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seklyuts 2024-05-27 09:09:31 +03:00
parent 7a214b1304
commit d007cf4c89
5 changed files with 29 additions and 21 deletions
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Projects/epwm_test_biss_c_cpu2/Start_rfm.pmp
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3
Projects/epwm_test_biss_c_cpu2/src/Peripherals/pwm_init.c
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@ -23,6 +23,7 @@ uint32_t EPwmTimerIntCount[17];
uint16_t EPwm_DB_Direction[17]; uint16_t EPwm_DB_Direction[17];
volatile uint16_t PwmBrake100 = PERIOD_BRAKE; volatile uint16_t PwmBrake100 = PERIOD_BRAKE;
volatile uint16_t PwmMotor100 = PERIOD_MOTOR; volatile uint16_t PwmMotor100 = PERIOD_MOTOR;
volatile uint16_t PwmFan100 = PERIOD_FAN;// от 20 до 100% регулировать
@ -70,7 +71,7 @@ void PWMAllInit(void)
PWMInit(PWM_B, PwmMotor100, COMPLIMENTARY);//<2F><><EFBFBD> PWMInit(PWM_B, PwmMotor100, COMPLIMENTARY);//<2F><><EFBFBD>
PWMInit(PWM_C, PwmMotor100, COMPLIMENTARY);//<2F><><EFBFBD> PWMInit(PWM_C, PwmMotor100, COMPLIMENTARY);//<2F><><EFBFBD>
PWMInit(PWM_BRAKE, PwmBrake100, INDEPENDED);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> PWMInit(PWM_BRAKE, PwmBrake100, INDEPENDED);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
PWMInit(3, PwmMotor100, INDEPENDED);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> PWMInit(3, PwmFan100, INDEPENDED);//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
//11 <20> 12 <20><><EFBFBD> SDFM //11 <20> 12 <20><><EFBFBD> SDFM
PWMInit(11, PwmMotor100, INDEPENDED); PWMInit(11, PwmMotor100, INDEPENDED);

6
Projects/epwm_test_biss_c_cpu2/src/Peripherals/pwm_init.h
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@ -1,7 +1,7 @@
/* /*
* pwm_init.h * pwm_init.h
* *
* Created on: 21 àâã. 2023 ã. * Created on: 21 <EFBFBD><EFBFBD><EFBFBD>. 2023 <EFBFBD>.
* Author: seklyuts * Author: seklyuts
*/ */
#include "f28x_project.h" #include "f28x_project.h"
@ -15,6 +15,10 @@
#define FREQUENCY_BRAKE 200000.0 //Hz #define FREQUENCY_BRAKE 200000.0 //Hz
#define FREQUENCY_MOTOR 10000.0 //Hz #define FREQUENCY_MOTOR 10000.0 //Hz
#define EPWM_DB_mkS 3.0 //mkS #define EPWM_DB_mkS 3.0 //mkS
#define FREQUENCY_FAN 1000.0 //Hz
#define PERIOD_FAN (SYS_PWM_FREQUENCY/2.0/FREQUENCY_FAN)
#define PERIOD_BRAKE (SYS_PWM_FREQUENCY/2.0/FREQUENCY_BRAKE) //Tic #define PERIOD_BRAKE (SYS_PWM_FREQUENCY/2.0/FREQUENCY_BRAKE) //Tic
#define PERIOD_MOTOR (SYS_PWM_FREQUENCY/2.0/FREQUENCY_MOTOR) //Tic #define PERIOD_MOTOR (SYS_PWM_FREQUENCY/2.0/FREQUENCY_MOTOR) //Tic

3
Projects/epwm_test_biss_c_cpu2/src/frmmstr_run.c
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@ -15,6 +15,8 @@ volatile uint16_t counter2=0 ;
volatile uint16_t Rele=0; volatile uint16_t Rele=0;
volatile uint16_t testMode = 0; volatile uint16_t testMode = 0;
//uint16_t PWM_Vent1;
void frmmstr_run(void) void frmmstr_run(void)
{ {
static uint16_t diod = 0; static uint16_t diod = 0;
@ -52,5 +54,6 @@ static uint16_t diod = 0;
FMSTR_Recorder(); FMSTR_Recorder();
FMSTREnableClr(); FMSTREnableClr();
Gpio95out(Rele); Gpio95out(Rele);
// EPwm3Regs.CMPA.bit.CMPA = PWM_Vent1;
} }
} }

38
Projects/epwm_test_biss_c_cpu2/src/vector.c
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@ -1,7 +1,7 @@
/* /*
* vector.c * vector.c
* *
* Created on: 20 <EFBFBD><EFBFBD><EFBFBD><EFBFBD>. 2023 <EFBFBD>. * Created on: 20 сент. 2023 г.
