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matlab_23550/Inu/app_wrapper/app_init.c
Razvalyaev fbe8ab9f97 #5 С двигателем не все гладко, но ПЧ запускается, напряжение без двигателя трехуровневное 
При SCALAR_OBOROTS
Двигатель не крутится, но при SIMULINK_SEQUENCE = V_PWM24_PHASE_SEQ_NORMAL_ABC на двигателе рисуются красивые синусоиды, пусть и с выбросом в начале и без трехуровнего напряжения

При FOC_OBOROTS
Двигатель крутится, но не уверен что как надо. Между двумя ПЧ почти нет сдвига фаз. Но он разгоняется, но кривовато до -0.9.
И еще как-то задание не работает, по крайней мере если менять только задание оборотов Гц

+ Перенесена структура из ветки RazvalyaevProject
2025-01-18 20:07:11 +03:00

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/**************************************************************************
Description: Ïîñëå çàãðóçêè ïðîöåññîðà ôóíêöèÿ âûçûâàåòñÿ îäèí ðàç
è èíèöèàëèçèðóåò óïðàâëÿþùèå ðåãèñòðû ïðîöåññîðà
TMS320F28335/TMS320F28379D.
Àâòîð: Óëèòîâñêèé Ä.È.
Äàòà ïîñëåäíåãî îáíîâëåíèÿ: 2021.10.04
**************************************************************************/
#include "app_init.h"
#define FREQ_TIMER_3 (FREQ_PWM*2)
#define MAX_U_PROC_SMALL 2.5 //1.4
#define MAX_U_PROC 1.3 //1.11 //1.4
#define MIN_U_PROC 0.8 //0.7
#define ADD_U_MAX_GLOBAL 200.0 //V Íàñêîëüêî ïîäíèìàåì óñòàâêó GLOBAL îòíîñèòåëüíî ZadanieU_Charge
#define ADD_U_MAX_GLOBAL_SMALL 500.0 //V Íàñêîëüêî ïîäíèìàåì óñòàâêó GLOBAL îòíîñèòåëüíî ZadanieU_Charge
#define LEVEL_DETECT_U_SMALL 1000.0 //V Íàñêîëüêî ïîäíèìàåì óñòàâêó GLOBAL îòíîñèòåëüíî ZadanieU_Charge
void app_init(void) {
edrk.flag_second_PCH = 0;
edrk_init_variables_matlab();
init_global_time_struct(FREQ_TIMER_3);
Init_Adc_Variables();
//svgen_pwm24_1.phase_sequence = SIMULINK_SEQUENCE;
//svgen_pwm24_2.phase_sequence = SIMULINK_SEQUENCE;
edrk.zadanie.iq_Izad = _IQ(1);
edrk.disable_alg_u_disbalance = 0;
edrk.zadanie.iq_limit_power_zad = _IQ(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.Mode_ScalarVectorUFConst = ALG_MODE_FOC_OBOROTS;
edrk.zadanie.iq_power_zad = _IQ(1);
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.P_to_master;
edrk.tetta_to_slave;
edrk.Iq_to_slave;
edrk.P_to_master;
uf_alg.winding_displacement_bs1;
//analog_zero.iqU_1 = 2048;
//analog_zero.iqU_2 = 2048;
} //void init28335(void)
void edrk_init_variables_matlab(void)
{
initVectorControl();
InitXPWM(FREQ_PWM);
InitPWM_Variables();
//#if(SENSOR_ALG==SENSOR_ALG_23550)
// rotorInit();
//#endif
//#if(SENSOR_ALG==SENSOR_ALG_22220)
// // 22220
// rotorInit_22220();
//#endif
control_station.clear(&control_station);
edrk_init_matlab();
init_ramp_all_zadanie();
//init_all_limit_koeffs();
for (int i = 0; i < CONTROL_STATION_CMD_LAST; i++)
control_station.array_cmd[CONTROL_STATION_TERMINAL_CAN][i] = control_station.array_cmd[CONTROL_STATION_TERMINAL_RS232][i];
ramp_all_zadanie(2);
set_zadanie_u_charge_matlab();
init_Uin_rms();
}
