853 lines
25 KiB
C
853 lines
25 KiB
C
#include "provalctrl.h"
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//定义比例阀相结构体
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propotion_valve pv_one;
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propotion_valve pv_two;
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//PID参数缓存，用于EEPROM读写
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float data_wr[3] = {0}; //[0,1,2] -> “Kp, Ti, Td”
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float data_rd[3] = {0};
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//比例阀参数初始化
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void prov_init(void) //不同比例阀的初始参数可能会不一样，因此未使用结构体指针传参
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{
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ee_readfloats(PRO1_ADDR,data_rd,3); //读取存储在EEPROM里的PID参数
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pv_one.status = PROV_HOLDING;
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pv_one.tag = 1; //标签，比例阀1
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for(uint8_t i = 0;i < SLDW_PRES_OUT;i++)//前n个时刻的输出气压
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{
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pv_one.previous_pressure[i] = 0;
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}
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pv_one.current_pressure = 0; //当前气压，Kpa
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pv_one.current_percent = 0; //当前气压百分比（ 0~900Kpa -> 0~100% ）
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pv_one.target_pressure = 0; //目标气压，Kpa
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pv_one.target_percent = 0; //目标气压百分比（ 0~900Kpa -> 0~100% ）
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pv_one.target_current = 0; //目标值的理论电流
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pv_one.current_input = 0; //当前输入电流
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pv_one.input_min = 3; //输入电流下限
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pv_one.input_max = 20; //输入电流上限
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pv_one.ctrl_min = 4; //理论控制范围下限
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pv_one.ctrl_max = 20; //理论控制范围上限
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pv_one.bias = 0; //偏差 = 目标气压百分比 - 当前气压百分比
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pv_one.bias_previous = 0; //前一个时刻的偏差
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pv_one.bias_area = 0.5; //允许的误差范围，±a(%)
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pv_one.Kp = (isnan(data_rd[0]))?(0):(data_rd[0]); //比例系数，NAN时视作0
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pv_one.Ti = (data_rd[1] == 0)?(1000000):(data_rd[1]); //积分时间，防止分母为零
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pv_one.Ing = 0; //积分输出
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pv_one.Ing_max = 5000; //积分上限
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pv_one.Ing_min = 0; //积分下限
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pv_one.Ing_sum = 0; //偏差求和
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pv_one.Td = data_rd[2]; //微分时间
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pv_one.Ts = 0.05; //采样周期，50ms
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pv_one.Div = 0; //微分输出
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pv_one.pidout = 0; //PID输出
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pv_one.pidout_max = 0; //PID输出上限
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pv_one.pidout_min = 0; //PID输出下限
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pv_one.slow_down_flg = 0; //减速标志
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// pv_one.cstep_gasin = 0.001; //逐步接近的电流步长，mA,充气
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// pv_one.cstep_gasout = 0.002; //逐步接近的电流步长，mA,排气
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// pv_one.cstep_max = 0; //逐步接近的电流范围上限
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// pv_one.cstep_min = 0; //逐步接近的电流范围下限
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// pv_one.cstep_wait = 0;
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pv_one.pvout = ao_blf1_set; //DAC输出函数
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pv_one.pvout(0); //输出0mA
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/************************************************/
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ee_readfloats(PRO2_ADDR,data_rd,3);
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pv_two.status = PROV_HOLDING;
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pv_two.tag = 2; //标签，比例阀2