* Author: seklyuts * Author: seklyuts
*/ */
@ -23,9 +23,9 @@
#define IMAX (IMAX_A*BIT_MAX/FACTOR_CURRENT_MOTOR_A) #define IMAX (IMAX_A*BIT_MAX/FACTOR_CURRENT_MOTOR_A)
typedef struct { typedef struct {
int16_t Value16in; // int16_t Value16in; // Нефильрованное значение
int16_t Value16filtered; // int16_t Value16filtered; // Фильрованное значение
int32_t Value32; // int32_t Value32; // Конечное напряжение тренировки
int16_t ShiftFilter; // Filters int16_t ShiftFilter; // Filters
} Filtered; } Filtered;
@ -145,7 +145,7 @@ void vectorInitCurrLoop(void)
CurrLoop.piId.Ref = 0; // Input: reference set-point CurrLoop.piId.Ref = 0; // Input: reference set-point
CurrLoop.piId.Fbk = 0; // Input: feedback CurrLoop.piId.Fbk = 0; // Input: feedback
CurrLoop.piId.uCorr = 0; // Input: <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> CurrLoop.piId.uCorr = 0; // Input: Коррекция выхода, для устранения перекретных связей
CurrLoop.piId.Out = 0; // Output: controller output CurrLoop.piId.Out = 0; // Output: controller output
CurrLoop.piId.Kp = PI_REG_I_PROPOR; // Parameter: proportional loop gain CurrLoop.piId.Kp = PI_REG_I_PROPOR; // Parameter: proportional loop gain
CurrLoop.piId.Ki = PI_REG_I_INTEGR; // Parameter: integral gain CurrLoop.piId.Ki = PI_REG_I_INTEGR; // Parameter: integral gain
@ -159,7 +159,7 @@ void vectorInitCurrLoop(void)
CurrLoop.piIq.Ref = 0; // Input: reference set-point CurrLoop.piIq.Ref = 0; // Input: reference set-point
CurrLoop.piIq.Fbk = 0; // Input: feedback CurrLoop.piIq.Fbk = 0; // Input: feedback
CurrLoop.piIq.uCorr = 0; // Input: <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> CurrLoop.piIq.uCorr = 0; // Input: Коррекция выхода, для устранения перекретных связей
CurrLoop.piIq.Out = 0; // Output: controller output CurrLoop.piIq.Out = 0; // Output: controller output
CurrLoop.piIq.Kp = PI_REG_I_PROPOR; // Parameter: proportional loop gain CurrLoop.piIq.Kp = PI_REG_I_PROPOR; // Parameter: proportional loop gain
CurrLoop.piIq.Ki = PI_REG_I_INTEGR; // Parameter: integral gain CurrLoop.piIq.Ki = PI_REG_I_INTEGR; // Parameter: integral gain
@ -174,13 +174,13 @@ void vectorInitCurrLoop(void)
void vectorResCurrLoop(void) void vectorResCurrLoop(void)
{ {
CurrLoop.piId.Ref = 0; // Input: reference set-point CurrLoop.piId.Ref = 0; // Input: reference set-point
CurrLoop.piId.uCorr = 0; // Input: <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> CurrLoop.piId.uCorr = 0; // Input: Коррекция выхода, для устранения перекретных связей
CurrLoop.piId.Out = 0; // Output: controller output CurrLoop.piId.Out = 0; // Output: controller output
CurrLoop.piId.v1 = 0; // Data: pre-saturated controller output CurrLoop.piId.v1 = 0; // Data: pre-saturated controller output
CurrLoop.piId.i1 = 0; // Data: integrator storage: ui(k-1) CurrLoop.piId.i1 = 0; // Data: integrator storage: ui(k-1)
