEQ_NORMAL_BCA, - похоже на правду V_PWM24_PHASE_SEQ_NORMAL_CAB, - жопа diff --git a/Inu/main_matlab/init28335.c b/Inu/main_matlab/init28335.c index 29cb321..233007e 100644 --- a/Inu/main_matlab/init28335.c +++ b/Inu/main_matlab/init28335.c @@ -25,8 +25,9 @@ void init28335(void) { svgen_pwm24_1.phase_sequence = SIMULINK_SEQUENCE; svgen_pwm24_2.phase_sequence = SIMULINK_SEQUENCE; - edrk.zadanie.iq_Izad = _IQ(0.5); + edrk.zadanie.iq_Izad = _IQ(1); edrk.disable_alg_u_disbalance = 1; + edrk.zadanie.iq_limit_power_zad = _IQ(1); //analog_zero.iqU_1 = 2048; //analog_zero.iqU_2 = 2048; } //void init28335(void) diff --git a/Inu/main_matlab/main_matlab.c b/Inu/main_matlab/main_matlab.c index e04e43c..09370d9 100644 --- a/Inu/main_matlab/main_matlab.c +++ b/Inu/main_matlab/main_matlab.c @@ -55,26 +55,109 @@ void mcu_simulate_step(void) calc_norm_ADC_0(0); - vectorControlConstId(edrk.zadanie.iq_power_zad_rmp, edrk.zadanie.iq_oborots_zad_hz_rmp, - WRotor.RotorDirectionSlow, WRotor.iqWRotorSumFilter, - edrk.Mode_ScalarVectorUFConst, - edrk.MasterSlave, edrk.zadanie.iq_Izad, wd, - edrk.master_theta, edrk.master_Iq, edrk.iq_power_kw_another_bs, - &edrk.tetta_to_slave, &edrk.Iq_to_slave, &edrk.P_to_master, - 0, 0); - test_calc_vect_dq_pwm24_Ing(vect_control.iqTheta, vect_control.iqUdKm, vect_control.iqUqKm, - edrk.disable_alg_u_disbalance, - edrk.zadanie.iq_kplus_u_disbalance_rmp, edrk.zadanie.iq_k_u_disbalance_rmp, - filter.iqU_1_fast, filter.iqU_2_fast, - 0, - edrk.Uzad_max, - edrk.MasterSlave, - edrk.flag_second_PCH, - &edrk.Kplus, &edrk.Uzad_to_slave); - analog.PowerFOC = edrk.P_to_master; - Fzad = vect_control.iqFstator; - Izad_out = edrk.Iq_to_slave; + + + + + + + + + + + + + + + + + + if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_SCALAR_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_SCALAR_POWER) + { +#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM) + PWM_LINES_TK_20_ON; +#endif + simple_scalar(1, + 0, + WRotor.RotorDirectionSlow, + WRotor.iqWRotorSumFilter, //rotor_22220.iqFlong * rotor_22220.direct_rotor; + WRotor.iqWRotorSumFilter, //rotor_22220.iqFout * rotor_22220.direct_rotor; + //0, 0, + edrk.zadanie.iq_oborots_zad_hz_rmp, + edrk.all_limit_koeffs.sum_limit, + edrk.zadanie.iq_Izad_rmp, + edrk.iq_bpsi_normal, + analog.iqIm, + // analog.iqU_1_long+analog.iqU_2_long, + edrk.zadanie.iq_ZadanieU_Charge_rmp + edrk.zadanie.iq_ZadanieU_Charge_rmp, + analog.iqIin_sum, + edrk.zadanie.iq_power_zad_rmp, + edrk.iq_power_kw_full_znak,//(filter.PowerScalar+edrk.iq_power_kw_another_bs), + edrk.zadanie.iq_limit_power_zad_rmp, edrk.Mode_ScalarVectorUFConst, + edrk.master_Izad, + edrk.MasterSlave, + edrk.count_bs_work + 1, + &Fzad, + &Uzad1, + &Uzad2, + &Izad_out); + + if (edrk.cmd_disable_calc_km_on_slave) + Uzad_from_master = edrk.master_Uzad; + else + { +#if (DISABLE_CALC_KM_ON_SLAVE==1) + Uzad_from_master = edrk.master_Uzad; +#else + Uzad_from_master = Uzad1; +#endif + + } + + test_calc_simple_dq_pwm24_Ing(Fzad, Uzad1, edrk.disable_alg_u_disbalance, + edrk.zadanie.iq_kplus_u_disbalance, edrk.zadanie.iq_k_u_disbalance, filter.iqU_1_fast, filter.iqU_2_fast, + 