550 lines
16 KiB
C
550 lines
16 KiB
C
#include "provalctrl.h"
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propotion_valve pv_one;
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propotion_valve pv_two;
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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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void prov_init(void) //比例阀结构体参数初始化
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{
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ee_readfloats(EEPROM_ReadAddress1,data_rd,3);
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pv_one.status = PROV_RUNNING;
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pv_one.tag = 1; //标签，比例阀1
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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.current_input = 0; //当前输入电流
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pv_one.input_min = 4; //输入电流下限4mA
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pv_one.input_max = 20; //输入电流上限20mA
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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 = data_rd[0]; //比例系数
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pv_one.Ti = (data_rd[1] == 0)?(1000000):(data_rd[1]); //积分时间
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pv_one.Ing = 0; //积分输出
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pv_one.Ing_max = 50; //积分上限
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pv_one.Ing_min = -50; //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;
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pv_one.pidout_max = 0;
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pv_one.pidout_min = 0;
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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;
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pv_one.pvout(0);
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/************************************************/
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ee_readfloats(EEPROM_ReadAddress1+12,data_rd,3);
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pv_two.status = PROV_RUNNING;
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pv_two.tag = 2; //标签，比例阀2
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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.current_input = 0;
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pv_two.input_min = 4;
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pv_two.input_max = 20;
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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 = 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 = 50;
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pv_two.Ing_min = -50;
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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.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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prov_adjust adj_pv1;
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prov_adjust adj_pv2;
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void prov_adj_init(void)
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{
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adj_pv1.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_pv1.relay_a[i] = 0;
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adj_pv1.relay_tc[i] = 0;
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}
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adj_pv1.relay_d = 0.15; //继电整定，回环幅值
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adj_pv1.air_source = 0; //气源，单位Kpa
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adj_pv1.middle_current = 0; //中间气压电流
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adj_pv1.oscil_times = 0; //振荡次数
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/*****************************************************/
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adj_pv2.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_pv2.relay_a[i] = 0;
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adj_pv2.relay_tc[i] = 0;
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}
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adj_pv2.relay_d = 0.15; //继电整定，回环幅值
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adj_pv2.air_source = 0; //气源，单位Kpa
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adj_pv2.middle_current = 0; //中间气压电流
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adj_pv2.oscil_times = 0; //振荡次数
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}
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void prov_set(float target_p, propotion_valve *pvx) //比例阀目标值设定，调节范围计算
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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 > 0)?(target_p):(0);
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pvx->target_percent = (target_p - pvx->input_min) / (pvx->input_max - pvx->input_min)*100;
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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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pvx->current_input = target_p; //记录当前理论模拟输出
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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->pidout_max = pvx->current_input + (float)0.5; //pid输出调节上限
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pvx->pidout_min = pvx->current_input - (float)0.5; //pid输出调节下限
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pvx->pvout(pvx->current_input); //dac输出
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}
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float abs_bias(float bias) //绝对值计算
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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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void prov_calibrate_pid(propotion_valve *pvx) //pid校准
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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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if( (pvx->Ing_sum >= pvx->Ing_min) && (pvx->Ing_sum <= pvx->Ing_max) ) //积分累加与限幅
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{
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pvx->Ing_sum += pvx->bias; //偏差求和
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}else
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{
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pvx->Ing_sum = (pvx->Ing_sum > 0)?(pvx->Ing_max):(pvx->Ing_min);
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}
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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);
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pvx->bias_previous = pvx->bias; //更新前一个时刻的偏差
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pvx->current_input = (pvx->current_input < pvx->pidout_max)?(pvx->current_input):(pvx->pidout_max); //pid输出限幅
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pvx->current_input = (pvx->current_input > pvx->pidout_min)?(pvx->current_input):(pvx->pidout_min);
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pvx->current_input = (pvx->current_input < pvx->input_max)?(pvx->current_input):(pvx->input_max); //dac输出限幅