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for(uint8_t i = 0;i < SLDW_PRES_OUT;i++)//前n个时刻的输出气压
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{
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pv_two.previous_pressure[i] = 0;
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}
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pv_two.current_pressure = 0;
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pv_two.current_percent = 0;
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pv_two.target_pressure = 0;
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pv_two.target_percent = 0;
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pv_two.target_current = 0; //目标值的理论电流
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pv_two.current_input = 0;
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pv_two.input_min = 3;
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pv_two.input_max = 20;
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pv_two.ctrl_min = 4; //理论控制范围下限
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pv_two.ctrl_max = 20; //理论控制范围上限
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pv_two.bias = 0;
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pv_two.bias_previous = 0; //前一个时刻的偏差
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pv_two.bias_area = 0.5;
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pv_two.Kp = (isnan(data_rd[0]))?(0):(data_rd[0]);;
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pv_two.Ti = (data_rd[1] == 0)?(1000000):(data_rd[1]); //积分时间
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pv_two.Ing = 0;
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pv_two.Ing_max = 5000;
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pv_two.Ing_min = 0;
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pv_two.Ing_sum = 0;
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pv_two.Td = data_rd[2];
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pv_two.Ts = 0.05; //采样周期，50ms
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pv_two.Div = 0;
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pv_two.pidout = 0;
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pv_two.pidout_max = 0;
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pv_two.pidout_min = 0;
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pv_two.slow_down_flg = 0;
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// pv_two.cstep_gasin = 0.001; //逐步接近的电流步长，mA,充气
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// pv_two.cstep_gasout = 0.002; //逐步接近的电流步长，mA,排气
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// pv_two.cstep_max = 0;
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// pv_two.cstep_min = 0;
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// pv_two.cstep_wait = 0;
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pv_two.pvout = ao_blf2_set;
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pv_two.pvout(0);
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}
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//初始化自整定相关的参数
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prov_adjust adj_pv1;
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prov_adjust adj_pv2;
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//初始化继电反馈整定参数
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void prov_adj_init(prov_adjust *adj_pvx)
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{
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adj_pvx->adj_flag = 0; //自整定标志，0：空闲，1：整定中
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for( uint8_t i = 0;i < OSCILL_TIMES;i++) //继电整定，振荡幅值,振荡周期
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{
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adj_pvx->relay_a[i] = 0;
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adj_pvx->relay_tc[i] = 0;
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}
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adj_pvx->relay_d = 0.15; //继电整定，回环幅值
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adj_pvx->air_source = 0; //气源，单位Kpa
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adj_pvx->middle_current = 0; //中间气压电流
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adj_pvx->oscil_times = 0; //振荡次数
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}
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float out_makeup = 0.05; //输出补偿
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//比例阀目标值设定，调节范围计算
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void prov_set(float target_p, propotion_valve *pvx)
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{