0, + edrk.Uzad_max, + edrk.master_theta, + Uzad_from_master, + edrk.MasterSlave, + edrk.flag_second_PCH, + &edrk.Kplus, &edrk.tetta_to_slave, &edrk.Uzad_to_slave); + + } // end ALG_MODE_SCALAR + else + { + if (edrk.flag_second_PCH == 0) { + wd = uf_alg.winding_displacement_bs1; + } + else { + wd = uf_alg.winding_displacement_bs2; + } + + analog_dq_calc_external(wd, uf_alg.tetta); + + vectorControlConstId(edrk.zadanie.iq_power_zad_rmp, edrk.zadanie.iq_oborots_zad_hz_rmp, + WRotor.RotorDirectionSlow, WRotor.iqWRotorSumFilter, + edrk.Mode_ScalarVectorUFConst, + edrk.MasterSlave, edrk.zadanie.iq_Izad, wd, + edrk.master_theta, edrk.master_Iq, edrk.iq_power_kw_another_bs, + &edrk.tetta_to_slave, &edrk.Iq_to_slave, &edrk.P_to_master, + 0, 0); + + test_calc_vect_dq_pwm24_Ing(vect_control.iqTheta, vect_control.iqUdKm, vect_control.iqUqKm, + edrk.disable_alg_u_disbalance, + edrk.zadanie.iq_kplus_u_disbalance_rmp, edrk.zadanie.iq_k_u_disbalance_rmp, + filter.iqU_1_fast, filter.iqU_2_fast, + 0, + edrk.Uzad_max, + edrk.MasterSlave, + edrk.flag_second_PCH, + &edrk.Kplus, &edrk.Uzad_to_slave); + analog.PowerFOC = edrk.P_to_master; + Fzad = vect_control.iqFstator; + Izad_out = edrk.Iq_to_slave; + }// end ALG_MODE_FOC if (xpwm_time.one_or_two_interrupts_run == PWM_ONE_INTERRUPT_RUN) write_swgen_pwm_times(PWM_MODE_RELOAD_FORCE); diff --git a/Inu/main_matlab/param.c b/Inu/main_matlab/param.c index 2656f1e..c594733 100644 --- a/Inu/main_matlab/param.c +++ b/Inu/main_matlab/param.c @@ -32,15 +32,15 @@ void readInputParameters(const real_T *u) { edrk.Go = u[nn++]; u[nn++]; - edrk.Mode_ScalarVectorUFConst = ALG_MODE_FOC_POWER; + edrk.Mode_ScalarVectorUFConst = ALG_MODE_SCALAR_OBOROTS; - edrk.zadanie.iq_power_zad = _IQ(0.5); - edrk.zadanie.iq_oborots_zad_hz = _IQ(0.5); + edrk.zadanie.iq_power_zad = _IQ(1); + edrk.zadanie.iq_oborots_zad_hz = _IQ(1); edrk.MasterSlave = MODE_MASTER; edrk.master_theta; edrk.master_Iq; - edrk.iq_power_kw_another_bs; + edrk.iq_power_kw_another_bs = edrk.P_to_master; edrk.tetta_to_slave; edrk.Iq_to_slave; edrk.P_to_master; @@ -84,6 +84,12 @@ void writeOutputParameters(real_T* xD) { xD[nn++] = t12sim.ciB; // Только для просмотра + //xD[nn++] = t1sim.ciA; + //xD[nn++] = t1sim.dtsim.ciA_DT; + //xD[nn++] = t1sim.cmpA; + //xD[nn++] = t1sim.tcnt; + //xD[nn++] = 0; + //xD[nn++] = 0; xD[nn++] = xpwm_time.Ta0_0; xD[nn++] = xpwm_time.Ta0_1; xD[nn++] = xpwm_time.Tb0_0; diff --git a/Inu/main_matlab/param.h b/Inu/main_matlab/param.h index fc425ea..d99f8e4 100644 --- a/Inu/main_matlab/param.h +++ b/Inu/main_matlab/param.h @@ -6,6 +6,7 @@ void readInputParameters(const real_T* u); +void writeOutputParameters(real_T* xD); extern int Unites[UNIT_QUA_UNITS][UNIT_LEN]; extern int CAN_timeout[UNIT_QUA]; diff --git a/Inu/main_matlab/pwm_sim.c b/Inu/main_matlab/pwm_sim.c index 395fa9a..d836a55 100644 --- a/Inu/main_matlab/pwm_sim.c +++ b/Inu/main_matlab/pwm_sim.c @@ -55,11 +55,15 @@ void initSimulateTim(TimerSimHandle* tsim, int