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2 Commits
e93242da70
...
4de878ee68
| Author | SHA1 | Date | |
|---|---|---|---|
| 4de878ee68 | |||
| 298ce44264 |
@ -21,6 +21,9 @@ void init28335(void) {
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Init_Adc_Variables();
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//svgen_pwm24_1.phase_sequence = SIMULINK_SEQUENCE;
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//svgen_pwm24_2.phase_sequence = SIMULINK_SEQUENCE;
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} //void init28335(void)
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void edrk_init_variables_matlab(void)
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@ -28,6 +28,7 @@ void mcu_simulate_step(void)
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{
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int ff = 0;
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static _iq Uzad1 = 0, Fzad = 0, Uzad2 = 0, Izad_out = 0, Uzad_from_master = 0;
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int pwm_enable_calc_main;
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_iq wd;
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if (edrk.flag_second_PCH == 0) {
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@ -37,23 +38,18 @@ void mcu_simulate_step(void)
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wd = uf_alg.winding_displacement_bs2;
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}
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//parse_parameters_from_all_control_station();
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//ff = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_ROTOR];
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//control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_SET_ROTOR] = ff;
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//control_station.array_cmd[CONTROL_STATION_VPU_CAN][CONTROL_STATION_CMD_SET_ROTOR] = ff;
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//control_station.array_cmd[CONTROL_STATION_ZADATCHIK_CAN][CONTROL_STATION_CMD_SET_ROTOR] = ff;
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//ff = control_station.active_array_cmd[CONTROL_STATION_CMD_SET_POWER];
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//control_station.array_cmd[CONTROL_STATION_INGETEAM_PULT_RS485][CONTROL_STATION_CMD_SET_POWER] = ff;
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detect_level_interrupt(edrk.flag_second_PCH);
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if (xpwm_time.where_interrupt == PWM_LOW_LEVEL_INTERRUPT ||
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xpwm_time.one_or_two_interrupts_run == PWM_ONE_INTERRUPT_RUN)
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{
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pwm_enable_calc_main = 1;
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}
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else
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{
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pwm_enable_calc_main = 0;
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}
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//if (control_station.active_array_cmd[CONTROL_STATION_CMD_ROTOR_POWER])
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//{
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// control_station.array_cmd[CONTROL_STATION_ZADATCHIK_CAN][CONTROL_STATION_CMD_SET_ROTOR] = 0;
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// control_station.array_cmd[CONTROL_STATION_VPU_CAN][CONTROL_STATION_CMD_SET_ROTOR] = 0;
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//}
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//parse_analog_data_from_active_control_station_to_alg();
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calc_norm_ADC_0(0);
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@ -77,6 +73,16 @@ void mcu_simulate_step(void)
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analog.PowerFOC = edrk.P_to_master;
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Fzad = vect_control.iqFstator;
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Izad_out = edrk.Iq_to_slave;
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if (xpwm_time.one_or_two_interrupts_run == PWM_ONE_INTERRUPT_RUN)
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write_swgen_pwm_times(PWM_MODE_RELOAD_FORCE);
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else
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{
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if (pwm_enable_calc_main)
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write_swgen_pwm_times(PWM_MODE_RELOAD_LEVEL_HIGH);
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else
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write_swgen_pwm_times(PWM_MODE_RELOAD_LEVEL_LOW);
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}
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}
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@ -50,4 +50,67 @@ void readInputParameters(const real_T *u) {
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void writeOutputParameters(real_T* xD) {
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int nn = 0;
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xD[nn++] = t1sim.ciA;
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xD[nn++] = t2sim.ciA;
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xD[nn++] = t1sim.ciB;
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xD[nn++] = t2sim.ciB;
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xD[nn++] = t3sim.ciA;
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xD[nn++] = t4sim.ciA;
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xD[nn++] = t3sim.ciB;
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xD[nn++] = t4sim.ciB;
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xD[nn++] = t5sim.ciA;
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xD[nn++] = t6sim.ciA;
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xD[nn++] = t5sim.ciB;
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xD[nn++] = t6sim.ciB;
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xD[nn++] = t7sim.ciA;
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xD[nn++] = t8sim.ciA;
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xD[nn++] = t7sim.ciB;
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xD[nn++] = t8sim.ciB;
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xD[nn++] = t9sim.ciA;
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xD[nn++] = t10sim.ciA;
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xD[nn++] = t9sim.ciB;
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xD[nn++] = t10sim.ciB;
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xD[nn++] = t11sim.ciA;
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xD[nn++] = t12sim.ciA;
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xD[nn++] = t11sim.ciB;
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xD[nn++] = t12sim.ciB;
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// Òîëüêî äëÿ ïðîñìîòðà
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xD[nn++] = _IQtoF(0);
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xD[nn++] = _IQtoF(0);
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xD[nn++] = 0;
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xD[nn++] = 0;
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xD[nn++] = 0;
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xD[nn++] = 0;
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xD[nn++] = 0;
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xD[nn++] = 0;
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xD[nn++] = _IQtoF(0);//rs.wmZ;
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xD[nn++] = _IQtoF(0) * NORMA_FROTOR * 60.0 / N_BAZ;//csp.wmLimZi;
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xD[nn++] = 0;///P_NOM;
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xD[nn++] = 0;///P_NOM;
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xD[nn++] = 0;///P_NOM;
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xD[nn++] = _IQtoF(vect_control.iqId2);//_IQtoF(vect_control.iqPzad);
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xD[nn++] = _IQtoF(vect_control.iqIq2);// * NORMA_ACP;
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xD[nn++] = _IQtoF(vect_control.iqId1);//_IQtoF(vect_control.iqUqCompensation1);//
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xD[nn++] = _IQtoF(vect_control.iqIq1);
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xD[nn++] = _IQtoF(vect_control.Iq_zad1);
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xD[nn++] = _IQtoF(vect_control.Id_zad1);//iqZ;
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xD[nn++] = 0;
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xD[nn++] = xpwm_time.Ta0_0;
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xD[nn++] = xpwm_time.Ta0_1;
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}
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715
Inu/controller.c
715
Inu/controller.c
@ -15,46 +15,13 @@
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#include "param.h"
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extern UMotorMeasure motor;
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extern TimerSimHandle t1sim;
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extern TimerSimHandle t2sim;
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extern TimerSimHandle t3sim;
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extern TimerSimHandle t4sim;
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extern TimerSimHandle t5sim;
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extern TimerSimHandle t6sim;
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extern TimerSimHandle t7sim;
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extern TimerSimHandle t8sim;
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extern TimerSimHandle t9sim;
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extern TimerSimHandle t10sim;
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extern TimerSimHandle t11sim;
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extern TimerSimHandle t12sim;
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extern DeadBandSimHandle dt1sim;
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extern DeadBandSimHandle dt2sim;
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extern DeadBandSimHandle dt3sim;
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extern DeadBandSimHandle dt4sim;
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extern DeadBandSimHandle dt5sim;
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extern DeadBandSimHandle dt6sim;
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extern DeadBandSimHandle dt7sim;
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extern DeadBandSimHandle dt8sim;
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extern DeadBandSimHandle dt9sim;
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extern DeadBandSimHandle dt10sim;
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extern DeadBandSimHandle dt11sim;
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extern DeadBandSimHandle dt12sim;
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extern void init28335(void);
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extern void detcoeff(void);
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extern void isr(void);
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extern void input_param(unsigned short num, unsigned short val);
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// extern void init_DQ_pid();
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int calcAlgUpr = 0;
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int timers_adc = 0;
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int timers_pwm = 0;
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UMotorMeasure motor;
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double dt;
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// Äëÿ èìèòàöèè îáìåíà ñ ÏÓ
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int j;
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unsigned short paramNo;
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unsigned short paramNew[PAR_NUMBER];
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void processSFunctionIfChanged(SimStruct *S, int_T *iW) {
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// îáðàáàòûâàåì ïàðàìåòðû S-Function êàæäûé ðàç, êîãäà îíè èçìåíèëèñü
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@ -83,7 +50,7 @@ void processSFunctionIfChanged(SimStruct *S, int_T *iW) {
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}
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// ÏÀÐÀÌÅÒÐÛ (begin)
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int nn = 0;
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double dt = paramScal[nn++];//øàã äèñêðåòèçàöèè (âñåãäà äîëæåí ïåðåäàâàòüñÿ â S-function ïîñëåäíèì!)
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dt = paramScal[nn++];//øàã äèñêðåòèçàöèè (âñåãäà äîëæåí ïåðåäàâàòüñÿ â S-function ïîñëåäíèì!)