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target_p = (target_p < pvx->input_max)?(target_p):(pvx->input_max); //dac输出限幅
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target_p = (target_p > pvx->input_min)?(target_p):(pvx->input_min);
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pvx->target_percent = (target_p - pvx->ctrl_min) / ( pvx->ctrl_max - pvx->ctrl_min )*100; //目标百分比，按照理论范围计算
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pvx->target_pressure = pvx->target_percent/100*900; //Kpa, 比例阀 (4~20mA -> 0~0.9Mpa)
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// switch (pvx->tag)//分段校准，不同比例阀的数据表不一样
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// {
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// case 1:
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// {
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// target_p = (prov_section_calculate(pvx->target_pressure,&adj_pv1) > 0)?(prov_section_calculate(pvx->target_pressure,&adj_pv1)):(target_p);
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// target_p = (target_p < pvx->input_max)?(target_p):(pvx->input_max); //dac输出限幅
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// target_p = (target_p > pvx->input_min)?(target_p):(pvx->input_min);
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// }
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// break;
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// case 2:
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// {
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// target_p = (prov_section_calculate(pvx->target_pressure,&adj_pv2) > 0)?(prov_section_calculate(pvx->target_pressure,&adj_pv2)):(target_p);
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// target_p = (target_p < pvx->input_max)?(target_p):(pvx->input_max); //dac输出限幅
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// target_p = (target_p > pvx->input_min)?(target_p):(pvx->input_min);
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// }
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// break;
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// default:
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// break;
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// }
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pvx->target_current = target_p; //记录当前理论模拟输出
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pvx->pidout_max = pvx->target_current*(1 + out_makeup); //pid输出调节上限
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pvx->pidout_min = pvx->target_current*(1 - out_makeup); //pid输出调节下限
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pvx->gas_direction = (pvx->target_current >= pvx->current_input)?(GAS_IN):(GAS_OUT); //判断即将进行充气还是排气
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pvx->current_input = pvx->target_current; //理论值作为当前输出值
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// pvx->cstep_max = pvx->current_input + (float)0.8; //逐步输出调节上限
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// pvx->cstep_min = pvx->current_input - (float)0.8; //逐步输出调节下限
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// pvx->cstep_wait = 0; //等待计数清零
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pvx->slow_down_flg = 0; //减速标志清零
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pvx->pvout(pvx->current_input); //dac输出
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}
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//分段计算达到目标气压所需的电流
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float prov_section_calculate(float target_pressure, prov_adjust *adj_pvx)
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{
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float target_current = 0;
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if(adj_pvx->table_pressure[SECTION_NUM - 1] == -1) return -1; //未经过整定
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//寻找目标值所在区间，并根据区间占比计算所需输出
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for(uint8_t i = 0;i < SECTION_NUM - 1;i++)
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{
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if( (target_pressure >= adj_pvx->table_pressure[i]) && (target_pressure < adj_pvx->table_pressure[i+1]) )
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{
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target_current = adj_pvx->table_current[i]+(adj_pvx->table_current[i+1] - adj_pvx->table_current[i]) \
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* (target_pressure - adj_pvx->table_pressure[i])/(adj_pvx->table_pressure[i+1] - adj_pvx->table_pressure[i]); //目标气压在所在区间内的百分比
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}
