Инвертор запустился. Были перепутаны верхние и нижние ключи

Inu/Src/main/alg_simple_scalar.c

@@ -292,11 +292,11 @@ void simple_scalar(int n_alg, int n_wind_pump,
    if (n_alg==2)
      mzz_zad_int = zad_intensiv_q(simple_scalar1.mzz_add_2, simple_scalar1.mzz_add_2, mzz_zad_int, mzz_zad);
 
-//   myq_temp = _IQdiv(mzz_zad, simple_scalar1.iq_mzz_max_for_fzad);
+   myq_temp = _IQdiv(mzz_zad, simple_scalar1.iq_mzz_max_for_fzad);
 
-//   myq_temp = _IQmpy( myq_temp, fzad_add_max);
+   myq_temp = _IQsat( myq_temp, simple_scalar1.fzad_add_max, 0);
 
- //  fzad_add = myq_temp;
+   fzad_add = myq_temp;
 
 
    fzad_int = zad_intensiv_q(fzad_add, fzad_add, fzad_int, fzad);

Inu/Src/main/params_pwm24.h

@@ -12,7 +12,7 @@
 
 #define FREQ_PWM     450   //800     /* ÷àñòîòà ØÈÌà     */ //3138 // 2360//2477 //
 
-#define DEF_PERIOD_MIN_MKS              80 //60  // áåðåì ìèíèìàëüíîå âðåìÿ ðàáîòû êëþ÷à = 2*TK_MIN_TIME_MKS = 30  ñ çàïàñîì
+#define DEF_PERIOD_MIN_MKS              0 //60  // áåðåì ìèíèìàëüíîå âðåìÿ ðàáîòû êëþ÷à = 2*TK_MIN_TIME_MKS = 30  ñ çàïàñîì
                                             // + TK_DEAD_TIME_MKS + 5mks çàïàñ = 60
 #define DEF_PERIOD_MIN_BR_XTICS 165
 

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_REVERS_BAC
+#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

Inu/main_matlab/init28335.c

@@ -31,8 +31,9 @@ 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.disable_alg_u_disbalance = 0;
+    edrk.zadanie.iq_limit_power_zad = _IQ(1);
     //analog_zero.iqU_1 = 2048;
     //analog_zero.iqU_2 = 2048;
 } //void init28335(void)
@@ -79,17 +80,54 @@ void edrk_init_matlab(void)
     edrk.iq_bpsi_normal = _IQ(BPSI_NORMAL / NORMA_FROTOR);
     //    edrk.iq_f_provorot = _IQ(F_PROVOROT/NORMA_FROTOR);
 
+    //init_simple_scalar();
+
+    //edrk.flag_enable_update_hmi = 1;
+
+
+
+    edrk.Uzad_max = _IQ(K_STATOR_MAX); // ìàêñ àìïëèòóäà â Êì äëÿ ìèíèìàëüíîãî èìïóëüñà = DEF_PERIOD_MIN_MKS
+    edrk.iq_bpsi_normal = _IQ(BPSI_NORMAL / NORMA_FROTOR);
+    //   edrk.iq_bpsi_max = _IQ(BPSI_MAXIMAL/NORMA_FROTOR);
+    //    edrk.iq_f_provorot = _IQ(F_PROVOROT/NORMA_FROTOR);
+
     init_simple_scalar();
 
     edrk.flag_enable_update_hmi = 1;
+
+
+    edrk.zadanie.ZadanieU_Charge = 2500;
+    edrk.zadanie.iq_ZadanieU_Charge = _IQ(2500 / NORMA_ACP);
+    edrk.temper_limit_koeffs.sum_limit = _IQ(1);
+    simple_scalar1.fzad_add_max = _IQ(FZAD_ADD_MAX);
+    edrk.Mode_ScalarVectorUFConst = ALG_MODE_SCALAR_OBOROTS;
+
+    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.P_to_master;
+    edrk.tetta_to_slave;
+    edrk.Iq_to_slave;
+    edrk.P_to_master;
+
+    uf_alg.winding_displacement_bs1;
+
+    //edrk.zadanie.iq_set_break_level = _IQ(2500 / NORMA_ACP);
+
+    control_station.setup_time_detect_active[CONTROL_STATION_TERMINAL_RS232] = 50;
+
+
 }
 
 void set_zadanie_u_charge_matlab(void)
 {
 
-//	edrk.ZadanieU_Charge = edrk.ZadanieU_Charge_RS;
+	//edrk.ZadanieU_Charge = edrk.ZadanieU_Charge_RS;
 
