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Инвертор запустился. Были перепутаны верхние и нижние ключи

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Razvalyaev 2025-01-16 13:10:11 +03:00
parent a6023bbdcb
commit 8418069d9a
12 changed files with 176 additions and 69 deletions
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6
Inu/Src/main/alg_simple_scalar.c
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@ -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);

2
Inu/Src/main/params_pwm24.h
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@ -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

2
Inu/def.h
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@ -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

46
Inu/main_matlab/init28335.c
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@ -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.disable_alg_u_disbalance = 1;
edrk.zadanie.iq_Izad = _IQ(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)
{

79
Inu/main_matlab/main_matlab.c
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@ -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,
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.iqWRotorCalcBeforeRegul1, WRotor.iqWRotorCalcBeforeRegul1, edrk.zadanie.iq_oborots_zad_hz_rmp,
edrk.temper_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, (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);

44
Inu/main_matlab/param.c
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@ -32,26 +32,42 @@ 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;

42
Inu/main_matlab/pwm_sim.c
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@ -15,18 +15,18 @@ TimerSimHandle t12sim;
void Simulate_Timers(void)
{
SimulateMainPWM(&t1sim, xpwm_time.Ta0_0);
SimulatePWM(&t2sim, xpwm_time.Ta0_1);
SimulatePWM(&t3sim, xpwm_time.Tb0_0);
SimulatePWM(&t4sim, xpwm_time.Tb0_1);
SimulatePWM(&t5sim, xpwm_time.Tc0_0);
SimulatePWM(&t6sim, xpwm_time.Tc0_1);
SimulatePWM(&t7sim, xpwm_time.Ta1_0);
SimulatePWM(&t8sim, xpwm_time.Ta1_1);
SimulatePWM(&t9sim, xpwm_time.Tb1_0);
SimulatePWM(&t10sim, xpwm_time.Tb1_1);
SimulatePWM(&t11sim, xpwm_time.Tc1_0);
SimulatePWM(&t12sim, xpwm_time.Tc1_1);
SimulateMainPWM(&t1sim, xpwm_time.Ta0_1);
SimulateSimplePWM(&t2sim, xpwm_time.Ta0_0);
SimulateSimplePWM(&t3sim, xpwm_time.Tb0_1);
SimulateSimplePWM(&t4sim, xpwm_time.Tb0_0);
SimulateSimplePWM(&t5sim, xpwm_time.Tc0_1);
SimulateSimplePWM(&t6sim, xpwm_time.Tc0_0);
SimulateSimplePWM(&t7sim, xpwm_time.Ta1_1);
SimulateSimplePWM(&t8sim, xpwm_time.Ta1_0);
SimulateSimplePWM(&t9sim, xpwm_time.Tb1_1);
SimulateSimplePWM(&t10sim, xpwm_time.Tb1_0);
SimulateSimplePWM(&t11sim, 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.;

5
Inu/main_matlab/pwm_sim.h
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@ -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);

1
Inu/mcu_app_includes.h
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@ -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>

14
init.m
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@ -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
Fe = 18;%Ãö
Xm = 2.87 * 1.5;%2.87;%Îì
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

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