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if(target_pressure >= adj_pvx->table_pressure[SECTION_NUM - 1]) target_current = adj_pvx->table_current[SECTION_NUM - 1];
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}
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return target_current;
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}
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//绝对值计算
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float abs_bias(float bias)
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{
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bias =( bias>=0 )?(bias):(-bias);
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return bias;
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}
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//pid控制
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float beta_in = 0, beta_out = 0; //变速积分
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void prov_calibrate_pid(propotion_valve *pvx)
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{
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if( (abs_bias(pvx->bias) > pvx->bias_area ) && (abs_bias(pvx->bias) < BIAS_MAX) ) //误差进入目标±BIAS_MAX%以内后再进行控制
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{
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//变速积分
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beta_in = ( abs_bias(pvx->bias*pvx->bias) + BIAS_MAX ) / ( BIAS_MAX );
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beta_out = ( abs_bias(pvx->bias) + BIAS_MAX/2 ) / ( BIAS_MAX );
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//充放气过程分开处理
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switch(pvx->gas_direction)
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{
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case GAS_IN: //充气
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{
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pvx->Ing_sum += pvx->bias * beta_in; //偏差求和
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pvx->Ing_sum = (pvx->Ing_sum > pvx->Ing_max)?(pvx->Ing_max):(pvx->Ing_sum); //积分限幅
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pvx->Ing_sum = (pvx->Ing_sum < pvx->Ing_min)?(pvx->Ing_min):(pvx->Ing_sum);
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pvx->Ing = ( pvx->Ts / pvx->Ti ) * pvx->Ing_sum; //积分项
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pvx->Div = ( pvx->Td / pvx->Ts ) * ( pvx->bias - pvx->bias_previous ); //微分项
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pvx->pidout = pvx->Kp*( pvx->bias + pvx->Ing + pvx->Div ); //pid输出
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pvx->current_input = (pvx->pidout/100) * (pvx->input_max - pvx->input_min) + pvx->input_min;
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}
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break;
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case GAS_OUT: //排气
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{
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pvx->Ing_sum += pvx->bias * beta_out; //偏差求和
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pvx->Ing_sum = (pvx->Ing_sum > pvx->Ing_max)?(pvx->Ing_max):(pvx->Ing_sum); //积分限幅
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pvx->Ing_sum = (pvx->Ing_sum < pvx->Ing_min)?(pvx->Ing_min):(pvx->Ing_sum);
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pvx->Ing = ( pvx->Ts / pvx->Ti ) * pvx->Ing_sum; //积分项
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pvx->Div = ( pvx->Td / pvx->Ts ) * ( pvx->bias - pvx->bias_previous ); //微分项
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pvx->pidout = pvx->Kp*( pvx->bias + pvx->Ing + pvx->Div ); //pid输出
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pvx->current_input = (pvx->pidout/100) * (pvx->input_max - pvx->input_min) + pvx->input_min;
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}
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break;
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default:
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{
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}
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break;
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}
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pvx->current_input = (pvx->current_input < pvx->pidout_max)?(pvx->current_input):(pvx->pidout_max); //充气时限制输出上限
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pvx->current_input = (pvx->current_input > pvx->pidout_min)?(pvx->current_input):(pvx->pidout_min); //排气时限制输出下限
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pvx->bias_previous = pvx->bias; //更新前一个时刻的偏差