CurrLoop.piIq.Ref = 0; // Input: reference set-point CurrLoop.piIq.Ref = 0; // Input: reference set-point
CurrLoop.piIq.uCorr = 0; // Input: <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> CurrLoop.piIq.uCorr = 0; // Input: Коррекция выхода, для устранения перекретных связей
CurrLoop.piIq.Out = 0; // Output: controller output CurrLoop.piIq.Out = 0; // Output: controller output
CurrLoop.piIq.v1 = 0; // Data: pre-saturated controller output CurrLoop.piIq.v1 = 0; // Data: pre-saturated controller output
CurrLoop.piIq.i1 = 0; // Data: integrator storage: ui(k-1) CurrLoop.piIq.i1 = 0; // Data: integrator storage: ui(k-1)
@ -250,14 +250,14 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
/* if (Inputs->UpdateUdc) /* if (Inputs->UpdateUdc)
{ {
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Udc <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD>(<28><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Umax <20> Umin <20> <20><>-<2D><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) //Запоминаем Udc для контура тока(ограничение Umax и Umin в ПИ-регуляторе)
Outputs->Udc = PmsmVect.UdcFilter.Output; Outputs->Udc = PmsmVect.UdcFilter.Output;
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> 0 <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> //Защита от деления на 0 и отрицательных чисел
if (Outputs->Udc <= 0.0f) if (Outputs->Udc <= 0.0f)
Outputs->Udc = VOLTAGE_UDC; Outputs->Udc = VOLTAGE_UDC;
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD>(<28><><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD> <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>) //Расчет коэффициента для расчета скважности ШИМ(один раз делим, потом каждый цикл ШИМ умножаем, это эффективнее)
PmsmVect.UdcPwmFactor = 1.0f/Outputs->Udc; PmsmVect.UdcPwmFactor = 1.0f/Outputs->Udc;
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> //Сброс флага
Inputs->UpdateUdc = false; Inputs->UpdateUdc = false;
}*/ }*/
@ -292,7 +292,7 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
vectorIabc.c = (float)CurrentC * FactorCurrent; vectorIabc.c = (float)CurrentC * FactorCurrent;
} }
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> // преобразование Кларк
vectorI2ph.Alfa = vectorIabc.a; vectorI2ph.Alfa = vectorIabc.a;
vectorI2ph.Beta = _IQmpy((vectorIabc.a +_IQmpy2(vectorIabc.b)),_IQ(ONEbySQRT3)); //vectorI2ph.Beta = _IQmpy((vectorIabc.b - vectorIabc.c),_IQ(ONEbySQRT3)); vectorI2ph.Beta = _IQmpy((vectorIabc.a +_IQmpy2(vectorIabc.b)),_IQ(ONEbySQRT3)); //vectorI2ph.Beta = _IQmpy((vectorIabc.b - vectorIabc.c),_IQ(ONEbySQRT3));
@ -303,7 +303,7 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
vectorSinCos.sin = ((float)sin_int)/32768.0; vectorSinCos.sin = ((float)sin_int)/32768.0;
vectorSinCos.cos = ((float)cos_int)/32768.0; vectorSinCos.cos = ((float)cos_int)/32768.0;
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> // преобразование Парка