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pvx->current_input = (pvx->current_input > pvx->input_min)?(pvx->current_input):(pvx->input_min);
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pvx->pvout(pvx->current_input); //dac输出
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}else
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{
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pvx->Ing_sum = 0;
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pvx->Ing = 0;
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}
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}
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//4-20mA电流输出
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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
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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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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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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 )
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{
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if(astep == ADJ_WAIT)
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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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if( (CoilState[3]&(0x20)) == 0x20 )
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{
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if(astep == ADJ_WAIT)
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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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atm_pressure = ( (InputReg[7] - 4000)/(float)16000.0 ) * 2000; //大气绝压更新,4~20mA->0~200Kpa
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//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）
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pv_one.current_pressure = (InputReg[16] - atm_pressure)/(float)10; //Kpa，sensor1 A口绝压转表压
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pv_one.current_percent = pv_one.current_pressure/900*100;
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pv_one.bias = pv_one.target_percent - pv_one.current_percent;
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//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）
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pv_two.current_pressure = (InputReg[17] - atm_pressure)/(float)10; //Kpa，sensor1 B口绝压转表压
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pv_two.current_percent = pv_two.current_pressure/900*100;
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pv_two.bias = pv_two.target_percent - pv_two.current_percent;
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}
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if(it_50ms_flag_pv == 1) //每隔50ms校准一次
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{
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it_50ms_flag_pv = 0;
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if( (CoilState[0]&(0x03)) == 0x03 ) //两个电磁阀都开启的情况下才进行控制,否则保持
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{
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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
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{
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prov_ctrl(&pv_one, &adj_pv1);
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}
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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
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{
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prov_ctrl(&pv_two, &adj_pv2);
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}
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}
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}
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}
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void prov_calibrate_step(propotion_valve *pvx) //逐步接近法
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{
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pvx->cstep_wait = (pvx->cstep_wait > 254)?(pvx->cstep_wait):(pvx->cstep_wait + 1); //每100ms加一次，上限255
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if( pvx->cstep_wait > CSTEP_WAIT_MAX) //目标更新X秒后，误差仍不符合条件时再进行微步调节
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{
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if( (pvx->bias > pvx->bias_area) && (pvx->bias < BIAS_MAX) ) //正偏差（目标-实际），输出偏小
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{
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pvx->current_input += ((pvx->bias < 1))?(pvx->cstep_gasin):(pvx->cstep_gasin*3);
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pvx->current_input = (pvx->current_input <= pvx->cstep_max)?(pvx->current_input):(pvx->cstep_max); //dac输出限幅
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pvx->current_input = (pvx->current_input <= pvx->input_max)?(pvx->current_input):(pvx->input_max);
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pvx->pvout(pvx->current_input);
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}
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if( (pvx->bias < -pvx->bias_area) && (pvx->bias > -BIAS_MAX) ) //负偏差（目标-实际），输出偏大
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{
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pvx->current_input -= ((pvx->bias > -1))?(pvx->cstep_gasin):(pvx->cstep_gasout*3);
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pvx->current_input = (pvx->current_input >= pvx->cstep_min)?(pvx->current_input):(pvx->cstep_min); //dac输出限幅
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pvx->current_input = (pvx->current_input >= pvx->input_min)?(pvx->current_input):(pvx->input_min);
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pvx->pvout(pvx->current_input);
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}
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}
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}
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void prov_ctrl(propotion_valve *pvx, prov_adjust *adj_pvx)
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{
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switch(pvx->status)
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{
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case PROV_RUNNING:
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{
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if(adj_pvx->adj_flag == 1) //进入此处说明整定被打断
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{
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//整定结束
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prov_adj_init();
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}
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// prov_calibrate_step(&pvx);
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prov_calibrate_pid(pvx);
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}
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break;
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case PROV_ADJUSTING:
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{