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if( abs_bias(pvx->previous_pressure[0] - pvx->previous_pressure[SLDW_PRES_OUT - 1]) <= 10 ) //判断是否趋于稳定
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{
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pvx->slow_down_flg = 1;
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}
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pvx->current_input = (pvx->target_current < pvx->input_max*(float)(0.995))?(pvx->current_input):(pvx->input_max); //小信号切除
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if( pvx->target_current <= pvx->input_min*(float)(1.005) )
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{
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pvx->current_input = pvx->input_min;
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pvx->Ing_sum = 0;
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}
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pvx->pvout(pvx->current_input); //dac输出
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}else if(abs_bias(pvx->bias) >= BIAS_MAX)
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{
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switch(pvx->gas_direction) //根据气体方向对输出范围做补偿
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{
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case GAS_IN:
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{
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pvx->Ing_sum = (pvx->target_percent - 100*out_makeup) / pvx->Kp / ( pvx->Ts / pvx->Ti ); //预估积分值，改善滞后
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pvx->Ing_sum = (pvx->Ing_sum < pvx->Ing_min)?(pvx->Ing_min):(pvx->Ing_sum);
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}
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break;
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case GAS_OUT:
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{
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pvx->Ing_sum = pvx->target_percent / pvx->Kp / ( pvx->Ts / pvx->Ti ); //预估积分值，改善滞后
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}
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break;
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default:
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{
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}
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break;
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}
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}
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}
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//模拟量控制
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float ao_dwq = 0; //AO输出电流值(定位器)
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float ao_blf1 = 0; //AO输出电流值(比例阀)
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float ao_blf2 = 0; //AO输出电流值(比例阀)
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float atm_pressure = 0; //用于存放大气绝压，单位：0.1Kpa
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adj_steps astep = ADJ_WAIT; //自整定步骤，继电反馈
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adj_section_steps astep_s = SECTION_WAIT; //自整定步骤，分段
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void analog_ctrl(void)
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{
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if(ao_dwq != (float)(HoldReg[0]) / 1000) //保持寄存器值发生变化时dac输出
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{
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ao_dwq = (float)(HoldReg[0]) / 1000; // uA -> mA
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if(ao_dwq > 25) ao_dwq = 25; //定位器控制
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ao_dwq_set(ao_dwq);
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}
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if( ao_blf1!= (float)(HoldReg[1]) / 1000) //保持寄存器值发生变化时dac输出
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{
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ao_blf1 = (float)(HoldReg[1]) / 1000; // uA -> mA
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ao_blf1_set(ao_blf1);
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//prov_set(ao_blf1,&pv_one); //控制比例阀1
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}
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if(ao_blf2 != (float)(HoldReg[2]) / 1000) //保持寄存器值发生变化时dac输出
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{
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ao_blf2 = (float)(HoldReg[2]) / 1000; // uA -> mA
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ao_blf2_set(ao_blf2);