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// ÏÀÐÀÌÅÒÐÛ (end)
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} //if ( iW[0] == 1 )
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@ -94,216 +61,13 @@ void initialisationOnStart(int_T *iW) {
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// êîå-÷òî âûïîëíÿåì îäèí ðàç ïðè çàïóñêå ìîäåëè
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if ( iW[1] == 1 ) {
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iW[1] = 0;
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Init_Timers();
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init28335();
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} //if ( iW[1] == 1 )
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}
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void simulatePWMcounterAndReadComarators(void) {
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//// Ìîäåëèðóåì Time-Base Submodule, Counter-Compare Submodule è
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//// Event-Trigger Submodule
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//// ePWM1 (up-down-count mode)
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//// -------------------------
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//t1cntAuxPrev = t1cntAux;
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//t1cntAux += TxCntPlus;
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//if ( t1cntAux > T1Pr ) {
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// t1cntAux -= T1Pr*2.;
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// // active CMPA load from shadow when TBCTR == TBPRD
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// cmp1A = (double)EPwm1Regs.CMPA.half.CMPA;
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// // çàïóñê ÀÖÏ
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// // tAdc = Tadc;
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// // nAdc = 0;
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// calcAlgUpr = 1; // ØÈÌ ïðåðûâàíèå
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//}
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//if ( (t1cntAuxPrev < 0) && (t1cntAux >= 0) ) {
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// // active CMPA load from shadow when TBCTR == 0
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// cmp1A = (double)EPwm1Regs.CMPA.half.CMPA;
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// // çàïóñê ÀÖÏ
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// // tAdc = Tadc;
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// // nAdc = 0;
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// calcAlgUpr = 1; // ØÈÌ ïðåðûâàíèå
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//}
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//t1cnt = fabs(t1cntAux);
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//// ePWM2 (up-down-count mode)
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//// -------------------------
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//t2cntAuxPrev = t2cntAux;
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//t2cntAux += TxCntPlus;
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//if ( t2cntAux > T2Pr ) {
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// t2cntAux -= T2Pr*2.;
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// // active CMPA load from shadow when TBCTR == TBPRD
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// cmp2A = (double)EPwm2Regs.CMPA.half.CMPA;
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//}
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//if ( (t2cntAuxPrev < 0) && (t2cntAux >= 0) ) {
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// // active CMPA load from shadow when TBCTR == 0
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// cmp2A = (double)EPwm2Regs.CMPA.half.CMPA;
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//}
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//t2cnt = fabs(t2cntAux);
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//// ePWM3 (up-down-count mode)
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//// -------------------------
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//t3cntAuxPrev = t3cntAux;
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//t3cntAux += TxCntPlus;
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//if ( t3cntAux > T3Pr ) {
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// t3cntAux -= T3Pr*2.;
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// // active CMPA load from shadow when TBCTR == TBPRD
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// cmp3A = (double)EPwm3Regs.CMPA.half.CMPA;
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//}
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//if ( (t3cntAuxPrev < 0) && (t3cntAux >= 0) ) {
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// // active CMPA load from shadow when TBCTR == 0
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// cmp3A = (double)EPwm3Regs.CMPA.half.CMPA;
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//}
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//t3cnt = fabs(t3cntAux);
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//// ePWM4 (up-down-count mode)
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//// -------------------------
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//t4cntAuxPrev = t4cntAux;
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//t4cntAux += TxCntPlus;
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//if ( t4cntAux > T4Pr ) {
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// t4cntAux -= T4Pr*2.;
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// // active CMPA load from shadow when TBCTR == TBPRD
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// cmp4A = (double)EPwm4Regs.CMPA.half.CMPA;
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//}
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//if ( (t4cntAuxPrev < 0) && (t4cntAux >= 0) ) {
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// // active CMPA load from shadow when TBCTR == 0
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// cmp4A = (double)EPwm4Regs.CMPA.half.CMPA;
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//}
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//t4cnt = fabs(t4cntAux);
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//// ePWM5 (up-down-count mode)
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//// -------------------------
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//t5cntAuxPrev = t5cntAux;
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//t5cntAux += TxCntPlus;
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//if ( t5cntAux > T5Pr ) {
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// t5cntAux -= T5Pr*2.;
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// // active CMPA load from shadow when TBCTR == TBPRD
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// cmp5A = (double)EPwm5Regs.CMPA.half.CMPA;
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//}