void edrk_init_matlab(void)
{
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_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.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.iq_ZadanieU_Charge = _IQ(edrk.ZadanieU_Charge/NORMA_ACP);
if (edrk.zadanie.ZadanieU_Charge<=100)
{
edrk.iqMIN_U_ZPT = _IQ(-50.0/NORMA_ACP);
edrk.iqMIN_U_IN = _IQ(-50.0/NORMA_ACP);
}
else
{
edrk.iqMIN_U_ZPT = _IQ(edrk.zadanie.ZadanieU_Charge*MIN_U_PROC/NORMA_ACP);
edrk.iqMIN_U_IN = _IQ(edrk.zadanie.ZadanieU_Charge*MIN_U_PROC/NORMA_ACP);
}
if (edrk.zadanie.ZadanieU_Charge<LEVEL_DETECT_U_SMALL)
{
edrk.iqMAX_U_ZPT_Predzaryad = _IQ(edrk.zadanie.ZadanieU_Charge*MAX_U_PROC_SMALL/NORMA_ACP);
edrk.iqMAX_U_ZPT_Global = edrk.iqMAX_U_ZPT_Predzaryad + _IQ(ADD_U_MAX_GLOBAL_SMALL/NORMA_ACP); // +500V
}
else
{
edrk.iqMAX_U_ZPT_Predzaryad = _IQ(edrk.zadanie.ZadanieU_Charge*MAX_U_PROC/NORMA_ACP);
edrk.iqMAX_U_ZPT_Global = edrk.iqMAX_U_ZPT_Predzaryad + _IQ(ADD_U_MAX_GLOBAL/NORMA_ACP); // +200V
if (edrk.iqMAX_U_ZPT_Global>U_D_MAX_ERROR_GLOBAL_2800)
edrk.iqMAX_U_ZPT_Global = U_D_MAX_ERROR_GLOBAL_2800;
}
edrk.iqMAX_U_ZPT = _IQ(edrk.zadanie.ZadanieU_Charge*MAX_U_PROC/NORMA_ACP);
edrk.iqMAX_U_IN = _IQ(edrk.zadanie.ZadanieU_Charge*MAX_U_PROC/NORMA_ACP);
}
void init_ramp_all_zadanie(void)
{
_iq rampafloat;
// rmp_fzad
edrk.zadanie.rmp_fzad.RampLowLimit = _IQ(-MAX_ZADANIE_F / NORMA_FROTOR); //0
edrk.zadanie.rmp_fzad.RampHighLimit = _IQ(MAX_ZADANIE_F / NORMA_FROTOR);
rampafloat = _IQ(1.0 / (2.0 * FREQ_PWM * T_NARAST_ZADANIE_F));
edrk.zadanie.rmp_fzad.RampPlus = rampafloat;
edrk.zadanie.rmp_fzad.RampMinus = -rampafloat;
edrk.zadanie.rmp_fzad.DesiredInput = 0;
edrk.zadanie.rmp_fzad.Out = 0;
// rmp_oborots_hz
edrk.zadanie.rmp_oborots_zad_hz.RampLowLimit = _IQ(MIN_ZADANIE_OBOROTS_ROTOR / 60.0 / NORMA_FROTOR); //0
edrk.zadanie.rmp_oborots_zad_hz.RampHighLimit = _IQ(MAX_ZADANIE_OBOROTS_ROTOR / 60.0 / NORMA_FROTOR);
rampafloat = _IQ(1.0 / (2.0 * FREQ_PWM * T_NARAST_ZADANIE_OBOROTS_ROTOR));
edrk.zadanie.rmp_oborots_zad_hz.RampPlus = rampafloat;
edrk.zadanie.rmp_oborots_zad_hz.RampMinus = -rampafloat;
edrk.zadanie.rmp_oborots_zad_hz.DesiredInput = 0;
edrk.zadanie.rmp_oborots_zad_hz.Out = 0;
//
edrk.zadanie.rmp_Izad.RampLowLimit = _IQ(0); //0
edrk.zadanie.rmp_Izad.RampHighLimit = _IQ(MAX_ZADANIE_I_M / NORMA_ACP);
rampafloat = _IQ(1.0 / (2.0 * FREQ_PWM * T_NARAST_ZADANIE_I_M));
edrk.zadanie.rmp_Izad.RampPlus = rampafloat;
edrk.zadanie.rmp_Izad.RampMinus = -rampafloat;
edrk.zadanie.rmp_Izad.DesiredInput = 0;
edrk.zadanie.rmp_Izad.Out = 0;
//
edrk.zadanie.rmp_ZadanieU_Charge.RampLowLimit = _IQ(0); //0
edrk.zadanie.rmp_ZadanieU_Charge.RampHighLimit = _IQ(MAX_ZADANIE_U_CHARGE / NORMA_ACP);
rampafloat = _IQ(1.0 / (2.0 * FREQ_PWM * T_NARAST_ZADANIE_U_CHARGE));
edrk.zadanie.rmp_ZadanieU_Charge.RampPlus = rampafloat;
edrk.zadanie.rmp_ZadanieU_Charge.RampMinus = -rampafloat;
edrk.zadanie.rmp_ZadanieU_Charge.DesiredInput = 0;