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//prov_set(ao_blf2,&pv_two); //控制比例阀2
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}
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// if( (CoilState[3]&(0x40)) == 0x40 ) //触发比例阀1自整定
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// {
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// if( (astep_s == SECTION_WAIT) && (pv_two.status != PROV_ADJUSTING) )
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// {
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// pv_one.status = PROV_ADJUSTING;
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// }
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// }
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//
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// if( (CoilState[3]&(0x20)) == 0x20 ) //触发比例阀2自整定
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// {
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// if( (astep_s == SECTION_WAIT) && (pv_one.status != PROV_ADJUSTING) )
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// {
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// pv_two.status = PROV_ADJUSTING;
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// }
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// }
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if(it_100ms_flag_pv == 1) //每隔100ms更新一次数据
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{
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it_100ms_flag_pv = 0;
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InputReg[7] = ( (InputReg[7]<16000)&&(InputReg[7]>8000) )?(InputReg[7]):(12000); //应对没接大气压力的情况
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atm_pressure = ( (InputReg[7] - 4000)/(float)16000.0 ) * 2000; //大气绝压更新,4~20mA->0~200Kpa
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for(uint8_t i = 1;i< SLDW_PRES_OUT;i++) //滑动窗口，记录历史纯输出气压
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{
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pv_one.previous_pressure[SLDW_PRES_OUT - i] = pv_one.previous_pressure[SLDW_PRES_OUT - i - 1];
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pv_two.previous_pressure[SLDW_PRES_OUT - i] = pv_two.previous_pressure[SLDW_PRES_OUT - i - 1];
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}
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pv_one.previous_pressure[0] = pv_one.current_pressure;
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pv_two.previous_pressure[0] = pv_two.current_pressure;
|
||
|
||
//比例阀1数据更新：当前气压、当前气压百分比、百分比偏差、当前输入电流（单片机->比例阀）
|
||
pv_one.current_pressure = (InputReg[16] - atm_pressure)/(float)10; //Kpa，sensor1 A口绝压转表压
|
||
pv_one.current_percent = pv_one.current_pressure/900*100;
|
||
pv_one.bias = pv_one.target_percent - pv_one.current_percent;
|
||
|
||
//比例阀2数据更新：当前气压、当前气压百分比、百分比偏差、当前输入电流（单片机->比例阀）
|
||
pv_two.current_pressure = (InputReg[17] - atm_pressure)/(float)10; //Kpa，sensor1 B口绝压转表压
|
||
pv_two.current_percent = pv_two.current_pressure/900*100;
|
||
pv_two.bias = pv_two.target_percent - pv_two.current_percent;
|
||
}
|
||
|
||
// if(it_50ms_flag_pv == 1) //每隔50ms校准一次
|
||
// {
|
||
// it_50ms_flag_pv = 0;
|
||
//
|
||
// //每个比例阀对应两个电磁阀，一个是气源一个是锁止阀
|
||
// if( (CoilState[0]&(0x03)) == 0x03 ) //2个电磁阀都开启的情况下才进行控制比例阀1,否则保持
|
||
// {
|
||
// if(pv_two.status != PROV_ADJUSTING) //对其中一个比例阀进行自整定时，不对另一个进行控制
|
||
// {
|
||
// prov_ctrl(&pv_one, &adj_pv1);
|
||
// }
|
||
// }
|
||
//
|
||
// if( (CoilState[0]&(0x0C)) == 0x0C ) //2个电磁阀都开启的情况下才进行控制比例阀2,否则保持
|
||
// {
|
||
// if(pv_one.status != PROV_ADJUSTING) //对其中一个比例阀进行自整定时，不对另一个进行控制
|
||
// {
|
||
// prov_ctrl(&pv_two, &adj_pv2);
|
||
// }
|
||
// }
|
||
|
||
// }
|
||
|
||
}
|
||
|
||
|
||
|
||
|
||
|
||
|
||
|
||
//比例阀控制
|
||
void prov_ctrl(propotion_valve *pvx, prov_adjust *adj_pvx)
|
||
{
|
||
switch(pvx->status)
|
||
{
|
||
case PROV_RUNNING: //介入控制
|
||
{
|
||
if(adj_pvx->adj_flag == 1) //进入此处说明整定被打断
|
||
{
|
||
//整定结束
|
||
prov_adj_init(adj_pvx);
|
||
astep = ADJ_WAIT;
|
||
astep_s = SECTION_WAIT;
|
||
}
|
||
|
||
// prov_calibrate_step(&pvx);
|
||
prov_calibrate_pid(pvx);
|
||
}
|
||
break;
|
||
|
||
case PROV_ADJUSTING: //自整定
|
||
{
|
||
// //继电反馈
|
||
// if(astep == ADJ_WAIT)
|
||
// {
|
||
// prov_adj_init(adj_pvx);
|
||
// adj_pvx->adj_flag = 1; //整定开始
|
||
// astep = ADJ_START;
|
||
// }
|
||
// prov_adj(pvx, adj_pvx);
|
||
|
||
//分段
|
||
if(astep_s == SECTION_WAIT)
|
||
{
|
||
prov_adj_section_init(adj_pvx);
|
||
adj_pvx->adj_flag = 1; //整定开始
|
||
astep_s = SECTION_START;
|
||
}
|
||
prov_adj_section(pvx, adj_pvx);
|
||
}
|
||
break;
|
||
|
||
case PROV_HOLDING: //保持原样，不介入控制
|
||
{
|
||
if(adj_pvx->adj_flag == 1) //进入此处说明整定被打断
|
||
{
|
||
//整定结束
|