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//if ( (t5cntAuxPrev < 0) && (t5cntAux >= 0) ) {
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// // active CMPA load from shadow when TBCTR == 0
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// cmp5A = (double)EPwm5Regs.CMPA.half.CMPA;
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//}
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//t5cnt = fabs(t5cntAux);
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//// ePWM6 (up-down-count mode)
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//// -------------------------
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//t6cntAuxPrev = t6cntAux;
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//t6cntAux += TxCntPlus;
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//if ( t6cntAux > T6Pr ) {
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// t6cntAux -= T6Pr*2.;
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// // active CMPA load from shadow when TBCTR == TBPRD
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// cmp6A = (double)EPwm6Regs.CMPA.half.CMPA;
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//}
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//if ( (t6cntAuxPrev < 0) && (t6cntAux >= 0) ) {
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// // active CMPA load from shadow when TBCTR == 0
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// cmp6A = (double)EPwm6Regs.CMPA.half.CMPA;
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//}
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//t6cnt = fabs(t6cntAux);
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//// ePWM7 (up-down-count mode)
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//// -------------------------
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//t7cntAuxPrev = t7cntAux;
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//t7cntAux += TxCntPlus;
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//if (t7cntAux > T7Pr) {
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// t7cntAux -= T7Pr*2.;
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// // active CMPA load from shadow when TBCTR == TBPRD
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// cmp7A = (double)EPwm7Regs.CMPA.half.CMPA;
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//}
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//if ( (t7cntAuxPrev < 0) && (t7cntAux >= 0) ) {
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// // active CMPA load from shadow when TBCTR == 0
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// cmp7A = (double)EPwm7Regs.CMPA.half.CMPA;
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//}
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//t7cnt = fabs(t7cntAux);
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//// ePWM8 (up-down-count mode)
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//// -------------------------
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//t8cntAuxPrev = t8cntAux;
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//t8cntAux += TxCntPlus;
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//if(t8cntAux > T8Pr) {
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// t8cntAux -= T8Pr*2.;
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// // active CMPA load from shadow when TBCTR == TBPRD
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// cmp8A = (double)EPwm8Regs.CMPA.half.CMPA;
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//}
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//if((t8cntAuxPrev < 0) && (t8cntAux >= 0)) {
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// // active CMPA load from shadow when TBCTR == 0
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// cmp8A = (double)EPwm8Regs.CMPA.half.CMPA;
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//}
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//t8cnt = fabs(t8cntAux);
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//// ePWM9 (up-down-count mode)
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//// -------------------------
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//t9cntAuxPrev = t9cntAux;
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//t9cntAux += TxCntPlus;
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//if(t9cntAux > T9Pr) {
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// t9cntAux -= T9Pr*2.;
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// // active CMPA load from shadow when TBCTR == TBPRD
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// cmp9A = (double)EPwm9Regs.CMPA.half.CMPA;
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//}
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//if((t9cntAuxPrev < 0) && (t9cntAux >= 0)) {
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// // active CMPA load from shadow when TBCTR == 0
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// cmp9A = (double)EPwm9Regs.CMPA.half.CMPA;
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//}
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//t9cnt = fabs(t9cntAux);
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//// ePWM10 (up-down-count mode)
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//// -------------------------
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//t10cntAuxPrev = t10cntAux;
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//t10cntAux += TxCntPlus;
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//if(t10cntAux > T10Pr) {
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// t10cntAux -= T10Pr*2.;
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// // active CMPA load from shadow when TBCTR == TBPRD
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// cmp10A = (double)EPwm10Regs.CMPA.half.CMPA;
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//}
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//if((t10cntAuxPrev < 0) && (t10cntAux >= 0)) {
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// // active CMPA load from shadow when TBCTR == 0
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// cmp10A = (double)EPwm10Regs.CMPA.half.CMPA;
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//}
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//t10cnt = fabs(t10cntAux);
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//// ePWM11 (up-down-count mode)
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//// -------------------------
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//t11cntAuxPrev = t11cntAux;
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//t11cntAux += TxCntPlus;
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//if(t11cntAux > T11Pr) {
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// t11cntAux -= T11Pr*2.;
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// // active CMPA load from shadow when TBCTR == TBPRD
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// cmp11A = (double)EPwm11Regs.CMPA.half.CMPA;
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//}
