139 lines
4.5 KiB
C
139 lines
4.5 KiB
C
#ifndef _PROVALCTRL_H_
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#define _PROVALCTRL_H_
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#include "modbus.h"
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#include "dac7311.h"
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#include "main.h"
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//#include "flash.h" //擦写出错，写入出错
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#include "eeprom.h"
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#include "math.h"
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#define CSTEP_WAIT_MAX 0 //逐步接近，等待时间
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#define BIAS_MAX 10 //偏大大于此值时不进行控制
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#define GAS_IN 0 //充气
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#define GAS_OUT 1 //排气
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#define SLDW_PRES_OUT 10 //输出气压的滑动窗口长度
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extern float ao_dwq; //AO输出电流值(定位器)
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extern float ao_blf1; //AO输出电流值(比例阀)
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extern float ao_blf2; //AO输出电流值(比例阀)
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typedef enum
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{
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PROV_RUNNING = 0, //运行
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PROV_ADJUSTING = 1, //整定
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PROV_HOLDING = 2 //保持原样，不介入控制
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}prov_status;
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typedef enum
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{
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ADJ_START = 0, //整定开始
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ADJ_MOVE2MIDDLE = 1, //输出气源气压的一半，移动至中间位置附近
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ADJ_OSCILLATE = 2, //继电反馈，强制振荡
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ADJ_CALCULATE = 3, //计算结果
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ADJ_END = 4, //整定结束，等待一段时间后恢复控制
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ADJ_WAIT = 5 //等待，未进入整定程序
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}adj_steps;
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typedef enum
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{
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SECTION_START = 0,
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SECTION_RECORD_AIRSOURCE = 1,
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SECTION_MOVE = 2,
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SECTION_END = 3,
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SECTION_WAIT = 4
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}adj_section_steps;
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typedef struct
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{
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prov_status status; //比例阀状态
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unsigned char tag; //标签，用于区分
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float previous_pressure[SLDW_PRES_OUT]; //前几个时刻的输出气压
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float current_pressure; //当前输出气压
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float current_percent; //当前输出气压百分比
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float target_pressure; //目标气压
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float target_percent; //目标气压百分比
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float target_current; //目标值的理论电流
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float current_input; //当前电流输入
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float input_max; //输入电流上限
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float input_min; //输入电流下限
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float bias; //偏差百分比
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float bias_previous; //前一个偏差
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float bias_area; //允许的误差范围 [-a, a]%
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uint8_t gas_direction; //
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float Kp; //比例系数
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float Ti; //积分时间
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float Ing; //积分项
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float Ing_sum; //积分求和
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float Ing_max; //求和上限
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float Ing_min; //求和下限
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float Td; //微分时间
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float Ts; //采样时间（控制周期）
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float Div; //微分项
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float pidout; //PID输出
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float pidout_max; //PID输出上限
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float pidout_min; //PID输出下限
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uint8_t slow_down_flg; //减速标志
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// float cstep_gasin; //逐步接近，充气步长
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// float cstep_gasout; //逐步接近，排气步长
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// float cstep_max; //步长上限
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// float cstep_min;
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// unsigned char cstep_wait; //步长下限
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void (*pvout)(float pout); //dac 输出
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}propotion_valve; //比例阀参数结构体
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extern propotion_valve pv_one;
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extern propotion_valve pv_two;
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#define OSCILL_TIMES 5 //振荡次数
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#define TICK_LIMIT 120 //振荡周期限时
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#define SECTION_NUM 5 //区间端点数，区间数 = 端点数 - 1
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typedef struct
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{
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//继电反馈
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unsigned char adj_flag; //整定标志，用于判断是否处于整定中
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float relay_d; //继电反馈，回环幅值
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float relay_a[OSCILL_TIMES]; //继电反馈，输出气压振荡幅值，中间数据
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float relay_A; //继电反馈，输出气压振荡幅值，结果
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float relay_tc[OSCILL_TIMES]; //继电反馈，输出气压振荡周期，中间数据
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float relay_Tc; //继电反馈，输出气压振荡周期，结果
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float air_source; //气源压力
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float middle_current; //中间位置电流
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unsigned char oscil_times; //当前振荡次数
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//分段式
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float table_current[SECTION_NUM]; //用于存放电流
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float table_pressure[SECTION_NUM]; //用于存放实际气压
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float stable_area; //当滑动窗口内的max和min都处于 ±stable_area 内时，判断已经稳定
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unsigned char wait_tick;
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}prov_adjust; //自整定参数结构体
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void prov_init(void);
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void prov_adj_init(void);
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void prov_adj_section_init(void);
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void prov_set(float target_p, propotion_valve *pvx);
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void prov_ctrl(propotion_valve *pvx, prov_adjust *adj_pvx);
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void prov_calibrate_pid(propotion_valve *pvx);
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void prov_calibrate_step(propotion_valve *pvx);
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void analog_ctrl(void);
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float abs_bias(float bias);
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void prov_adj(propotion_valve *pvx, prov_adjust *adj_pvx);
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void prov_adj_section(propotion_valve *pvx, prov_adjust *adj_pvx);
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float prov_section_calculate(float target_pressure, prov_adjust *adj_pvx);
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/******************************************************************************************/
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#endif
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