||
prov_adj_init(adj_pvx);
|
||
astep = ADJ_WAIT;
|
||
astep_s = SECTION_WAIT;
|
||
}
|
||
}
|
||
break;
|
||
|
||
default:
|
||
{
|
||
return;
|
||
}
|
||
}
|
||
}
|
||
|
||
|
||
int tick_previous = -1; //用于计时
|
||
int tick_current = -1;
|
||
uint8_t hys_flag = 0; //0:充气, 1:排气
|
||
//PID参数自整定，继电反馈
|
||
void prov_adj(propotion_valve *pvx, prov_adjust *adj_pvx)
|
||
{
|
||
switch(astep)
|
||
{
|
||
case ADJ_START:
|
||
{
|
||
if(tick_previous == -1)
|
||
{
|
||
tick_previous = tick500ms;
|
||
prov_set(4,pvx);//排空气体
|
||
}
|
||
tick_current = tick500ms;
|
||
|
||
if( (tick_current - tick_previous) > 20) //等待20*500ms
|
||
{
|
||
//记录此时气源压力
|
||
adj_pvx->air_source = (InputReg[18] - atm_pressure) / (float)10;
|
||
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
astep++;
|
||
}else if( (tick_current - tick_previous) < 0)
|
||
{
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
}
|
||
}
|
||
break;
|
||
|
||
case ADJ_MOVE2MIDDLE:
|
||
{
|
||
if(tick_previous == -1)
|
||
{
|
||
tick_previous = tick500ms;
|
||
|
||
//输出气源50%压力，根据目标压力倒推所需电流值
|
||
adj_pvx->middle_current = (adj_pvx->air_source/2/900)*(pvx->input_max - pvx->input_min) + pvx->input_min;
|
||
adj_pvx->middle_current = (adj_pvx->middle_current < pvx->input_max)?(adj_pvx->middle_current):(pvx->input_max); //dac输出限幅
|
||
adj_pvx->middle_current = (adj_pvx->middle_current > pvx->input_min)?(adj_pvx->middle_current):(pvx->input_min);
|
||
|
||
prov_set(adj_pvx->middle_current,pvx);
|
||
}
|
||
tick_current = tick500ms;
|
||
|
||
if( (tick_current - tick_previous) > 10) //等待10*500ms
|
||
{
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
astep++;
|
||
}else if( (tick_current - tick_previous) < 0)
|
||
{
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
}
|
||
}
|
||
break;
|
||
|
||
case ADJ_OSCILLATE:
|
||
{
|
||
if(adj_pvx->oscil_times < OSCILL_TIMES) //振荡次数是否达到目标
|
||
{
|
||
if(tick_previous == -1) //计时开始，记录起始时间
|
||
{
|
||
tick_previous = tick500ms;
|
||
}else
|
||
{
|
||
//记录第 oc_times 个周期的峰值
|
||
adj_pvx->relay_a[adj_pvx->oscil_times] = (adj_pvx->relay_a[adj_pvx->oscil_times] < pvx->current_pressure)?(pvx->current_pressure):(adj_pvx->relay_a[adj_pvx->oscil_times]);
|
||
}
|
||
tick_current = tick500ms; //记录当前时间
|
||
|
||
if( (tick_current - tick_previous) > TICK_LIMIT ) //是否超时，TICK_LIMIT*500ms
|
||
{
|
||
astep = ADJ_END; //强制打断
|
||
}else if( (tick_current - tick_previous) < 0)
|
||
{
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
}
|
||
|
||
if( ( pvx->current_pressure < (adj_pvx->air_source/2*(1 + adj_pvx->relay_d)) ) && (hys_flag == 0) ) //充气振荡
|
||
{
|
||
pvx->current_input = adj_pvx->middle_current*(1 + adj_pvx->relay_d); //输出气源 50*(1+d)% 压力
|
||
pvx->current_input = (pvx->current_input < pvx->input_max)?(pvx->current_input):(pvx->input_max); //dac输出限幅
|
||
pvx->current_input = (pvx->current_input > pvx->input_min)?(pvx->current_input):(pvx->input_min);
|
||
|
||
prov_set(pvx->current_input,pvx);
|
||
}else if( pvx->current_pressure >= (adj_pvx->air_source/2*(1 + adj_pvx->relay_d)) && (hys_flag == 0)) //切换至排气
|
||
{
|
||
hys_flag = 1;
|
||
}
|
||
|
||
if( ( pvx->current_pressure > (adj_pvx->air_source/2*(1 - adj_pvx->relay_d)) ) && (hys_flag == 1) ) //排气振荡
|
||
{
|
||
pvx->current_input = adj_pvx->middle_current*(1 - adj_pvx->relay_d); //输出气源 50*(1-d)% 压力
|
||
pvx->current_input = (pvx->current_input < pvx->input_max)?(pvx->current_input):(pvx->input_max); //dac输出限幅
|
||
pvx->current_input = (pvx->current_input > pvx->input_min)?(pvx->current_input):(pvx->input_min);
|
||
|
||
prov_set(pvx->current_input,pvx);
|
||
}else if( pvx->current_pressure <= (adj_pvx->air_source/2*(1 - adj_pvx->relay_d)) && (hys_flag == 1) ) //切换至充气
|
||
{
|
||
hys_flag = 0;
|
||
adj_pvx->relay_tc[adj_pvx->oscil_times] = (tick_current - tick_previous) * 500; //振荡周期，单位ms
|
||
|
||
tick_previous = -1; //重新开始计时
|
||
tick_current = -1;
|
||
adj_pvx->oscil_times++; //开始下一次振荡
|
||
}
|
||
}else //振荡次数达到目标
|
||
{
|
||
if(tick_previous == -1)
|
||
{
|
||
tick_previous = tick500ms;
|
||
}
|
||
tick_current = tick500ms;
|
||
|
||
if( (tick_current - tick_previous) > 6) //等待6*500ms后排气
|
||
{
|
||
prov_set(4,pvx);
|
||
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
|
||
astep++;
|
||
}else if( (tick_current - tick_previous) < 0)
|
||
{
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
}
|
||
}
|
||
|
||
}
|
||
break;
|
||
|
||
case ADJ_CALCULATE:
|
||
{
|
||
for(uint8_t i = 0;i < OSCILL_TIMES; i++) //对振荡周期和峰值作均值滤波
|
||
{
|
||
adj_pvx->relay_A += adj_pvx->relay_a[i];
|
||
adj_pvx->relay_Tc += adj_pvx->relay_tc[i];
|
||
}
|
||
adj_pvx->relay_A /= OSCILL_TIMES * ( adj_pvx->air_source/2 * (1 + adj_pvx->relay_d) );
|
||
adj_pvx->relay_Tc /= OSCILL_TIMES;
|
||