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//if((t11cntAuxPrev < 0) && (t11cntAux >= 0)) {
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// // active CMPA load from shadow when TBCTR == 0
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// cmp11A = (double)EPwm11Regs.CMPA.half.CMPA;
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//}
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//t11cnt = fabs(t11cntAux);
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//// ePWM12 (up-down-count mode)
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//// -------------------------
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//t12cntAuxPrev = t12cntAux;
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//t12cntAux += TxCntPlus;
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//if(t12cntAux > T12Pr) {
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// t12cntAux -= T12Pr*2.;
|
||||
// // active CMPA load from shadow when TBCTR == TBPRD
|
||||
// cmp12A = (double)EPwm12Regs.CMPA.half.CMPA;
|
||||
//}
|
||||
//if((t12cntAuxPrev < 0) && (t12cntAux >= 0)) {
|
||||
// // active CMPA load from shadow when TBCTR == 0
|
||||
// cmp12A = (double)EPwm12Regs.CMPA.half.CMPA;
|
||||
//}
|
||||
//t12cnt = fabs(t12cntAux);
|
||||
|
||||
|
||||
//// Ìîäåëèðóåì ðàáîòó ñ÷¸ò÷èêà â eQEP
|
||||
//qposcnt += wm_ml/PI2*NOP*4.*dt;
|
||||
//if ( qposcnt >= (Qposmax + 1.) )
|
||||
// qposcnt -= (Qposmax + 1.);
|
||||
//else if ( qposcnt < 0 )
|
||||
// qposcnt += (Qposmax + 1.);
|
||||
//EQep2Regs.QPOSCNT = (short)qposcnt;
|
||||
|
||||
}
|
||||
|
||||
|
||||
void update_norm_ADC_array()
|
||||
{
|
||||
@ -463,461 +227,6 @@ void simulateAdcAndCallIsr() {
|
||||
|
||||
}
|
||||
|
||||
void simulateActionActionQualifierSubmodule(void) {
|
||||
//// Ìîäåëèðóåì Action-Qualifier Submodule
|
||||
//// ... ePWM1
|
||||
//if ( cmp1A > t1cnt ) {
|
||||
// ci1A = 0;
|
||||
// ci1B = 1;
|
||||
//}
|
||||
//else if ( cmp1A < t1cnt ) {
|
||||
// ci1A = 1;
|
||||
// ci1B = 0;
|
||||
//}
|
||||
//// ... ePWM2
|
||||
//if ( cmp2A > t2cnt ) {
|
||||
// ci2A = 0;
|
||||
// ci2B = 1;
|
||||
//}
|
||||
//else if ( cmp2A < t2cnt ) {
|
||||
// ci2A = 1;
|
||||
// ci2B = 0;
|
||||
//}
|
||||
//// ... ePWM3
|
||||
//if ( cmp3A > t3cnt ) {
|
||||
// ci3A = 0;
|
||||
// ci3B = 1;
|
||||
//}
|
||||
//else if ( cmp3A < t3cnt ) {
|
||||
// ci3A = 1;
|
||||
// ci3B = 0;
|
||||
//}
|
||||
//// ... ePWM4
|
||||
//if ( cmp4A > t4cnt ) {
|
||||
// ci4A = 0;
|
||||
// ci4B = 1;
|
||||
//}
|
||||
//else if ( cmp4A < t4cnt ) {
|
||||
// ci4A = 1;
|
||||
// ci4B = 0;
|
||||
//}
|
||||
//// ... ePWM5
|
||||
//if ( cmp5A > t5cnt ) {
|
||||
// ci5A = 0;
|
||||
// ci5B = 1;
|
||||
//}
|
||||
//else if ( cmp5A < t5cnt ) {
|
||||
// ci5A = 1;
|
||||
// ci5B = 0;
|
||||
//}
|
||||
//// ... ePWM6
|
||||
//if ( cmp6A > t6cnt ) {
|
||||
// ci6A = 0;
|
||||
// ci6B = 1;
|
||||
//}
|
||||
//else if ( cmp6A < t6cnt ) {
|
||||
// ci6A = 1;
|
||||
// ci6B = 0;
|
||||
//}
|
||||
//// ... ePWM7
|
||||
//if ( cmp7A > t7cnt ) {
|
||||
// ci7A = 0;
|
||||
// ci7B = 1;
|
||||
//}
|
||||
//else if ( cmp7A < t7cnt ) {
|
||||
// ci7A = 1;
|
||||
// ci7B = 0;
|
||||
//}
|
||||
//// ... ePWM8
|
||||
//if ( cmp8A > t8cnt ) {
|
||||
// ci8A = 0;
|
||||
// ci8B = 1;
|
||||
//}
|
||||
//else if ( cmp8A < t8cnt ) {
|
||||
// ci8A = 1;
|
||||
// ci8B = 0;
|
||||
//}
|
||||
//// ... ePWM9
|
||||
//if ( cmp9A > t9cnt ) {
|
||||
// ci9A = 0;
|
||||
// ci9B = 1;
|
||||
//}
|
||||
//else if ( cmp9A < t9cnt ) {
|
||||
// ci9A = 1;
|
||||
// ci9B = 0;
|
||||
//}
|
||||
//// ... ePWM10
|
||||
//if ( cmp10A > t10cnt ) {
|
||||
// ci10A = 0;
|
||||
// ci10B = 1;
|
||||
//}
|
||||
//else if ( cmp10A < t10cnt ) {
|
||||
// ci10A = 1;
|
||||
// ci10B = 0;
|
||||
//}
|
||||
//// ... ePWM11
|
||||
//if ( cmp11A > t11cnt ) {
|
||||
// ci11A = 0;
|
||||
// ci11B = 1;
|
||||
//}
|
||||
//else if ( cmp11A < t11cnt ) {
|
||||
// ci11A = 1;
|
||||
// ci11B = 0;
|
||||
//}
|
||||
//// ... ePWM12
|
||||
//if ( cmp12A > t12cnt ) {
|
||||
// ci12A = 0;
|
||||
// ci12B = 1;
|
||||
//}
|
||||
//else if ( cmp12A < t12cnt ) {
|
||||
// ci12A = 1;
|
||||
// ci12B = 0;
|
||||
//}
|
||||
|
||||
|
||||
}
|
||||
|
||||
void simulateDeadBendSubmodule(void) {
|
||||
|
||||
//// Ìîäåëèðóåì Dead-Band Submodule
|
||||
//// ... ePWM1
|
||||
//if ( stateDt1 == 1 ) {
|
||||
// ci1A_DT = ci1A;
|
||||
// ci1B_DT = 0;
|
||||
// if ( ci1A == 1 )
|
||||
// cntDt1 = CntDt;
|
||||
// if ( cntDt1 > 0 )
|
||||
// cntDt1--;
|
||||
// else
|
||||
// stateDt1 = 2;
|
||||
//}
|
||||
//else if ( stateDt1 == 2 ) {
|
||||
// ci1A_DT = 0;
|
||||
// ci1B_DT = ci1B;
|
||||
// if ( ci1B == 1 )
|
||||
// cntDt1 = CntDt;
|
||||
// if ( cntDt1 > 0 )
|
||||
// cntDt1--;
|
||||
// else
|
||||
// stateDt1 = 1;
|
||||
//}
|
||||
//// ... ePWM2
|
||||
//if ( stateDt2 == 1 ) {
|
||||
// ci2A_DT = ci2A;
|
||||
// ci2B_DT = 0;
|
||||
// if ( ci2A == 1 )
|
||||
// cntDt2 = CntDt;
|
||||
// if ( cntDt2 > 0 )
|
||||
// cntDt2--;
|
||||
// else
|
||||
// stateDt2 = 2;
|
||||
//}
|
||||
//else if ( stateDt2 == 2 ) {
|
||||
// ci2A_DT = 0;
|
||||
// ci2B_DT = ci2B;
|
||||
// if ( ci2B == 1 )
|
||||
// cntDt2 = CntDt;
|
||||
// if ( cntDt2 > 0 )
|
||||
// cntDt2--;
|
||||
// else
|
||||
// stateDt2 = 1;
|
||||
//}
|
||||
//// ... ePWM3
|
||||
//if ( stateDt3 == 1 ) {
|
||||
// ci3A_DT = ci3A;
|
||||
// ci3B_DT = 0;
|
||||
// if ( ci3A == 1 )
|
||||
// cntDt3 = CntDt;
|
||||
// if ( cntDt3 > 0 )
|
||||
// cntDt3--;
|
||||
// else
|
||||
// stateDt3 = 2;
|
||||
//}
|
||||
//else if ( stateDt3 == 2 ) {
|
||||
// ci3A_DT = 0;
|
||||
// ci3B_DT = ci3B;
|
||||
// if ( ci3B == 1 )
|
||||
// cntDt3 = CntDt;
|
||||
// if ( cntDt3 > 0 )
|
||||
// cntDt3--;
|
||||
// else
|
||||
// stateDt3 = 1;
|
||||
//}
|
||||
//// ... ePWM4
|
||||
//if ( stateDt4 == 1 ) {
|
||||
// ci4A_DT = ci4A;
|
||||
// ci4B_DT = 0;
|
||||
// if ( ci4A == 1 )
|
||||
// cntDt4 = CntDt;
|
||||
// if ( cntDt4 > 0 )
|
||||
// cntDt4--;
|
||||
// else
|
||||
// stateDt4 = 2;
|
||||
//}
|
||||
//else if ( stateDt4 == 2 ) {
|
||||
// ci4A_DT = 0;
|
||||
// ci4B_DT = ci4B;
|
||||
// if ( ci4B == 1 )
|
||||
// cntDt4 = CntDt;
|
||||
// if ( cntDt4 > 0 )
|
||||
// cntDt4--;
|
||||
// else
|
||||
// stateDt4 = 1;
|
||||
//}
|
||||
//// ... ePWM5
|
||||
//if ( stateDt5 == 1 ) {
|
||||
// ci5A_DT = ci5A;
|
||||
// ci5B_DT = 0;
|
||||
// if ( ci5A == 1 )
|
||||
// cntDt5 = CntDt;
|
||||
// if ( cntDt5 > 0 )
|
||||
// cntDt5--;
|
||||
// else
|
||||
// stateDt5 = 2;
|
||||
//}
|
||||
//else if ( stateDt5 == 2 ) {
|
||||
// ci5A_DT = 0;
|
||||
// ci5B_DT = ci5B;
|
||||
// if ( ci5B == 1 )
|
||||
// cntDt5 = CntDt;
|
||||
// if ( cntDt5 > 0 )
|
||||
// cntDt5--;
|
||||
// else
|
||||
// stateDt5 = 1;
|
||||
//}
|
||||
//// ... ePWM6
|
||||
//if ( stateDt6 == 1 ) {
|
||||
// ci6A_DT = ci6A;
|
||||
// ci6B_DT = 0;
|
||||
// if ( ci6A == 1 )
|
||||
// cntDt6 = CntDt;
|
||||
// if ( cntDt6 > 0 )
|
||||
// cntDt6--;
|
||||
// else
|
||||
// stateDt6 = 2;
|
||||
//}
|
||||
//else if ( stateDt6 == 2 ) {
|
||||
// ci6A_DT = 0;
|
||||
// ci6B_DT = ci6B;
|
||||
// if ( ci6B == 1 )
|
||||