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if(astep == ADJ_WAIT)
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{
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prov_adj_init();
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adj_pvx->adj_flag = 1; //整定开始
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astep = ADJ_START;
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}
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prov_adj(pvx, adj_pvx);
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}
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break;
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case PROV_HOLDING:
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{
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if(adj_pvx->adj_flag == 1) //进入此处说明整定被打断
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{
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//整定结束
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prov_adj_init();
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}
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}
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break;
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default:
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{
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return;
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}
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}
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}
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int tick_previous = -1;
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int tick_current = -1;
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uint8_t hys_flag = 0; //0:充气, 1:排气
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void prov_adj(propotion_valve *pvx, prov_adjust *adj_pvx)
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{
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switch(astep)
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{
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case ADJ_START:
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{
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if(tick_previous == -1)
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{
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tick_previous = tick500ms;
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prov_set(4,pvx);//排空气体
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}
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tick_current = tick500ms;
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if( (tick_current - tick_previous) > 20) //等待20*500ms
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{
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//记录此时气源压力
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adj_pvx->air_source = (InputReg[18] - atm_pressure) / (float)10;
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tick_previous = -1;
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tick_current = -1;
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astep++;
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}
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}
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break;
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case ADJ_MOVE2MIDDLE:
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{
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if(tick_previous == -1)
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{
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tick_previous = tick500ms;
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adj_pvx->middle_current = (adj_pvx->air_source/2/900)*(pvx->input_max - pvx->input_min) + pvx->input_min; //输出气源50%压力
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adj_pvx->middle_current = (adj_pvx->middle_current < pvx->input_max)?(adj_pvx->middle_current):(pvx->input_max); //dac输出限幅
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adj_pvx->middle_current = (adj_pvx->middle_current > pvx->input_min)?(adj_pvx->middle_current):(pvx->input_min);
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prov_set(adj_pvx->middle_current,pvx);
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}
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tick_current = tick500ms;
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if( (tick_current - tick_previous) > 10) //等待10*500ms
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{
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tick_previous = -1;
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tick_current = -1;
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astep++;
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}
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}
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break;
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case ADJ_OSCILLATE:
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{
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if(adj_pvx->oscil_times < OSCILL_TIMES) //振荡次数是否达到目标
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{
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if(tick_previous == -1)
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{
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tick_previous = tick500ms;
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}else
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{
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//记录第 oc_times 个周期的峰值
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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;
|
||
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;
|
||
tick_current = -1;
|
||
adj_pvx->oscil_times++; //记录振荡次数
|
||
}
|
||
}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++;
|
||
}
|
||
}
|
||
|
||
}
|
||
break;
|
||
|
||
case ADJ_CALCULATE:
|
||
{
|
||
for(uint8_t i = 0;i < OSCILL_TIMES; i++)
|
||
{
|
||
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 ) *(float)0.5;//偏大
|
||
pvx->Ti = (float)0.5 * adj_pvx->relay_Tc/1000 * 100; //偏小
|
||
pvx->Td = (float)0.12 * adj_pvx->relay_Tc/1000 * (float)0.5; //偏大
|
||
|
||
|
||
switch(pvx->tag)
|
||
{
|
||
case 1:
|
||
{
|
||
data_wr[0] = pvx->Kp;
|
||
data_wr[1] = pvx->Ti;
|
||
data_wr[2] = pvx->Td;
|
||
ee_writefloats(EEPROM_WriteAddress1,data_wr,3);
|
||
}
|
||
break;
|
||
|
||
case 2:
|
||
{
|
||
data_wr[0] = pvx->Kp;
|
||
data_wr[1] = pvx->Ti;
|
||
data_wr[2] = pvx->Td;
|
||
ee_writefloats(EEPROM_WriteAddress1 + 12,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
|
||
{
|
||
switch(pvx->tag) //重新触发保持寄存器
|
||
{
|
||
case 1:
|
||
{
|
||
ao_blf1 = 0;
|
||
CoilState[3] &= 0xBF; //D6 = 0
|
||
}
|
||
break;
|
||
|
||
case 2:
|
||
{
|
||
ao_blf2 = 0;
|
||
CoilState[3] &= 0xDF; //D5 = 0
|
||
}
|
||
break;
|
||
default:
|
||
{
|
||
}
|
||
break;
|
||
}
|
||
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
prov_adj_init();
|
||
pvx->status = PROV_RUNNING;
|
||
|
||
astep++;
|
||
}
|
||
}
|
||
break;
|
||
|
||
case ADJ_WAIT:
|
||
{
|
||
tick_previous = -1;
|
||
tick_current = -1;
|
||
}
|
||
break;
|
||
|
||
default:
|
||
{
|
||
return;
|
||
}
|
||
}
|
||
}
|
||
|