period, double step) tsim->TxCntPlus = step; tsim->dtsim.DtCntPeriod = (int)(DT / hmcu.SimSampleTime); } - +double tickprev; void SimulateMainPWM(TimerSimHandle* tsim, int compare) { if (simulateTimAndGetCompare(tsim, compare)) + { mcu_simulate_step(); + tickprev = hmcu.SimTime; + } + simulateActionActionQualifierSubmodule(tsim); simulateDeadBendSubmodule(tsim); simulateTripZoneSubmodule(tsim); @@ -69,8 +73,6 @@ void SimulatePWM(TimerSimHandle* tsim, int compare) { simulateTimAndGetCompare(tsim, compare); simulateActionActionQualifierSubmodule(tsim); - //tsim->ciA = tsim->dtsim.ciA_DT; - //tsim->ciB = tsim->dtsim.ciB_DT; simulateDeadBendSubmodule(tsim); simulateTripZoneSubmodule(tsim); } @@ -112,6 +114,10 @@ void simulateActionActionQualifierSubmodule(TimerSimHandle* tsim) void simulateDeadBendSubmodule(TimerSimHandle* tsim) { + tsim->ciA = tsim->dtsim.ciA_DT; + tsim->ciB = tsim->dtsim.ciB_DT; + return; + // Моделируем Dead-Band Submodule if (tsim->dtsim.stateDt == 1) { tsim->ciA = tsim->dtsim.ciA_DT; diff --git a/Inu/mcu_wrapper.c b/Inu/mcu_wrapper.c index d91c7eb..1cd7d58 100644 --- a/Inu/mcu_wrapper.c +++ b/Inu/mcu_wrapper.c @@ -156,19 +156,21 @@ void SIM_deInitialize_Simulation(void) */ void SIM_writeOutputs(SimStruct* S) { - real_T* GPIO; + real_T* Output = ssGetOutputPortRealSignal(S,0); real_T* Out_Buff = ssGetDiscStates(S); - //-------------WRITTING GPIOS--------------- - for (int j = 0; j < OUT_PORT_NUMB; j++) - { - GPIO = ssGetOutputPortRealSignal(S, j); - for (int i = 0; i < OUT_PORT_WIDTH; i++) - { - GPIO[i] = Out_Buff[j * OUT_PORT_WIDTH + i]; - Out_Buff[j * OUT_PORT_WIDTH + i] = 0; - } - } + //-------------WRITTING OUTPUT-------------- + for (int i = 0; i < OUT_PORT_WIDTH; i++) + Output[i] = Out_Buff[i]; + //for (int j = 0; j < OUT_PORT_NUMB; j++) + //{ + // GPIO = ssGetOutputPortRealSignal(S, j); + // for (int i = 0; i < OUT_PORT_WIDTH; i++) + // { + // GPIO[i] = Out_Buff[j * OUT_PORT_WIDTH + i]; + // Out_Buff[j * OUT_PORT_WIDTH + i] = 0; + // } + //} //------------------------------------------ } //-------------------------------------------------------------// diff --git a/Inu/mcu_wrapper_conf.h b/Inu/mcu_wrapper_conf.h index 505e38f..e3334c0 100644 --- a/Inu/mcu_wrapper_conf.h +++ b/Inu/mcu_wrapper_conf.h @@ -58,7 +58,6 @@ #define OUT_PORT_NUMB 1 ///< number of output ports #define DISC_STATES_WIDTH OUT_PORT_WIDTH*OUT_PORT_NUMB ///< width of discrete states array -#define NPARAMS 1 //РєРѕР»-РІРѕ параметров (скаляров Рё векторов) #define RWORK_0_WIDTH 5 //width of the real-work vector #define IWORK_0_WIDTH 5 //width of the integer-work vector diff --git a/inu_im_2wnd_3lvl.slx b/inu_im_2wnd_3lvl.slx index 03186e62dede3d9f36cd033d83f265d4b323c65d..b7f8fa53d964be36760aa147922f8aabbc81b203 100644 GIT binary patch delta 25356 zcmV)5K*_(#rUmMz1+bk61m(s=;gg{VDSuHMAtl_ zJy_)~!cC_qzn$!<{eGY9hYc6<6a2P%cy68=OI^=O0AhnEYDUC8Y>YiHWeO;#_*ANq zHUJeCf?P!58hVW1bzX;ei+qV#mS~den2oTno?n$WAsNxsgY3t(X<>y=}KBpGS0 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