// cntDt6 = CntDt;
|
||||
// if ( cntDt6 > 0 )
|
||||
// cntDt6--;
|
||||
// else
|
||||
// stateDt6 = 1;
|
||||
//}
|
||||
//// ... ePWM7
|
||||
//if ( stateDt7 == 1 ) {
|
||||
// ci7A_DT = ci7A;
|
||||
// ci7B_DT = 0;
|
||||
// if ( ci7A == 1 )
|
||||
// cntDt7 = CntDt;
|
||||
// if ( cntDt7 > 0 )
|
||||
// cntDt7--;
|
||||
// else
|
||||
// stateDt7 = 2;
|
||||
//}
|
||||
//else if ( stateDt7 == 2 ) {
|
||||
// ci7A_DT = 0;
|
||||
// ci7B_DT = ci7B;
|
||||
// if ( ci7B == 1 )
|
||||
// cntDt7 = CntDt;
|
||||
// if ( cntDt7 > 0 )
|
||||
// cntDt7--;
|
||||
// else
|
||||
// stateDt7 = 1;
|
||||
//}
|
||||
//// ... ePWM8
|
||||
//if ( stateDt8 == 1 ) {
|
||||
// ci8A_DT = ci8A;
|
||||
// ci8B_DT = 0;
|
||||
// if ( ci8A == 1 )
|
||||
// cntDt8 = CntDt;
|
||||
// if ( cntDt8 > 0 )
|
||||
// cntDt8--;
|
||||
// else
|
||||
// stateDt8 = 2;
|
||||
//}
|
||||
//else if ( stateDt8 == 2 ) {
|
||||
// ci8A_DT = 0;
|
||||
// ci8B_DT = ci8B;
|
||||
// if ( ci8B == 1 )
|
||||
// cntDt8 = CntDt;
|
||||
// if ( cntDt8 > 0 )
|
||||
// cntDt8--;
|
||||
// else
|
||||
// stateDt8 = 1;
|
||||
//}
|
||||
//// ... ePWM9
|
||||
//if ( stateDt9 == 1 ) {
|
||||
// ci9A_DT = ci9A;
|
||||
// ci9B_DT = 0;
|
||||
// if ( ci9A == 1 )
|
||||
// cntDt9 = CntDt;
|
||||
// if ( cntDt9 > 0 )
|
||||
// cntDt9--;
|
||||
// else
|
||||
// stateDt9 = 2;
|
||||
//}
|
||||
//else if ( stateDt9 == 2 ) {
|
||||
// ci9A_DT = 0;
|
||||
// ci9B_DT = ci9B;
|
||||
// if ( ci9B == 1 )
|
||||
// cntDt9 = CntDt;
|
||||
// if ( cntDt9 > 0 )
|
||||
// cntDt9--;
|
||||
// else
|
||||
// stateDt9 = 1;
|
||||
//}
|
||||
//// ... ePWM10
|
||||
//if ( stateDt10 == 1 ) {
|
||||
// ci10A_DT = ci10A;
|
||||
// ci10B_DT = 0;
|
||||
// if ( ci10A == 1 )
|
||||
// cntDt10 = CntDt;
|
||||
// if ( cntDt10 > 0 )
|
||||
// cntDt10--;
|
||||
// else
|
||||
// stateDt10 = 2;
|
||||
//}
|
||||
//else if ( stateDt10 == 2 ) {
|
||||
// ci10A_DT = 0;
|
||||
// ci10B_DT = ci10B;
|
||||
// if ( ci10B == 1 )
|
||||
// cntDt10 = CntDt;
|
||||
// if ( cntDt10 > 0 )
|
||||
// cntDt10--;
|
||||
// else
|
||||
// stateDt10 = 1;
|
||||
//}
|
||||
//// ... ePWM11
|
||||
//if ( stateDt11 == 1 ) {
|
||||
// ci11A_DT = ci11A;
|
||||
// ci11B_DT = 0;
|
||||
// if ( ci11A == 1 )
|
||||
// cntDt11 = CntDt;
|
||||
// if ( cntDt11 > 0 )
|
||||
// cntDt11--;
|
||||
// else
|
||||
// stateDt11 = 2;
|
||||
//}
|
||||
//else if ( stateDt11 == 2 ) {
|
||||
// ci11A_DT = 0;
|
||||
// ci11B_DT = ci11B;
|
||||
// if ( ci11B == 1 )
|
||||
// cntDt11 = CntDt;
|
||||
// if ( cntDt11 > 0 )
|
||||
// cntDt11--;
|
||||
// else
|
||||
// stateDt11 = 1;
|
||||
//}
|
||||
//// ... ePWM12
|
||||
//if ( stateDt12 == 1 ) {
|
||||
// ci12A_DT = ci12A;
|
||||
// ci12B_DT = 0;
|
||||
// if ( ci12A == 1 )
|
||||
// cntDt12 = CntDt;
|
||||
// if ( cntDt12 > 0 )
|
||||
// cntDt12--;
|
||||
// else
|
||||
// stateDt12 = 2;
|
||||
//}
|
||||
//else if ( stateDt12 == 2 ) {
|
||||
// ci12A_DT = 0;
|
||||
// ci12B_DT = ci12B;
|
||||
// if ( ci12B == 1 )
|
||||
// cntDt12 = CntDt;
|
||||
// if ( cntDt12 > 0 )
|
||||
// cntDt12--;
|
||||
// else
|
||||
// stateDt12 = 1;
|
||||
//}
|
||||
|
||||
}
|
||||
|
||||
|
||||
void simulateTripZoneSubmodule(void) {
|
||||
|
||||
//// Ìîäåëèðóåì Trip-Zone Submodule
|
||||
// // ... clear flag for one-shot trip latch
|
||||
// if ( EPwm1Regs.TZCLR.all == 0x0004 ) {
|
||||
// EPwm1Regs.TZCLR.all = 0x0000;
|
||||
// EPwm1Regs.TZFRC.all = 0x0000;
|
||||
// }
|
||||
// if ( EPwm2Regs.TZCLR.all == 0x0004 ) {
|
||||
// EPwm2Regs.TZCLR.all = 0x0000;
|
||||
// EPwm2Regs.TZFRC.all = 0x0000;
|
||||
// }
|
||||
// if ( EPwm3Regs.TZCLR.all == 0x0004 ) {
|
||||
// EPwm3Regs.TZCLR.all = 0x0000;
|
||||
// EPwm3Regs.TZFRC.all = 0x0000;
|
||||
// }
|
||||
// if ( EPwm4Regs.TZCLR.all == 0x0004 ) {
|
||||
// EPwm4Regs.TZCLR.all = 0x0000;
|
||||
// EPwm4Regs.TZFRC.all = 0x0000;
|
||||
// }
|
||||
// if ( EPwm5Regs.TZCLR.all == 0x0004 ) {
|
||||
// EPwm5Regs.TZCLR.all = 0x0000;
|
||||
// EPwm5Regs.TZFRC.all = 0x0000;
|
||||
// }
|
||||
// if ( EPwm6Regs.TZCLR.all == 0x0004 ) {
|
||||
// EPwm6Regs.TZCLR.all = 0x0000;
|
||||
// EPwm6Regs.TZFRC.all = 0x0000;
|
||||
// }
|
||||
// if ( EPwm7Regs.TZCLR.all == 0x0004 ) {
|
||||
// EPwm7Regs.TZCLR.all = 0x0000;
|
||||
// EPwm7Regs.TZFRC.all = 0x0000;
|
||||
// }
|
||||
// if ( EPwm8Regs.TZCLR.all == 0x0004 ) {
|
||||
// EPwm8Regs.TZCLR.all = 0x0000;
|
||||
// EPwm8Regs.TZFRC.all = 0x0000;
|
||||
// }
|
||||
// if ( EPwm9Regs.TZCLR.all == 0x0004 ) {
|
||||
// EPwm9Regs.TZCLR.all = 0x0000;
|
||||
// EPwm9Regs.TZFRC.all = 0x0000;
|
||||
// }
|
||||
// if ( EPwm10Regs.TZCLR.all == 0x0004 ) {
|
||||
// EPwm10Regs.TZCLR.all = 0x0000;
|
||||
// EPwm10Regs.TZFRC.all = 0x0000;
|
||||
// }
|
||||
// if ( EPwm11Regs.TZCLR.all == 0x0004 ) {
|
||||
// EPwm11Regs.TZCLR.all = 0x0000;
|
||||
// EPwm11Regs.TZFRC.all = 0x0000;
|
||||
// }
|
||||
// if ( EPwm12Regs.TZCLR.all == 0x0004 ) {
|
||||
// EPwm12Regs.TZCLR.all = 0x0000;
|
||||
// EPwm12Regs.TZFRC.all = 0x0000;
|
||||
// }
|
||||
// // ... forces a one-shot trip event
|
||||
// if ( EPwm1Regs.TZFRC.all == 0x0004 )
|
||||
// ci1A_DT = ci1B_DT = 0;
|
||||
// if ( EPwm2Regs.TZFRC.all == 0x0004 )
|
||||
// ci2A_DT = ci2B_DT = 0;
|
||||
// if ( EPwm3Regs.TZFRC.all == 0x0004 )
|
||||
// ci3A_DT = ci3B_DT = 0;
|
||||
// if ( EPwm4Regs.TZFRC.all == 0x0004 )
|
||||
// ci4A_DT = ci4B_DT = 0;
|
||||
// if ( EPwm5Regs.TZFRC.all == 0x0004 )
|
||||
// ci5A_DT = ci5B_DT = 0;
|
||||
// if ( EPwm6Regs.TZFRC.all == 0x0004 )
|
||||
// ci6A_DT = ci6B_DT = 0;
|
||||
// if ( EPwm7Regs.TZFRC.all == 0x0004 )
|
||||
// ci7A_DT = ci7B_DT = 0;
|
||||
// if ( EPwm8Regs.TZFRC.all == 0x0004 )
|
||||
// ci8A_DT = ci8B_DT = 0;
|
||||
// if ( EPwm9Regs.TZFRC.all == 0x0004 )
|
||||
// ci9A_DT = ci9B_DT = 0;
|
||||
// if ( EPwm10Regs.TZFRC.all == 0x0004 )
|
||||
// ci10A_DT = ci10B_DT = 0;
|
||||
// if ( EPwm11Regs.TZFRC.all == 0x0004 )
|
||||
// ci11A_DT = ci11B_DT = 0;
|
||||
// if ( EPwm12Regs.TZFRC.all == 0x0004 )
|
||||
// ci12A_DT = ci12B_DT = 0;
|
||||
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void controller(SimStruct *S, const real_T *u, real_T *xD, real_T *rW, int_T *iW) {
|
||||
@ -927,17 +236,11 @@ void controller(SimStruct *S, const real_T *u, real_T *xD, real_T *rW, int_T *iW
|
||||
processSFunctionIfChanged(S, iW);
|
||||
initialisationOnStart(iW);
|
||||
|
||||
simulatePWMcounterAndReadComarators();
|
||||
Simulate_Timers();
|
||||
|
||||
|
||||
simulateAdcAndCallIsr();
|
||||
simulateActionActionQualifierSubmodule();
|
||||
|
||||
// convertSVGenTimesToTkLines();
|
||||
simulateDeadBendSubmodule();
|
||||
|
||||
// xilinxPwm3LevelSimulation();
|
||||
simulateTripZoneSubmodule();
|
||||
|
||||
|
||||
writeOutputParameters(xD);
|
||||
|
||||
191
Inu/controller.h
191
Inu/controller.h
@ -2,6 +2,10 @@
|
||||
|
||||
#include "wrapper_inu.h"
|
||||
#include "def.h"
|
||||
#include "pwm_sim.h"
|
||||
|
||||
|
||||
|
||||
#include "edrk_main.h"
|
||||
#include "vector.h"
|
||||
#include "vector_control.h"
|
||||
@ -15,6 +19,7 @@
|
||||
#include "CAN_Setup.h"
|
||||
#include "RS_Functions.h"
|
||||
#include "master_slave.h"
|
||||