edrk.zadanie.rmp_ZadanieU_Charge.Out = 0;
//
edrk.zadanie.rmp_k_u_disbalance.RampLowLimit = _IQ(0); //0
edrk.zadanie.rmp_k_u_disbalance.RampHighLimit = _IQ(MAX_ZADANIE_K_U_DISBALANCE);
rampafloat = _IQ(1.0 / (2.0 * FREQ_PWM * T_NARAST_ZADANIE_K_U_DISBALANCE));
edrk.zadanie.rmp_k_u_disbalance.RampPlus = rampafloat;
edrk.zadanie.rmp_k_u_disbalance.RampMinus = -rampafloat;
edrk.zadanie.rmp_k_u_disbalance.DesiredInput = 0;
edrk.zadanie.rmp_k_u_disbalance.Out = 0;
//
edrk.zadanie.rmp_kplus_u_disbalance.RampLowLimit = _IQ(0); //0
edrk.zadanie.rmp_kplus_u_disbalance.RampHighLimit = _IQ(MAX_ZADANIE_KPLUS_U_DISBALANCE);
rampafloat = _IQ(1.0 / (2.0 * FREQ_PWM * T_NARAST_ZADANIE_KPLUS_U_DISBALANCE));
edrk.zadanie.rmp_kplus_u_disbalance.RampPlus = rampafloat;
edrk.zadanie.rmp_kplus_u_disbalance.RampMinus = -rampafloat;
edrk.zadanie.rmp_kplus_u_disbalance.DesiredInput = 0;
edrk.zadanie.rmp_kplus_u_disbalance.Out = 0;
//
edrk.zadanie.rmp_kzad.RampLowLimit = _IQ(0); //0
edrk.zadanie.rmp_kzad.RampHighLimit = _IQ(MAX_ZADANIE_K_M);
rampafloat = _IQ(1.0 / (2.0 * FREQ_PWM * T_NARAST_ZADANIE_K_M));
edrk.zadanie.rmp_kzad.RampPlus = rampafloat;
edrk.zadanie.rmp_kzad.RampMinus = -rampafloat;
edrk.zadanie.rmp_kzad.DesiredInput = 0;
edrk.zadanie.rmp_kzad.Out = 0;
//
edrk.zadanie.rmp_powers_zad.RampLowLimit = _IQ(MIN_ZADANIE_POWER * 1000.0 / (NORMA_MZZ * NORMA_MZZ)); //0
edrk.zadanie.rmp_powers_zad.RampHighLimit = _IQ(MAX_ZADANIE_POWER * 1000.0 / (NORMA_MZZ * NORMA_MZZ));
rampafloat = _IQ(1.0 / (2.0 * FREQ_PWM * T_NARAST_ZADANIE_POWER));
edrk.zadanie.rmp_powers_zad.RampPlus = rampafloat;
edrk.zadanie.rmp_powers_zad.RampMinus = -rampafloat;
edrk.zadanie.rmp_powers_zad.DesiredInput = 0;
edrk.zadanie.rmp_powers_zad.Out = 0;
//
edrk.zadanie.rmp_limit_powers_zad.RampLowLimit = _IQ(0); //0
edrk.zadanie.rmp_limit_powers_zad.RampHighLimit = _IQ(MAX_ZADANIE_POWER * 1000.0 / (NORMA_MZZ * NORMA_MZZ));
rampafloat = _IQ(1.0 / (2.0 * FREQ_PWM * T_NARAST_ZADANIE_POWER));
edrk.zadanie.rmp_limit_powers_zad.RampPlus = rampafloat;
edrk.zadanie.rmp_limit_powers_zad.RampMinus = -rampafloat;
edrk.zadanie.rmp_limit_powers_zad.DesiredInput = 0;
edrk.zadanie.rmp_limit_powers_zad.Out = 0;
//
}
void ramp_all_zadanie(int flag_set_zero)
{
//////////////////////////////////////////////
if (flag_set_zero == 0)
edrk.zadanie.rmp_Izad.DesiredInput = edrk.zadanie.iq_Izad;
else
if (flag_set_zero == 2)
{
edrk.zadanie.rmp_Izad.DesiredInput = 0;
edrk.zadanie.rmp_Izad.Out = 0;
}
else
edrk.zadanie.rmp_Izad.DesiredInput = 0;
edrk.zadanie.rmp_Izad.calc(&edrk.zadanie.rmp_Izad);
edrk.zadanie.iq_Izad_rmp = edrk.zadanie.rmp_Izad.Out;
//////////////////////////////////////////////
edrk.zadanie.rmp_ZadanieU_Charge.DesiredInput = edrk.zadanie.iq_ZadanieU_Charge;
edrk.zadanie.rmp_ZadanieU_Charge.calc(&edrk.zadanie.rmp_ZadanieU_Charge);
edrk.zadanie.iq_ZadanieU_Charge_rmp = edrk.zadanie.rmp_ZadanieU_Charge.Out;
//////////////////////////////////////////////
