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лимит угла теперь не сатурирует, а начинается отсчет от него

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плюс всякое по матлаб
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Razvalyaev 2025-12-02 16:26:23 +03:00
parent eb6979aa27
commit 3750d579fa
6 changed files with 46 additions and 13 deletions
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44
MATLAB/app_wrapper/app_io.c
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@ -9,6 +9,24 @@
float dbg[16]; float dbg[16];
#define PIN_READ(_verbname_) (_verbname_##_GPIO_Port->ODR & (_verbname_##_Pin)) ? 1 : 0 #define PIN_READ(_verbname_) (_verbname_##_GPIO_Port->ODR & (_verbname_##_Pin)) ? 1 : 0
void pwm_wtf(PWM_State_t state1, PWM_State_t state2, int* pwm_pin)
{
if ((*pwm_pin == 0) && (state1 == PWM_THYR_TIM_ACTIVE))
{
*pwm_pin = 1;
}
else if ((*pwm_pin == 1) && (state2 == PWM_THYR_TIM_ACTIVE))
{
*pwm_pin = 0;
}
}
int pwm1_pin = 0;
int pwm2_pin = 0;
int pwm3_pin = 0;
int pwm4_pin = 0;
int pwm5_pin = 0;
int pwm6_pin = 0;
void Write_UPP_Outputs(real_T* Buffer, int ind_port) void Write_UPP_Outputs(real_T* Buffer, int ind_port)
{ {
//int pwm1_pin = PIN_READ(PWM1); //int pwm1_pin = PIN_READ(PWM1);
@ -23,6 +41,13 @@ void Write_UPP_Outputs(real_T* Buffer, int ind_port)
int pwm4_pin = (upp.hpwm.AllPhases[PHASE_B_NEG].State == PWM_THYR_TIM_ACTIVE); int pwm4_pin = (upp.hpwm.AllPhases[PHASE_B_NEG].State == PWM_THYR_TIM_ACTIVE);
int pwm5_pin = (upp.hpwm.AllPhases[PHASE_C_POS].State == PWM_THYR_TIM_ACTIVE); int pwm5_pin = (upp.hpwm.AllPhases[PHASE_C_POS].State == PWM_THYR_TIM_ACTIVE);
int pwm6_pin = (upp.hpwm.AllPhases[PHASE_C_NEG].State == PWM_THYR_TIM_ACTIVE); int pwm6_pin = (upp.hpwm.AllPhases[PHASE_C_NEG].State == PWM_THYR_TIM_ACTIVE);
//pwm_wtf(upp.hpwm.AllPhases[PHASE_A_POS].State, upp.hpwm.AllPhases[PHASE_A_NEG].State, &pwm1_pin);
//pwm_wtf(upp.hpwm.AllPhases[PHASE_A_NEG].State, upp.hpwm.AllPhases[PHASE_A_POS].State, &pwm2_pin);
//pwm_wtf(upp.hpwm.AllPhases[PHASE_B_POS].State, upp.hpwm.AllPhases[PHASE_B_NEG].State, &pwm3_pin);
//pwm_wtf(upp.hpwm.AllPhases[PHASE_B_NEG].State, upp.hpwm.AllPhases[PHASE_B_POS].State, &pwm4_pin);
//pwm_wtf(upp.hpwm.AllPhases[PHASE_C_POS].State, upp.hpwm.AllPhases[PHASE_C_NEG].State, &pwm5_pin);
//pwm_wtf(upp.hpwm.AllPhases[PHASE_C_NEG].State, upp.hpwm.AllPhases[PHASE_C_POS].State, &pwm6_pin);
int err = PIN_READ(RDO1); int err = PIN_READ(RDO1);
int work = PIN_READ(RDO2); int work = PIN_READ(RDO2);
int ready = PIN_READ(RDO3); int ready = PIN_READ(RDO3);
@ -140,14 +165,19 @@ void app_readInputs(const real_T* Buffer) {
MB_DATA.HoldRegs.pui_params.Tdelay = ReadInputArray(1, 8); MB_DATA.HoldRegs.pui_params.Tdelay = ReadInputArray(1, 8);
MB_DATA.HoldRegs.pui_params.Interlace = ReadInputArray(1, 9); MB_DATA.HoldRegs.pui_params.Interlace = ReadInputArray(1, 9);
MB_INTERNAL.param.angle.Angle_Max = ReadInputArray(2, 0) * 65535; MB_INTERNAL.param.adc.ADC_Max[ADC_CHANNEL_UAC] = ReadInputArray(2, 0) * 10;
MB_INTERNAL.param.angle.Angle_Min = ReadInputArray(2, 1) * 65535; MB_INTERNAL.param.adc.ADC_Max[ADC_CHANNEL_UBA] = ReadInputArray(2, 0) * 10;
MB_INTERNAL.param.angle.PID_Kp = ReadInputArray(2, 2) * 10000; MB_INTERNAL.param.adc.ADC_Max[ADC_CHANNEL_IA] = ReadInputArray(2, 1) * 10;
MB_INTERNAL.param.angle.PID_Ki = ReadInputArray(2, 3) * 10000; MB_INTERNAL.param.adc.ADC_Max[ADC_CHANNEL_IC] = ReadInputArray(2, 1) * 10;
MB_INTERNAL.param.angle.PID_Kd = ReadInputArray(2, 4) * 10000;
MB_INTERNAL.param.nominal.U = ReadInputArray(2, 2) * 10;
MB_INTERNAL.param.nominal.I = ReadInputArray(2, 3) * 10;
MB_INTERNAL.param.angle.PID_Kp = ReadInputArray(2, 4) * 10000;
MB_INTERNAL.param.angle.PID_Ki = ReadInputArray(2, 5) * 10000;
MB_INTERNAL.param.angle.PID_Kd = ReadInputArray(2, 6) * 10000;
MB_INTERNAL.param.angle.PulseLengthReserve = ReadInputArray(2, 7);
MB_INTERNAL.param.nominal.U = ReadInputArray(2, 5) * 10;
MB_INTERNAL.param.nominal.I = ReadInputArray(2, 6) * 10;
} }
// USER APP INPUT END // USER APP INPUT END
} }