#include "xp_write_xpwm_time.h"
|
||||
|
||||
#include <params.h>
|
||||
#include <params_alg.h>
|
||||
@ -54,190 +59,4 @@ typedef struct
|
||||
}UMotorMeasure;
|
||||
extern UMotorMeasure motor;
|
||||
|
||||
// Äëÿ èìèòàöèè îáìåíà ñ ÏÓ
|
||||
int j;
|
||||
unsigned short paramNo;
|
||||
unsigned short paramNew[PAR_NUMBER];
|
||||
|
||||
// Äëÿ ìîäåëèðîâàíèÿ Event Manager
|
||||
// ... Time-Base Submodule, Counter-Compare Submodule è Event-Trigger Submodule
|
||||
typedef struct
|
||||
{
|
||||
double TxCntPlus;
|
||||
double TPr;
|
||||
double tcntAux;
|
||||
double tcntAuxPrev;
|
||||
double tcnt;
|
||||
double cmp1A;
|
||||
double cmp1B;
|
||||
}TimerSimHandle;
|
||||
extern TimerSimHandle t1sim;
|
||||
extern TimerSimHandle t2sim;
|
||||
extern TimerSimHandle t3sim;
|
||||
extern TimerSimHandle t4sim;
|
||||
extern TimerSimHandle t5sim;
|
||||
extern TimerSimHandle t6sim;
|
||||
extern TimerSimHandle t7sim;
|
||||
extern TimerSimHandle t8sim;
|
||||
extern TimerSimHandle t9sim;
|
||||
extern TimerSimHandle t10sim;
|
||||
extern TimerSimHandle t11sim;
|
||||
extern TimerSimHandle t12sim;
|
||||
|
||||
|
||||
// ... Action-Qualifier Submodule
|
||||
int ci1A;
|
||||
int ci1B;
|
||||
int ci2A;
|
||||
int ci2B;
|
||||
int ci3A;
|
||||
int ci3B;
|
||||
int ci4A;
|
||||
int ci4B;
|
||||
int ci5A;
|
||||
int ci5B;
|
||||
int ci6A;
|
||||
int ci6B;
|
||||
int ci7A;
|
||||
int ci7B;
|
||||
int ci8A;
|
||||
int ci8B;
|
||||
int ci9A;
|
||||
int ci9B;
|
||||
int ci10A;
|
||||
int ci10B;
|
||||
int ci11A;
|
||||
int ci11B;
|
||||
int ci12A;
|
||||
int ci12B;
|
||||
// ... Dead-Band Submodule
|
||||
typedef struct
|
||||
{
|
||||
int CntDt;
|
||||
int stateDt;
|
||||
int cntDt;
|
||||
int ciA_DT;
|
||||
int ciB_DT;
|
||||
}DeadBandSimHandle;
|
||||
extern DeadBandSimHandle dt1sim;
|
||||
extern DeadBandSimHandle dt2sim;
|
||||
extern DeadBandSimHandle dt3sim;
|
||||
extern DeadBandSimHandle dt4sim;
|
||||
extern DeadBandSimHandle dt5sim;
|
||||
extern DeadBandSimHandle dt6sim;
|
||||
extern DeadBandSimHandle dt7sim;
|
||||
extern DeadBandSimHandle dt8sim;
|
||||
extern DeadBandSimHandle dt9sim;
|
||||
extern DeadBandSimHandle dt10sim;
|
||||
extern DeadBandSimHandle dt11sim;
|
||||
extern DeadBandSimHandle dt12sim;
|
||||
|
||||
// Äëÿ ìîäåëèðîâàíèÿ eQEP
|
||||
double Qposmax;
|
||||
double qposcnt;
|
||||
|
||||
// Äëÿ ìîäåëèðîâàíèÿ ADC
|
||||
int tAdc;
|
||||
int Tadc;
|
||||
int nAdc;
|
||||
//#########################################################################
|
||||
// Ïåðåìåííûå, êîòîðûå îïðåäåëåíû â controller.c (end)
|
||||
|
||||
|
||||
|
||||
|
||||
// Ïåðåìåííûå, êîòîðûå îáúÿâëåíû â controller.c (begin)
|
||||
//#########################################################################
|
||||
// Äëÿ isr.c
|
||||
//-------------------------------------------------------------------------
|
||||
extern struct Offset offset;
|
||||
extern volatile struct Result result;
|
||||
extern volatile short state;
|
||||
extern volatile short faultNo;
|
||||
extern volatile struct Out out;
|
||||
// Udc
|
||||
extern float Kudc;
|
||||
extern volatile float udc1Nf;
|
||||
extern volatile float udc1;
|
||||
extern volatile float udc2Nf;
|
||||
extern volatile float udc2;
|
||||
// Iac
|
||||
extern volatile float ia1Nf;
|
||||
extern volatile float ib1Nf;
|
||||
extern volatile float ix1;
|
||||
extern volatile float iy1;
|
||||
extern volatile float iac1Nf;
|
||||
extern volatile float ia2Nf;
|
||||
extern volatile float ib2Nf;
|
||||
extern volatile float ix2;
|
||||
extern volatile float iy2;
|
||||
extern volatile float iac2Nf;
|
||||
// Wm
|
||||
extern float Kwm;
|
||||
extern volatile float wmNf;
|
||||
extern volatile float wm;
|
||||
extern volatile float wmAbs;
|
||||
// Me
|
||||
extern volatile float kMe;
|
||||
extern float KmeCorr;
|
||||
extern float Kme;
|
||||
extern volatile float meNf;
|
||||
extern volatile float me;
|
||||
// Pm
|
||||
extern volatile float pm;
|
||||
// çàùèòû
|
||||
extern struct Protect protect;
|
||||
extern volatile struct Emerg emerg;
|
||||
extern short csmSuccess;
|
||||
// óïðàâëÿþùàÿ ëîãèêà
|
||||
extern volatile short onceShutdown;
|
||||
extern volatile short testParamFaultNo;
|
||||
extern volatile short onceFaultReset;
|
||||
extern volatile short stopPause;
|
||||
extern volatile short inuWork;
|
||||
// îáìåí
|
||||
extern struct Mst mst;
|
||||
|
||||
|
||||
|
||||
// Äëÿ main.c
|
||||
//-------------------------------------------------------------------------
|
||||
extern struct Eprom eprom;
|
||||
|
||||
|
||||
|
||||
// Äëÿ upr.c
|
||||
//-------------------------------------------------------------------------
|
||||
extern volatile short onceUpr;
|
||||
extern struct SgmPar sgmPar;
|
||||
extern struct Rf rf;
|
||||
extern struct Rs rs;
|
||||
extern struct Rp rp;
|
||||
|
||||
extern float IzLim;
|
||||
extern volatile float psi;
|
||||
extern float idZ;
|
||||
extern float iqZ;
|
||||
extern float iZ;
|
||||
extern float ws;
|
||||
extern float sinTheta;
|
||||
extern float cosTheta;
|
||||
extern float id1;
|
||||
extern float iq1;
|
||||
extern float id2;
|
||||
extern float iq2;
|
||||
extern struct Cc cc;
|
||||
extern struct Cf cf;
|
||||
extern struct Csp csp;
|
||||
extern struct Ivc ivc;
|
||||
extern struct Ip ip;
|
||||
|
||||
|
||||
|
||||
// Äëÿ param.c
|
||||
//-------------------------------------------------------------------------
|
||||
extern unsigned short param[];
|
||||
//#########################################################################
|
||||
// Ïåðåìåííûå, êîòîðûå îáúÿâëåíû â controller.c (end)
|
||||
|
||||
#endif //__WRAPPER_CONTROLLER_H
|
||||
16
Inu/def.h
16
Inu/def.h
@ -11,6 +11,14 @@
|
||||
// раскомментировать, если есть сдвиг между обмотками ГЭД (30 град.)
|
||||
#define SHIFT
|
||||
|
||||
#define SIMULINK_SEQUENCE V_PWM24_PHASE_SEQ_REVERS_BAC
|
||||
/* V_PWM24_PHASE_SEQ_NORMAL_ABC,
|
||||
V_PWM24_PHASE_SEQ_NORMAL_BCA,
|
||||
V_PWM24_PHASE_SEQ_NORMAL_CAB,
|
||||
V_PWM24_PHASE_SEQ_REVERS_ACB,
|
||||
V_PWM24_PHASE_SEQ_REVERS_CBA,
|
||||
V_PWM24_PHASE_SEQ_REVERS_BAC
|
||||
*/
|
||||
|
||||
// режимы работы (для state)
|
||||
#define STATE_SHUTDOWN 0 //аварийная остановка
|
||||
@ -48,17 +56,17 @@
|
||||
|
||||
// Номинальные величины ГЭД
|
||||
// ... мощность на валу, Вт
|
||||
#define P_NOM (5000e3*2.)
|
||||
#define P_NOM (6300e3.)
|
||||
// ... линейное напряжение, В (ampl)
|
||||
#define U_NOM (3000.*SQRT2)
|
||||
#define U_NOM (3300.*SQRT2)
|
||||
// ... механическая скорость, об/мин
|
||||
#define N_NOM 165.
|
||||
#define N_NOM 180.
|
||||
// ... число пар полюсов
|
||||
#define PP 6.
|
||||
// ... коэффициент мощности
|
||||
#define COS_FI 0.89
|
||||
// ... КПД
|
||||
#define EFF 0.962
|
||||
#define EFF 0.968
|
||||
// ... приведенный к валу момент инерции, кг*м^2
|
||||
#define J (87e3*0.50)
|
||||
// ... полная мощность, ВА
|
||||
|
||||
144
Inu/main.c
144
Inu/main.c
@ -1,144 +0,0 @@
|
||||
/**************************************************************************
|
||||
Description: Ïðîãðàììà óïðàâëåíèÿ INU.
|
||||
Âûçûâàåò ï/ï èíèöèàëèçàöèè ïðîöåññîðà è ï/ï îáìåíà.
|
||||
|
||||
Àâòîð: Óëèòîâñêèé Ä.È.