if (flag_set_zero == 0)
edrk.zadanie.rmp_fzad.DesiredInput = edrk.zadanie.iq_fzad;
else
if (flag_set_zero == 2)
{
edrk.zadanie.rmp_fzad.DesiredInput = 0;
edrk.zadanie.rmp_fzad.Out = 0;
}
else
edrk.zadanie.rmp_fzad.DesiredInput = 0;
edrk.zadanie.rmp_fzad.calc(&edrk.zadanie.rmp_fzad);
edrk.zadanie.iq_fzad_rmp = edrk.zadanie.rmp_fzad.Out;
//////////////////////////////////////////////
edrk.zadanie.rmp_k_u_disbalance.DesiredInput = edrk.zadanie.iq_k_u_disbalance;
edrk.zadanie.rmp_k_u_disbalance.calc(&edrk.zadanie.rmp_k_u_disbalance);
edrk.zadanie.iq_k_u_disbalance_rmp = edrk.zadanie.rmp_k_u_disbalance.Out;
//////////////////////////////////////////////
edrk.zadanie.rmp_kplus_u_disbalance.DesiredInput = edrk.zadanie.iq_kplus_u_disbalance;
edrk.zadanie.rmp_kplus_u_disbalance.calc(&edrk.zadanie.rmp_kplus_u_disbalance);
edrk.zadanie.iq_kplus_u_disbalance_rmp = edrk.zadanie.rmp_kplus_u_disbalance.Out;
//////////////////////////////////////////////
if (flag_set_zero == 0)
edrk.zadanie.rmp_kzad.DesiredInput = edrk.zadanie.iq_kzad;
else
if (flag_set_zero == 2)
{
edrk.zadanie.rmp_kzad.DesiredInput = 0;
edrk.zadanie.rmp_kzad.Out = 0;
}
else
edrk.zadanie.rmp_kzad.DesiredInput = 0;
edrk.zadanie.rmp_kzad.calc(&edrk.zadanie.rmp_kzad);
edrk.zadanie.iq_kzad_rmp = edrk.zadanie.rmp_kzad.Out;
//////////////////////////////////////////////
if (flag_set_zero == 0)
edrk.zadanie.rmp_oborots_zad_hz.DesiredInput = edrk.zadanie.iq_oborots_zad_hz;
else
if (flag_set_zero == 2)
{
edrk.zadanie.rmp_oborots_zad_hz.DesiredInput = 0;
edrk.zadanie.rmp_oborots_zad_hz.Out = 0;
}
else
edrk.zadanie.rmp_oborots_zad_hz.DesiredInput = 0;
edrk.zadanie.rmp_oborots_zad_hz.calc(&edrk.zadanie.rmp_oborots_zad_hz);
edrk.zadanie.iq_oborots_zad_hz_rmp = edrk.zadanie.rmp_oborots_zad_hz.Out;
//////////////////////////////////////////////
if (flag_set_zero == 0)
edrk.zadanie.rmp_limit_powers_zad.DesiredInput = edrk.zadanie.iq_limit_power_zad;
else
if (flag_set_zero == 2)
{
edrk.zadanie.rmp_limit_powers_zad.DesiredInput = 0;
edrk.zadanie.rmp_limit_powers_zad.Out = 0;
}
else
edrk.zadanie.rmp_limit_powers_zad.DesiredInput = 0;
edrk.zadanie.rmp_limit_powers_zad.calc(&edrk.zadanie.rmp_limit_powers_zad);
edrk.zadanie.iq_limit_power_zad_rmp = edrk.zadanie.rmp_limit_powers_zad.Out;
//////////////////////////////////////////////
if (flag_set_zero == 0)
{
if (edrk.zadanie.iq_power_zad > edrk.zadanie.iq_limit_power_zad_rmp)
edrk.zadanie.rmp_powers_zad.DesiredInput = edrk.zadanie.iq_limit_power_zad_rmp;
else
edrk.zadanie.rmp_powers_zad.DesiredInput = edrk.zadanie.iq_power_zad;
}
else
if (flag_set_zero == 2)
{
edrk.zadanie.rmp_powers_zad.DesiredInput = 0;
edrk.zadanie.rmp_powers_zad.Out = 0;
}
else
edrk.zadanie.rmp_powers_zad.DesiredInput = 0;
edrk.zadanie.rmp_powers_zad.calc(&edrk.zadanie.rmp_powers_zad);
edrk.zadanie.iq_power_zad_rmp = edrk.zadanie.rmp_powers_zad.Out;
}
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