-//	edrk.iq_ZadanieU_Charge = _IQ(edrk.ZadanieU_Charge/NORMA_ACP);
+	//edrk.iq_ZadanieU_Charge = _IQ(edrk.ZadanieU_Charge/NORMA_ACP);
 
     if (edrk.zadanie.ZadanieU_Charge<=100)
     {

Inu/main_matlab/main_matlab.c

@@ -56,26 +56,67 @@ void mcu_simulate_step(void)
 
 	calc_norm_ADC(0);
 
-	vectorControlConstId(edrk.zadanie.iq_power_zad_rmp, edrk.zadanie.iq_oborots_zad_hz_rmp,
-		WRotorPBus.RotorDirection1, WRotor.iqWRotorCalcBeforeRegul1,
-		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,
+	if (edrk.Mode_ScalarVectorUFConst == ALG_MODE_SCALAR_OBOROTS || edrk.Mode_ScalarVectorUFConst == ALG_MODE_SCALAR_POWER)
-		edrk.disable_alg_u_disbalance,
+	{
-		edrk.zadanie.iq_kplus_u_disbalance_rmp, edrk.zadanie.iq_k_u_disbalance_rmp,
+#if(_ENABLE_PWM_LINES_FOR_TESTS_PWM)
-		filter.iqU_1_fast, filter.iqU_2_fast,
+		PWM_LINES_TK_20_ON;
-		0,
+#endif
-		edrk.Uzad_max,
+		simple_scalar(1, 0,
-		edrk.MasterSlave,
+			WRotor.iqWRotorCalcBeforeRegul1, WRotor.iqWRotorCalcBeforeRegul1, edrk.zadanie.iq_oborots_zad_hz_rmp,
-		edrk.flag_second_PCH,
+			edrk.temper_limit_koeffs.sum_limit,
-		&edrk.Kplus, &edrk.Uzad_to_slave);
+			edrk.zadanie.iq_Izad_rmp, edrk.iq_bpsi_normal,
-	analog.PowerFOC = edrk.P_to_master;
+			analog.iqIm,
-	Fzad = vect_control.iqFstator;
+			//	                          analog.iqU_1_long+analog.iqU_2_long,
-	Izad_out = edrk.Iq_to_slave;
+			edrk.zadanie.iq_ZadanieU_Charge_rmp + edrk.zadanie.iq_ZadanieU_Charge_rmp,
+			analog.iqIin_sum,
+			edrk.zadanie.iq_power_zad_rmp, (filter.PowerScalar + edrk.iq_power_kw_another_bs),
+			edrk.master_Izad, edrk.MasterSlave,
+			&Fzad, &Uzad1, &Uzad2, &Izad_out);
+
+		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,
+			Uzad1, //edrk.master_Uzad,
+			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,
+			WRotorPBus.RotorDirection1, WRotor.iqWRotorCalcBeforeRegul1,
+			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);

Inu/main_matlab/param.c

@@ -32,36 +32,52 @@ void readInputParameters(const real_T *u) {
 	edrk.Go = u[nn++];
 
 	u[nn++];
-	edrk.Mode_ScalarVectorUFConst = ALG_MODE_FOC_POWER;
-
-	edrk.zadanie.iq_power_zad = _IQ(0.5);
-	edrk.zadanie.iq_oborots_zad_hz = _IQ(0.5);
-
-	edrk.MasterSlave = MODE_MASTER;
-	edrk.master_theta;
-	edrk.master_Iq;
-	edrk.iq_power_kw_another_bs;
-	edrk.tetta_to_slave;
-	edrk.Iq_to_slave;
-	edrk.P_to_master;
-
-	uf_alg.winding_displacement_bs1;
 } //void input_param(unsigned short num, unsigned short val)
 
 
 void writeOutputParameters(real_T* xD) {
 	int nn = 0;
 