|
||||
Äàòà ïîñëåäíåãî îáíîâëåíèÿ: 2021.10.05
|
||||
**************************************************************************/
|
||||
|
||||
|
||||
#include "def.h"
|
||||
#include "main.h"
|
||||
|
||||
|
||||
void control_processor_led(void);
|
||||
void talk_with_desk(void);
|
||||
void talk_with_mst(void);
|
||||
void write_eeprom(void);
|
||||
extern void detcoeff(void);
|
||||
extern void init28335(void);
|
||||
|
||||
|
||||
#ifndef ML
|
||||
void main(void) {
|
||||
// disable the watchdog
|
||||
EALLOW;
|
||||
SysCtrlRegs.WDCR = 0x0068;
|
||||
EDIS;
|
||||
|
||||
// èíèöèàëèçàöèÿ ïðîöåññîðà
|
||||
init28335();
|
||||
|
||||
// èíèöèàëèçàöèÿ ïðîãðàììû
|
||||
detcoeff();
|
||||
|
||||
// re-enable the watchdog
|
||||
EALLOW;
|
||||
SysCtrlRegs.WDCR = 0x00A8;
|
||||
// ... clear the WD counter
|
||||
SysCtrlRegs.WDKEY = 0x55;
|
||||
SysCtrlRegs.WDKEY = 0xAA;
|
||||
EDIS;
|
||||
|
||||
// clear Interrupt Flag ADC Sequencer 1
|
||||
AdcRegs.ADCST.bit.INT_SEQ1_CLR = 1;
|
||||
// clear PIEIFR1 register
|
||||
PieCtrlRegs.PIEIFR1.all = 0;
|
||||
|
||||
// before we can start we have to enable interrupt mask in the PIE unit
|
||||
PieCtrlRegs.PIEIER1.bit.INTx6 = 1;
|
||||
// core line 1 (INT1)
|
||||
IER |= M_INT1;
|
||||
// enable global interrupts and higher priority real-time debug events
|
||||
EINT;
|
||||
ERTM;
|
||||
|
||||
// çàïóñêàåì òàéìåðû (up-down-count mode)
|
||||
EPwm1Regs.TBCTL.bit.CTRMODE = 2;
|
||||
EPwm2Regs.TBCTL.bit.CTRMODE = 2;
|
||||
EPwm3Regs.TBCTL.bit.CTRMODE = 2;
|
||||
EPwm4Regs.TBCTL.bit.CTRMODE = 2;
|
||||
EPwm5Regs.TBCTL.bit.CTRMODE = 2;
|
||||
EPwm6Regs.TBCTL.bit.CTRMODE = 2;
|
||||
#ifdef ML
|
||||
EPwm7Regs.TBCTL.bit.CTRMODE = 2;
|
||||
EPwm8Regs.TBCTL.bit.CTRMODE = 2;
|
||||
EPwm9Regs.TBCTL.bit.CTRMODE = 2;
|
||||
EPwm10Regs.TBCTL.bit.CTRMODE = 2;
|
||||
EPwm11Regs.TBCTL.bit.CTRMODE = 2;
|
||||
EPwm12Regs.TBCTL.bit.CTRMODE = 2;
|
||||
#endif
|
||||
|
||||
// loop forever
|
||||
while(1) {
|
||||
// îáìåí ñ ÂÓ
|
||||
// ( -> mst)
|
||||
talk_with_mst();
|
||||
// îáìåí ñ ÏÓ
|
||||
// ( -> param[], eprom.writeRequestNumber)
|
||||
talk_with_desk();
|
||||
// çàïèñü â EEPROM
|
||||
// (param[], eprom.writeRequestNumber -> eprom.writeRequestNumber)
|
||||
if ( eprom.writeRequestNumber > 0 ) {
|
||||
write_eeprom();
|
||||
}
|
||||
|
||||
// óïðàâëÿåì ñâåòîäèîäàìè íà ïðîöåññîðíîé ïëàòå
|
||||
control_processor_led();
|
||||
} //while(1)
|
||||
} //void main(void)
|
||||
|
||||
|
||||
|
||||
// Óïðàâëÿåò ñâåòîäèîäàìè íà ïðîöåññîðíîé ïëàòå
|
||||
void control_processor_led(void) {
|
||||
static unsigned short Tled = (unsigned short)(0.5/TY);
|
||||
static unsigned short tLed = 0;
|
||||
|
||||
if ( tLed < Tled ) {
|
||||
tLed++;
|
||||
}
|
||||
else {
|
||||
tLed = 1;
|
||||
// â àâàðèéíîì ðåæ. ìîðãàåì êðàñíûì ñâåòîäèîäîì
|
||||
if ( state == STATE_SHUTDOWN ) {
|
||||
LED_GREEN1_OFF;
|
||||
LED_GREEN2_OFF;
|
||||
LED_RED_TOGGLE;
|
||||
}
|
||||
// â ðåæ. îñòàíîâêè ìîðãàåì ïåðâûì çåë¸íûì ñâåòîäèîäîì
|
||||
else if ( state == STATE_STOP ) {
|
||||
LED_GREEN1_TOGGLE;
|
||||
LED_GREEN2_OFF;
|
||||
LED_RED_OFF;
|
||||
}
|
||||
// â ðàáî÷åì ðåæ. ìîðãàåì âòîðûì çåë¸íûì ñâåòîäèîäîì
|
||||
else {
|
||||
LED_GREEN1_OFF;
|
||||
LED_GREEN2_TOGGLE;
|
||||
LED_RED_OFF;
|
||||
}
|
||||
}
|
||||
} //void control_processor_led(void)
|
||||
|
||||
|
||||
|
||||
// Ïîëó÷àåò ïàðàìåòðû ñ ÏÓ
|
||||
// ( -> param[], eprom.writeRequestNumber)
|
||||
void talk_with_desk(void) {
|
||||
}
|
||||
|
||||
|
||||
|
||||
// Ïîëó÷àåò êîìàíäû ñ ÂÓ
|
||||
// ( -> mst)
|
||||
void talk_with_mst(void) {
|
||||
}
|
||||
|
||||
|
||||
|
||||
// Çàïèñûâàåò ïàðàìåòðû â EEPROM
|
||||
// (param[], eprom.writeRequestNumber -> eprom.writeRequestNumber)
|
||||
void write_eeprom(void) {
|
||||
}
|
||||
#endif //ML
|
||||
17
Inu/main.h
17
Inu/main.h
@ -1,17 +0,0 @@
|
||||
#ifndef MAIN
|
||||
#define MAIN
|
||||
|
||||
// Ïåðåìåííûå, êîòîðûå îïðåäåëåíû â main.c (begin)
|
||||
//#########################################################################
|
||||
struct Eprom eprom;
|
||||
//#########################################################################
|
||||
// Ïåðåìåííûå, êîòîðûå îïðåäåëåíû â main.c (end)
|
||||
|
||||
|
||||
|
||||
// Ïåðåìåííûå, êîòîðûå îáúÿâëåíû â main.c (begin)
|
||||
//#########################################################################
|
||||
extern volatile short state;
|
||||
//#########################################################################
|
||||
// Ïåðåìåííûå, êîòîðûå îáúÿâëåíû â main.c (end)
|
||||
#endif //MAIN
|
||||
153
Inu/pwm_sim.c
Normal file
153
Inu/pwm_sim.c
Normal file
@ -0,0 +1,153 @@
|
||||
#include "pwm_sim.h"
|
||||
#include "xp_write_xpwm_time.h"
|
||||
#include "main_matlab.h"
|
||||
#include "wrapper_inu.h"
|
||||
#include "params_pwm24.h"
|
||||
#include "def.h"
|
||||
|
||||
TimerSimHandle t1sim;
|
||||
TimerSimHandle t2sim;
|
||||
TimerSimHandle t3sim;
|
||||
TimerSimHandle t4sim;
|
||||
TimerSimHandle t5sim;
|
||||
TimerSimHandle t6sim;
|
||||
TimerSimHandle t7sim;
|
||||
TimerSimHandle t8sim;
|
||||
TimerSimHandle t9sim;
|
||||
TimerSimHandle t10sim;
|
||||
TimerSimHandle t11sim;
|
||||
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);
|
||||
}
|
||||
|
||||
void Init_Timers(void)
|
||||
{
|
||||
initSimulateTim(&t1sim, FREQ_INTERNAL_GENERATOR_XILINX_TMS / FREQ_PWM, FREQ_INTERNAL_GENERATOR_XILINX_TMS * dt);
|
||||
initSimulateTim(&t2sim, FREQ_INTERNAL_GENERATOR_XILINX_TMS / FREQ_PWM, FREQ_INTERNAL_GENERATOR_XILINX_TMS * dt);
|
||||
initSimulateTim(&t3sim, FREQ_INTERNAL_GENERATOR_XILINX_TMS / FREQ_PWM, FREQ_INTERNAL_GENERATOR_XILINX_TMS * dt);
|
||||
initSimulateTim(&t4sim, FREQ_INTERNAL_GENERATOR_XILINX_TMS / FREQ_PWM, FREQ_INTERNAL_GENERATOR_XILINX_TMS * dt);
|
||||
initSimulateTim(&t5sim, FREQ_INTERNAL_GENERATOR_XILINX_TMS / FREQ_PWM, FREQ_INTERNAL_GENERATOR_XILINX_TMS * dt);
|
||||
initSimulateTim(&t6sim, FREQ_INTERNAL_GENERATOR_XILINX_TMS / FREQ_PWM, FREQ_INTERNAL_GENERATOR_XILINX_TMS * dt);
|
||||
initSimulateTim(&t7sim, FREQ_INTERNAL_GENERATOR_XILINX_TMS / FREQ_PWM, FREQ_INTERNAL_GENERATOR_XILINX_TMS * dt);
|
||||
initSimulateTim(&t8sim, FREQ_INTERNAL_GENERATOR_XILINX_TMS / FREQ_PWM, FREQ_INTERNAL_GENERATOR_XILINX_TMS * dt);
|
||||