vectorIdq.d = _IQmpy(vectorI2ph.Alfa,vectorSinCos.cos) + _IQmpy(vectorI2ph.Beta,vectorSinCos.sin); vectorIdq.d = _IQmpy(vectorI2ph.Alfa,vectorSinCos.cos) + _IQmpy(vectorI2ph.Beta,vectorSinCos.sin);
vectorIdq.q = _IQmpy(vectorI2ph.Beta,vectorSinCos.cos) - _IQmpy(vectorI2ph.Alfa,vectorSinCos.sin); vectorIdq.q = _IQmpy(vectorI2ph.Beta,vectorSinCos.cos) - _IQmpy(vectorI2ph.Alfa,vectorSinCos.sin);
@ -312,7 +312,7 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
// AngleErr = Angle_test - vectorSinCos.Angle; // AngleErr = Angle_test - vectorSinCos.Angle;
// CurrLoop.piIq.Ref = Inputs->IqRef;//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> // CurrLoop.piIq.Ref = Inputs->IqRef;//Заданное
if (FABS(CurrLoop.piIq.Ref) > CurrLoop.CurrentLimit) if (FABS(CurrLoop.piIq.Ref) > CurrLoop.CurrentLimit)
{ {
@ -328,7 +328,7 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
// CurrLoop.piId.Umax = CurrLoop.piIq.Umax = Inputs->Udc; // CurrLoop.piId.Umax = CurrLoop.piIq.Umax = Inputs->Udc;
// CurrLoop.piId.Umin = CurrLoop.piIq.Umin = -CurrLoop.piIq.Umax; // CurrLoop.piId.Umin = CurrLoop.piIq.Umin = -CurrLoop.piIq.Umax;
#ifdef UCORR_ENABLE #ifdef UCORR_ENABLE
//<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> //Перекрестные связи
float Velectr = VFbk * CurrLoop.VelElectrFactor; float Velectr = VFbk * CurrLoop.VelElectrFactor;
CurrLoop.piId.uCorr = Velectr * CurrLoop.PhaseInduct * CurrLoop.piIq.Fbk; CurrLoop.piId.uCorr = Velectr * CurrLoop.PhaseInduct * CurrLoop.piIq.Fbk;
CurrLoop.piIq.uCorr = -Velectr * (CurrLoop.FluxLinkage + CurrLoop.PhaseInduct * CurrLoop.piId.Fbk); CurrLoop.piIq.uCorr = -Velectr * (CurrLoop.FluxLinkage + CurrLoop.PhaseInduct * CurrLoop.piId.Fbk);
@ -348,7 +348,7 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
PI_MACRO(CurrLoop.piIq); PI_MACRO(CurrLoop.piIq);
PI_MACRO(CurrLoop.piId); PI_MACRO(CurrLoop.piId);
/*<EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> Uq <20> Ud*/ /*Пропорциональное ограничение напряжений Uq и Ud*/
// Test1 = my_sqrtf(Test2); // Test1 = my_sqrtf(Test2);
@ -356,7 +356,7 @@ void vector_klark_park(uint16_t SectorOn, int16_t CurrentA, int16_t CurrentB, in
if (Ulim > UmaxVolt)// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> if (Ulim > UmaxVolt)// максимальное напряжение в вольтах
{ {
if(Ulim > ZERO_LVL) if(Ulim > ZERO_LVL)
{ {
@ -402,7 +402,7 @@ float my_sqrtf(float x)
return x * x0; return x * x0;
} }
// <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> // Фильтр сигнала
int16_t Filter(int16_t inValue, Filtered *Struct) { int16_t Filter(int16_t inValue, Filtered *Struct) {
(*Struct).Value16in = inValue; (*Struct).Value16in = inValue;
(*Struct).Value32+=(int32_t)((*Struct).Value16in)-(int32_t)((*Struct).Value16filtered); (*Struct).Value32+=(int32_t)((*Struct).Value16in)-(int32_t)((*Struct).Value16filtered);