|
||
/* PI [0.45,0.8]*/
|
||
/* PID [0.6,0.5,0.12]*/
|
||
pvx->Kp = (float)0.6 * ( 4 * (float)0.1 ) / ( (float)3.1415 * adj_pvx->relay_A ) / 3;
|
||
pvx->Ti = (float)0.5 * adj_pvx->relay_Tc/1000 / 20;
|
||
pvx->Td = (float)0.12 * adj_pvx->relay_Tc/1000;
|
||
|
||
pvx->Ing_sum = 0;
|
||
|
||
|
||
switch(pvx->tag)
|
||
{
|
||
case 1:
|
||
{
|
||
data_wr[0] = pvx->Kp;
|
||
data_wr[1] = pvx->Ti;
|
||
data_wr[2] = pvx->Td;
|
||
ee_writefloats(PRO1_ADDR,data_wr,3);
|
||
}
|
||
break;
|
||
|
||
case 2:
|
||
{
|
||
data_wr[0] = pvx->Kp;
|
||
data_wr[1] = pvx->Ti;
|
||
data_wr[2] = pvx->Td;
|
||
ee_writefloats(PRO2_ADDR,data_wr,3);
|
||
}
|
||
break;
|
||
default:
|
||
{
|
||
}
|
||
break;
|
||
}
|
||
|
||
astep++;
|
||
}
|
||
break;
|
||
|
||
case ADJ_END:
|
||
{
|
||
if(tick_previous == -1)
|
||
{
|
||
tick_previous = tick500ms;
|
||
}
|
||
tick_current = tick500ms;
|
||
if( (tick_current - tick_previous) > 10) //等待10*500ms后恢复控制（等待期间：排气 + 计算结果）
|
||
{
|
||
switch(pvx->tag) //重新触发保持寄存器
|
||
{
|
||
case 1:
|
||
{
|
||
ao_blf1 = -1;
|
||
CoilState[3] &= 0xBF; //D6 = 0, [1011 1111]
|
||
}
|
||
break;
|
||
|
||
case 2:
|
||
{
|
||
ao_blf2 = -1;
|
||
CoilState[3] &= 0xDF; //D5 = 0, [1101 1111]
|
||
}
|
||
break;
|
||
default:
|
||
{
|
||
}
|
||
break;
|
||
}
|
||
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
prov_adj_init(adj_pvx);
|
||
pvx->status = PROV_RUNNING; //恢复控制
|
||
|
||
astep++;
|
||
}else if( (tick_current - tick_previous) < 0)
|
||
{
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
}
|
||
}
|
||
break;
|
||
|
||
case ADJ_WAIT:
|
||
{
|
||
|
||
}
|
||
break;
|
||
|
||
default:
|
||
{
|
||
return;
|
||
}
|
||
}
|
||
}
|
||
|
||
//分段校准参数初始化
|
||
void prov_adj_section_init(prov_adjust *adj_pvx)
|
||
{
|
||
adj_pvx->adj_flag = 0;
|
||
adj_pvx->stable_area = 9;
|
||
adj_pvx->wait_tick = 2 * 30;
|
||
|
||
for(uint8_t i = 0; i < SECTION_NUM; i++)
|
||
{
|
||
adj_pvx->table_current[i] = -1;
|
||
adj_pvx->table_pressure[i] = -1;
|
||
}
|
||
|
||
}
|
||
|
||
uint8_t temp_cnt = 0;
|
||
//分段校准
|
||
void prov_adj_section(propotion_valve *pvx, prov_adjust *adj_pvx)
|
||
{
|
||
switch (astep_s)
|
||
{
|
||
case SECTION_START:
|
||
{
|
||
if(tick_previous == -1)
|
||
{
|
||
tick_previous = tick500ms;
|
||
prov_set(pvx->input_min,pvx); //排空气体
|
||
}
|
||
tick_current = tick500ms;
|
||
|
||
if( (tick_current - tick_previous) > 20) //等待20*500ms
|
||
{
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
astep_s++;
|
||
}else if( (tick_current - tick_previous) < 0)
|
||
{
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
}
|
||
}
|
||
break;
|
||
|
||
case SECTION_RECORD_AIRSOURCE:
|
||
{
|
||
//记录此时气源压力
|
||
adj_pvx->air_source = (InputReg[18] - atm_pressure) / (float)10;
|
||
|
||
//计算分段电流，上限为气源倒推得到的电流值
|
||
adj_pvx->table_current[SECTION_NUM-1] = adj_pvx->air_source/900 * (pvx->ctrl_max - pvx->ctrl_min) + pvx->ctrl_min;
|
||
for(uint8_t i = 0;i < SECTION_NUM - 1;i++)
|
||
{
|
||
adj_pvx->table_current[i] = pvx->ctrl_min + i * (adj_pvx->table_current[SECTION_NUM-1] - pvx->ctrl_min)/(SECTION_NUM - 1);
|
||
}
|
||
astep_s++;
|
||
}
|
||
break;
|
||
|
||
case SECTION_MOVE:
|
||
{
|
||
if(tick_previous == -1)
|
||
{
|
||
tick_previous = tick500ms;
|
||
prov_set( adj_pvx->table_current[temp_cnt], pvx ); //设定分段电流
|
||
}
|
||
tick_current = tick500ms;
|
||
if( (tick_current - tick_previous) > adj_pvx->wait_tick) //等待tick*500ms
|
||
{
|
||
adj_pvx->table_pressure[temp_cnt] = pvx->current_pressure; //记录当前实际气压
|
||
|
||
tick_previous = -1; //准备下一次计时
|
||
tick_current = -1;
|
||
|
||
temp_cnt++; //下一个
|
||
if(temp_cnt >= SECTION_NUM)
|
||
{
|
||
temp_cnt = 0;
|
||
astep_s++;
|
||
}
|
||
}else if( (tick_current - tick_previous) < 0)
|
||
{
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
}
|
||
}
|
||
break;
|
||
|
||
case SECTION_END:
|
||
{
|
||
if(tick_previous == -1)
|
||
{
|
||
tick_previous = tick500ms;
|
||
}
|
||
tick_current = tick500ms;
|
||
if( (tick_current - tick_previous) > 10) //等待10*500ms后恢复控制（等待期间：排气 + 计算结果）
|
||
{
|
||
switch(pvx->tag) //重新触发保持寄存器
|
||
{
|
||
case 1:
|
||
{
|
||
ao_blf1 = -1;
|
||
CoilState[3] &= 0xBF; //D6 = 0, [1011 1111]
|
||
}
|
||
break;
|
||
|
||
case 2:
|
||
{
|
||
ao_blf2 = -1;
|
||
CoilState[3] &= 0xDF; //D5 = 0, [1101 1111]
|
||
}
|
||
break;
|
||
default:
|
||
{
|
||
}
|
||
break;
|
||
}
|
||
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
adj_pvx->adj_flag = 0;
|
||
pvx->status = PROV_HOLDING; //恢复控制
|
||
|
||
astep_s++;
|
||
}else if( (tick_current - tick_previous) < 0)
|
||
{
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
}
|
||
}
|
||
break;
|
||
|
||
case SECTION_WAIT:
|
||
{
|
||
}
|
||
break;
|
||
|
||
default:
|
||
break;
|
||
}
|
||
}
|
||
|
||
|
||
|