3
MATLAB/upp_init.m
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@ -1,5 +1,8 @@
clear all clear all
IadcMax = 50;
VadcMax = 1216;
Ts = 5e-6; Ts = 5e-6;
Vnom = 400; Vnom = 400;
Inom = 30; Inom = 30;

BIN
MATLAB/upp_r2023.slx
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2
UPP/Core/Configs/upp_config.h
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@ -79,7 +79,7 @@
/* Параметры регулятора угла */ /* Параметры регулятора угла */
#define ANGLE_PULSE_LENGTH_RESERVE_PERCENT_DEFAULT 1.0 #define ANGLE_PULSE_LENGTH_RESERVE_PERCENT_DEFAULT 1.0
#define ANGLE_MAX_PERCENT_DEFAULT 0.8 #define ANGLE_MAX_PERCENT_DEFAULT 1
#define ANGLE_MIN_PERCENT_DEFAULT 0.1 #define ANGLE_MIN_PERCENT_DEFAULT 0.1
#define ANGLE_PID_KP_COEF_DEFAULT 0.0001 #define ANGLE_PID_KP_COEF_DEFAULT 0.0001
#define ANGLE_PID_KI_COEF_DEFAULT 0.0001 #define ANGLE_PID_KI_COEF_DEFAULT 0.0001

2
UPP/Core/UPP/angle_control.c
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@ -142,7 +142,7 @@ HAL_StatusTypeDef Angle_SetAngle(Angle_Handle_t *hangle, float OpenLevel)
float OpenLevelForCos = (OpenLevel*2)-1; float OpenLevelForCos = (OpenLevel*2)-1;
float alpha_rad = acosf(OpenLevelForCos); // угол в радианах float alpha_rad = acosf(OpenLevelForCos); // угол в радианах
float alpha = alpha_rad/PI; // время открытие в процентах от периода - когда открыть float alpha = alpha_rad/PI* hangle->Config.PeriodLimit; // время открытие в процентах от периода - когда открыть
if(alpha > hangle->Config.AngleMax) if(alpha > hangle->Config.AngleMax)
alpha = hangle->Config.AngleMax; alpha = hangle->Config.AngleMax;

8
UPP/Core/UPP/upp_params.c
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@ -290,10 +290,10 @@ void UPP_Params_Saturate(void)
SATURATE_U16(PARAM_INTERNAL.nominal.F_deviation_minus, 0, 100*100); SATURATE_U16(PARAM_INTERNAL.nominal.F_deviation_minus, 0, 100*100);
SATURATE_U16(PARAM_INTERNAL.nominal.I, 0, ADC_I_MAX_A_DEFAULT*10); SATURATE_U16(PARAM_INTERNAL.nominal.I, 0, ADC_I_MAX_A_DEFAULT*10);
SATURATE_U16(PARAM_INTERNAL.adc.ADC_Max[ADC_CHANNEL_UBA], 0, ADC_U_MAX_V_DEFAULT*10); SATURATE_U16(PARAM_INTERNAL.adc.ADC_Max[ADC_CHANNEL_UBA], 0, 5000*10);
SATURATE_U16(PARAM_INTERNAL.adc.ADC_Max[ADC_CHANNEL_UAC], 0, ADC_U_MAX_V_DEFAULT*10); SATURATE_U16(PARAM_INTERNAL.adc.ADC_Max[ADC_CHANNEL_UAC], 0, 5000*10);
SATURATE_U16(PARAM_INTERNAL.adc.ADC_Max[ADC_CHANNEL_IC], 0, ADC_I_MAX_A_DEFAULT*10); SATURATE_U16(PARAM_INTERNAL.adc.ADC_Max[ADC_CHANNEL_IC], 0, 1000*10);
SATURATE_U16(PARAM_INTERNAL.adc.ADC_Max[ADC_CHANNEL_IA], 0, ADC_I_MAX_A_DEFAULT*10); SATURATE_U16(PARAM_INTERNAL.adc.ADC_Max[ADC_CHANNEL_IA], 0, 1000*10);
SATURATE_U16(PARAM_INTERNAL.adc.ADC_Zero[ADC_CHANNEL_UBA], 1848, 2248); SATURATE_U16(PARAM_INTERNAL.adc.ADC_Zero[ADC_CHANNEL_UBA], 1848, 2248);
SATURATE_U16(PARAM_INTERNAL.adc.ADC_Zero[ADC_CHANNEL_UAC], 1848, 2248); SATURATE_U16(PARAM_INTERNAL.adc.ADC_Zero[ADC_CHANNEL_UAC], 1848, 2248);
SATURATE_U16(PARAM_INTERNAL.adc.ADC_Zero[ADC_CHANNEL_IC], 1848, 2248); SATURATE_U16(PARAM_INTERNAL.adc.ADC_Zero[ADC_CHANNEL_IC], 1848, 2248);