initSimulateTim(&t9sim, FREQ_INTERNAL_GENERATOR_XILINX_TMS / FREQ_PWM, FREQ_INTERNAL_GENERATOR_XILINX_TMS * dt);
|
||||
initSimulateTim(&t10sim, FREQ_INTERNAL_GENERATOR_XILINX_TMS / FREQ_PWM, FREQ_INTERNAL_GENERATOR_XILINX_TMS * dt);
|
||||
initSimulateTim(&t11sim, FREQ_INTERNAL_GENERATOR_XILINX_TMS / FREQ_PWM, FREQ_INTERNAL_GENERATOR_XILINX_TMS * dt);
|
||||
initSimulateTim(&t12sim, FREQ_INTERNAL_GENERATOR_XILINX_TMS / FREQ_PWM, FREQ_INTERNAL_GENERATOR_XILINX_TMS * dt);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
void initSimulateTim(TimerSimHandle* tsim, int period, double step)
|
||||
{
|
||||
tsim->dtsim.stateDt = 1;
|
||||
tsim->TPr = period/2;
|
||||
tsim->TxCntPlus = step;
|
||||
tsim->dtsim.DtCntPeriod = (int)(DT / dt);
|
||||
}
|
||||
|
||||
void SimulateMainPWM(TimerSimHandle* tsim, int compare)
|
||||
{
|
||||
if (simulateTimAndGetCompare(tsim, compare))
|
||||
mcu_simulate_step();
|
||||
simulateActionActionQualifierSubmodule(tsim);
|
||||
simulateDeadBendSubmodule(tsim);
|
||||
simulateTripZoneSubmodule(tsim);
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
|
||||
int simulateTimAndGetCompare(TimerSimHandle *tsim, int compare)
|
||||
{
|
||||
int interruptflag = 0;
|
||||
tsim->tcntAuxPrev = tsim->tcntAux;
|
||||
tsim->tcntAux += tsim->TxCntPlus;
|
||||
|
||||
if (tsim->tcntAux > tsim->TPr) {
|
||||
tsim->tcntAux -= tsim->TPr * 2.;
|
||||
tsim->cmpA = compare;
|
||||
interruptflag = 1;
|
||||
}
|
||||
if ((tsim->tcntAuxPrev < 0) && (tsim->tcntAux >= 0)) {
|
||||
tsim->cmpA = compare;
|
||||
interruptflag = 1;
|
||||
}
|
||||
tsim->tcnt = fabs(tsim->tcntAux);
|
||||
return interruptflag;
|
||||
}
|
||||
|
||||
|
||||
|
||||
void simulateActionActionQualifierSubmodule(TimerSimHandle* tsim)
|
||||
{
|
||||
// Ìîäåëèðóåì Action-Qualifier Submodule
|
||||
if (tsim->cmpA > tsim->tcnt) {
|
||||
tsim->dtsim.ciA_DT = 0;
|
||||
tsim->dtsim.ciB_DT = 1;
|
||||
}
|
||||
else if (tsim->cmpA < tsim->tcnt) {
|
||||
tsim->dtsim.ciA_DT = 1;
|
||||
tsim->dtsim.ciB_DT = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void simulateDeadBendSubmodule(TimerSimHandle* tsim)
|
||||
{
|
||||
// Ìîäåëèðóåì Dead-Band Submodule
|
||||
if (tsim->dtsim.stateDt == 1) {
|
||||
tsim->ciA = tsim->dtsim.ciA_DT;
|
||||
tsim->ciB = 0;
|
||||
if (tsim->dtsim.ciA_DT == 1)
|
||||
tsim->dtsim.dtcnt = tsim->dtsim.DtCntPeriod;
|
||||
if (tsim->dtsim.dtcnt > 0)
|
||||
tsim->dtsim.dtcnt--;
|
||||
else
|
||||
tsim->dtsim.stateDt = 2;
|
||||
}
|
||||
else if (tsim->dtsim.stateDt == 2) {
|
||||
tsim->ciA = 0;
|
||||
tsim->ciB = tsim->dtsim.ciB_DT;
|
||||
if (tsim->dtsim.ciB_DT == 1)
|
||||
tsim->dtsim.dtcnt = tsim->dtsim.DtCntPeriod;
|
||||
if (tsim->dtsim.dtcnt > 0)
|
||||
tsim->dtsim.dtcnt--;
|
||||
else
|
||||
tsim->dtsim.stateDt = 1;
|
||||
}
|
||||
}
|
||||
|
||||
void simulateTripZoneSubmodule(TimerSimHandle* tsim)
|
||||
{
|
||||
//// Ìîäåëèðóåì Trip-Zone Submodule
|
||||
// // ... clear flag for one-shot trip latch
|
||||
//if (EPwm1Regs.TZCLR.all == 0x0004) {
|
||||
// EPwm1Regs.TZCLR.all = 0x0000;
|
||||
// EPwm1Regs.TZFRC.all = 0x0000;
|
||||
//} // ... forces a one-shot trip event
|
||||
//if (EPwm1Regs.TZFRC.all == 0x0004)
|
||||
// ci1A_DT = ci1B_DT = 0;
|
||||
}
|
||||
60
Inu/pwm_sim.h
Normal file
60
Inu/pwm_sim.h
Normal file
@ -0,0 +1,60 @@
|
||||
#include "DSP281x_Device.h"
|
||||
#include "v_pwm24_v2.h"
|
||||
|
||||
#ifndef PWM_SIM
|
||||
#define PWM_SIM
|
||||
|
||||
|
||||
// Äëÿ ìîäåëèðîâàíèÿ Event Manager
|
||||
// ... Dead-Band Submodule
|
||||
typedef struct
|
||||
{
|
||||
int DtCntPeriod;
|
||||
int stateDt;
|
||||
int dtcnt;
|
||||
int ciA_DT;
|
||||
int ciB_DT;
|
||||
}DeadBandSimHandle;
|
||||
// ... Time-Base Submodule, Counter-Compare Submodule è Event-Trigger Submodule
|
||||
typedef struct
|
||||
{
|
||||
|
||||
double TxCntPlus;
|
||||
double TPr;
|
||||
double tcntAux;
|
||||
double tcntAuxPrev;
|
||||
double tcnt;
|
||||
double cmpA;
|
||||
double cmpB;
|
||||
int ciA;
|
||||
int ciB;
|
||||
DeadBandSimHandle dtsim;
|
||||
}TimerSimHandle;
|
||||
|
||||
extern TimerSimHandle t1sim;
|
||||
extern TimerSimHandle t2sim;
|
||||
extern TimerSimHandle t3sim;
|
||||
extern TimerSimHandle t4sim;
|
||||
extern TimerSimHandle t5sim;
|
||||
extern TimerSimHandle t6sim;
|
||||
extern TimerSimHandle t7sim;
|
||||
extern TimerSimHandle t8sim;
|
||||
extern TimerSimHandle t9sim;
|
||||
extern TimerSimHandle t10sim;
|
||||
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);
|
||||
int simulateTimAndGetCompare(TimerSimHandle* tsim, int compare);
|
||||
void simulateActionActionQualifierSubmodule(TimerSimHandle* tsim);
|
||||
void simulateDeadBendSubmodule(TimerSimHandle* tsim);
|
||||
void simulateTripZoneSubmodule(TimerSimHandle* tsim);
|
||||
#endif //PWM_SIM
|
||||
@ -21,5 +21,5 @@
|
||||
void controller(SimStruct *S, const real_T *u, real_T *xD, real_T *rW,
|
||||
int_T *iW);
|
||||
|
||||
|
||||
extern double dt;
|
||||
#endif
|
||||
|
||||
14
init.m
14
init.m
@ -27,17 +27,17 @@ NP = 0.08;
|
||||
|
||||
% номинальные величины ГЭД
|
||||
% ... мощность на валу, Вт
|
||||
Pnom = 5000e3*2;
|
||||
Pnom = 6300e3;
|
||||
% ... линейное напряжение, В (rms)
|
||||
Unom = 3000;
|
||||
Unom = 3300;
|
||||
% ... механическая скорость, об/мин
|
||||
NmNom = 165;
|
||||
NmNom = 180;
|
||||
% ... число пар полюсов
|
||||
Pp = 6;
|
||||
% ... коэффициент мощности
|
||||
CosFi = 0.87;
|
||||
% ... КПД
|
||||
Eff = 0.962;
|
||||
Eff = 0.968;
|
||||
% ... 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 = 2.87 * 1.5;%2.87;%Îì
|
||||
Fe = 12;%Ãö
|
||||
Xm = 2.9322;%2.87;%Îì
|
||||
Fe = 18;%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*0.5;%Ô (0.5 - ò.ê. ïðåîáðàçîâàòåëåé äâà)
|
||||
Csn = Pnom/(1000*WeNom*Unom^2)/10;%Ô (0.5 - ò.ê. ïðåîáðàçîâàòåëåé äâà)
|
||||
Rsn = 2*Ts/Csn*10;%Ом
|
||||
|
||||
% постоянная времени фильтра для тока ГЭД, c
|
||||
|
||||
Binary file not shown.
@ -21,6 +21,7 @@ set params_i=-I"..\device_support_ml\include"^
|
||||
set params_o=-outdir "."
|
||||
|
||||
set params_wrapper_c=.\Inu\controller.c^
|
||||
.\Inu\pwm_sim.c^
|
||||
.\Inu\Src\main_matlab\init28335.c^
|
||||
.\Inu\Src\main_matlab\param.c^
|
||||
.\Inu\Src\main_matlab\main_matlab.c^
|
||||
|
||||
Loading…
Reference in New Issue
Block a user