+	//xD[nn++] = t2sim.ciA;
+	//xD[nn++] = t1sim.ciA;
+	//xD[nn++] = t2sim.ciB;
+	//xD[nn++] = t1sim.ciB;
+	//
+	//xD[nn++] = t4sim.ciA;
+	//xD[nn++] = t3sim.ciA;
+	//xD[nn++] = t4sim.ciB;
+	//xD[nn++] = t3sim.ciB;
+	//
+	//xD[nn++] = t6sim.ciA;
+	//xD[nn++] = t5sim.ciA;
+	//xD[nn++] = t6sim.ciB;
+	//xD[nn++] = t5sim.ciB;
+
+	//xD[nn++] = t1sim.ciB;
+	//xD[nn++] = t2sim.ciB;
+	//xD[nn++] = t1sim.ciA;
+	//xD[nn++] = t2sim.ciA;
+
+	//xD[nn++] = t3sim.ciB;
+	//xD[nn++] = t4sim.ciB;
+	//xD[nn++] = t3sim.ciA;
+	//xD[nn++] = t4sim.ciA;
+	//
+	//xD[nn++] = t5sim.ciB;
+	//xD[nn++] = t6sim.ciB;
+	//xD[nn++] = t5sim.ciA;
+	//xD[nn++] = t6sim.ciA;
+
 	xD[nn++] = t1sim.ciA;
 	xD[nn++] = t2sim.ciA;
 	xD[nn++] = t1sim.ciB;
 	xD[nn++] = t2sim.ciB;
-
+	 
 	xD[nn++] = t3sim.ciA;
 	xD[nn++] = t4sim.ciA;
 	xD[nn++] = t3sim.ciB;
 	xD[nn++] = t4sim.ciB;
-
+	 
 	xD[nn++] = t5sim.ciA;
 	xD[nn++] = t6sim.ciA;
 	xD[nn++] = t5sim.ciB;

Inu/main_matlab/pwm_sim.c

@@ -15,18 +15,18 @@ TimerSimHandle t12sim;
 
 void Simulate_Timers(void)
 {
-	SimulateMainPWM(&t1sim, xpwm_time.Ta0_0);
+	SimulateMainPWM(&t1sim, xpwm_time.Ta0_1);
-	SimulatePWM(&t2sim, xpwm_time.Ta0_1);
+	SimulateSimplePWM(&t2sim, xpwm_time.Ta0_0);
-	SimulatePWM(&t3sim, xpwm_time.Tb0_0);
+	SimulateSimplePWM(&t3sim, xpwm_time.Tb0_1);
-	SimulatePWM(&t4sim, xpwm_time.Tb0_1);
+	SimulateSimplePWM(&t4sim, xpwm_time.Tb0_0);
-	SimulatePWM(&t5sim, xpwm_time.Tc0_0);
+	SimulateSimplePWM(&t5sim, xpwm_time.Tc0_1);
-	SimulatePWM(&t6sim, xpwm_time.Tc0_1);
+	SimulateSimplePWM(&t6sim, xpwm_time.Tc0_0);
-	SimulatePWM(&t7sim, xpwm_time.Ta1_0);
+	SimulateSimplePWM(&t7sim, xpwm_time.Ta1_1);
-	SimulatePWM(&t8sim, xpwm_time.Ta1_1);
+	SimulateSimplePWM(&t8sim, xpwm_time.Ta1_0);
-	SimulatePWM(&t9sim, xpwm_time.Tb1_0);
+	SimulateSimplePWM(&t9sim, xpwm_time.Tb1_1);
-	SimulatePWM(&t10sim, xpwm_time.Tb1_1);
+	SimulateSimplePWM(&t10sim, xpwm_time.Tb1_0);
-	SimulatePWM(&t11sim, xpwm_time.Tc1_0);
+	SimulateSimplePWM(&t11sim, xpwm_time.Tc1_1);
-	SimulatePWM(&t12sim, xpwm_time.Tc1_1);
+	SimulateSimplePWM(&t12sim, xpwm_time.Tc1_0);
 }
 
 void Init_Timers(void)
@@ -52,12 +52,16 @@ void initSimulateTim(TimerSimHandle* tsim, int period, double step)
 {
 	tsim->dtsim.stateDt = 1;
 	tsim->TPr = period;
-	tsim->TxCntPlus = step;
+	tsim->TxCntPlus = step*2;
 	tsim->dtsim.DtCntPeriod = (int)(DT / hmcu.SimSampleTime);
 }
 
 void SimulateMainPWM(TimerSimHandle* tsim, int compare)
 {
+#ifdef UNITED_COUNTER
+	tsim->tcntAuxPrev = tsim->tcntAux;
+	tsim->tcntAux += tsim->TxCntPlus;
+#endif
 	if (simulateTimAndGetCompare(tsim, compare))
 		mcu_simulate_step();
 	simulateActionActionQualifierSubmodule(tsim);
@@ -65,9 +69,9 @@ void SimulateMainPWM(TimerSimHandle* tsim, int compare)
 	simulateTripZoneSubmodule(tsim);
 }
 
-void SimulatePWM(TimerSimHandle* tsim, int compare)
+void SimulateSimplePWM(TimerSimHandle* tsim, int compare)
 {
-	simulateTimAndGetCompare(tsim, compare);
+	simulateTimAndGetCompare(tsim, compare, 0);
 	simulateActionActionQualifierSubmodule(tsim);
 	//tsim->ciA = tsim->dtsim.ciA_DT;
 	//tsim->ciB = tsim->dtsim.ciB_DT;
@@ -76,11 +80,17 @@ void SimulatePWM(TimerSimHandle* tsim, int compare)
 }
 
 
-int simulateTimAndGetCompare(TimerSimHandle *tsim, int compare)
+int simulateTimAndGetCompare(TimerSimHandle* tsim, int compare)
 {
 	int interruptflag = 0;
+
+#ifdef UNITED_COUNTER
+	tsim->tcntAuxPrev = t1sim.tcntAuxPrev;
+	tsim->tcntAux = t1sim.tcntAux;
+#else
 	tsim->tcntAuxPrev = tsim->tcntAux;
 	tsim->tcntAux += tsim->TxCntPlus;
+#endif
 
 	if (tsim->tcntAux > tsim->TPr) {
 		tsim->tcntAux -= tsim->TPr * 2.;

Inu/main_matlab/pwm_sim.h

@@ -4,6 +4,8 @@
 #define PWM_SIM
 
 
+#define UNITED_COUNTER
+
 // Äëÿ ìîäåëèðîâàíèÿ Event Manager
 // ... Dead-Band Submodule
 typedef struct
@@ -44,14 +46,13 @@ extern TimerSimHandle t11sim;
 extern TimerSimHandle t12sim;
 
 
-
 void Simulate_Timers(void);
 void Init_Timers(void);
 
 
 void initSimulateTim(TimerSimHandle* tsim, int period, double step);
 void SimulateMainPWM(TimerSimHandle* tsim, int compare);
-void SimulatePWM(TimerSimHandle* tsim, int compare);
+void SimulateSimplePWM(TimerSimHandle* tsim, int compare);
 int simulateTimAndGetCompare(TimerSimHandle* tsim, int compare);
 void simulateActionActionQualifierSubmodule(TimerSimHandle* tsim);
 void simulateDeadBendSubmodule(TimerSimHandle* tsim);

Inu/mcu_app_includes.h

@@ -33,6 +33,7 @@
 #include "xp_write_xpwm_time.h"
 #include "global_time.h"
 #include "PWMTools.h"
+#include "alg_simple_scalar.h"
 
 #include <params.h>
 #include <params_alg.h>

init.m

@@ -27,17 +27,17 @@ NP = 0.08;
 
 % номинальные величины ГЭД
 % ... мощность на валу, Вт
-Pnom = 6300e3;
+Pnom = 5000e3*2;
 % ... линейное напряжение, В (rms)
-Unom = 3300;
+Unom = 3000;
 % ... механическая скорость, об/мин
-NmNom = 180;
+NmNom = 165;
 % ... число пар полюсов
 Pp = 6;
 % ... коэффициент мощности
 CosFi = 0.87;
 % ... КПД
-Eff = 0.968;
+Eff = 0.962;
 % ... приведенный к валу момент инерции, кг*м^2
 J = 87e3*0.5;
 % ... полная мощность, ВА
@@ -62,8 +62,8 @@ Rs = 11.8e-3;%
 Xls = 72.7e-3;%72.7e-3;%Ом
 Rr = 11.1e-3*2.0;%*0.8;%Ом
 Xlr = 85.5e-3;%Ом
-Xm  = 2.9322;%2.87;%Îì
+Xm  = 2.87 * 1.5;%2.87;%Îì
-Fe = 18;%Ãö
+Fe = 12;%Ãö
 Lls = Xls/(Fe*PI2);%Гн
 Llr = Xlr/(Fe*PI2);%Гн
 Lm = Xm/(Fe*PI2);%Гн
@@ -71,7 +71,7 @@ Lm = Xm/(Fe*PI2);%
 % ёмкость на входе INU, Ф
 Cdc = 50e-3;
 % снаберы в INU
-Csn = Pnom/(1000*WeNom*Unom^2)/10;%Ô (0.5 - ò.ê. ïðåîáðàçîâàòåëåé äâà)
+Csn = Pnom/(1000*WeNom*Unom^2)/10*0.5;%Ô (0.5 - ò.ê. ïðåîáðàçîâàòåëåé äâà)
 Rsn = 2*Ts/Csn*10;%Ом
 
 % постоянная времени фильтра для тока ГЭД, c