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HD：自整定与控制程序完成联调

This commit is contained in:
gaoyuhang 2024-03-06 14:45:57 +08:00
parent 16d886578a
commit 4d04d48f33
8 changed files with 315 additions and 220 deletions
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3
MDK-ARM/RTE/_controller-v2/RTE_Components.h
View File

@ -1,6 +1,6 @@
/*
* Auto generated Run-Time-Environment Configuration File
* Auto generated Run-Time-Environment Component Configuration File
* *** Do not modify ! ***
*
* Project: 'controller-v2'
@ -17,5 +17,4 @@
#define CMSIS_device_header "stm32l4xx.h"
#endif /* RTE_COMPONENTS_H */

25
MDK-ARM/controller-v2.uvoptx
View File

@ -114,13 +114,13 @@
<tDlgDll></tDlgDll>
<tDlgPa></tDlgPa>
<tIfile></tIfile>
<pMon>STLink\ST-LINKIII-KEIL_SWO.dll</pMon>
<pMon>Segger\JL2CM3.dll</pMon>
</DebugOpt>
<TargetDriverDllRegistry>
<SetRegEntry>
<Number>0</Number>
<Key>DLGUARM</Key>
<Name>(105=-1,-1,-1,-1,0)</Name>
<Name>?</Name>
</SetRegEntry>
<SetRegEntry>
<Number>0</Number>
@ -260,6 +260,26 @@
<WinNumber>1</WinNumber>
<ItemText>s_watch,0x0A</ItemText>
</Ww>
<Ww>
<count>20</count>
<WinNumber>1</WinNumber>
<ItemText>uDevice.ProcessChange_Flag,0x0A</ItemText>
</Ww>
<Ww>
<count>21</count>
<WinNumber>1</WinNumber>
<ItemText>Kp_watch</ItemText>
</Ww>
<Ww>
<count>22</count>
<WinNumber>1</WinNumber>
<ItemText>Ki_watch</ItemText>
</Ww>
<Ww>
<count>23</count>
<WinNumber>1</WinNumber>
<ItemText>Kd_watch</ItemText>
</Ww>
</WatchWindow1>
<Tracepoint>
<THDelay>0</THDelay>
@ -305,7 +325,6 @@
<pMultCmdsp></pMultCmdsp>
<DebugDescription>
<Enable>1</Enable>
<EnableFlashSeq>0</EnableFlashSeq>
<EnableLog>0</EnableLog>
<Protocol>2</Protocol>
<DbgClock>10000000</DbgClock>

48
MDK-ARM/controller-v2.uvprojx
View File

@ -10,14 +10,14 @@
<TargetName>controller-v2</TargetName>
<ToolsetNumber>0x4</ToolsetNumber>
<ToolsetName>ARM-ADS</ToolsetName>
<pCCUsed>5060960::V5.06 update 7 (build 960)::.\ARMCC</pCCUsed>
<pCCUsed>5060061::V5.06 update 1 (build 61)::ARMCC</pCCUsed>
<uAC6>0</uAC6>
<TargetOption>
<TargetCommonOption>
<Device>STM32L476VGTx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32L4xx_DFP.2.6.2</PackID>
<PackURL>https://www.keil.com/pack/</PackURL>
<PackID>Keil.STM32L4xx_DFP.2.1.0</PackID>
<PackURL>http://www.keil.com/pack</PackURL>
<Cpu>IRAM(0x20000000,0x00018000) IRAM2(0x10000000,0x00008000) IROM(0x08000000,0x00100000) CPUTYPE("Cortex-M4") FPU2 DSP CLOCK(12000000) ELITTLE</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>
@ -184,8 +184,6 @@
<hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam>
<RvdsVP>1</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<hadIRAM2>1</hadIRAM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
@ -352,7 +350,7 @@
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
<ClangAsOpt>4</ClangAsOpt>
<uClangAs>0</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -993,7 +991,7 @@
<NoWarn>2</NoWarn>
<uSurpInc>2</uSurpInc>
<useXO>2</useXO>
<ClangAsOpt>0</ClangAsOpt>
<uClangAs>2</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -1045,8 +1043,8 @@
<TargetCommonOption>
<Device>STM32L476VGTx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32L4xx_DFP.2.6.2</PackID>
<PackURL>https://www.keil.com/pack/</PackURL>
<PackID>Keil.STM32L4xx_DFP.2.1.0</PackID>
<PackURL>http://www.keil.com/pack</PackURL>
<Cpu>IRAM(0x20000000,0x00018000) IRAM2(0x10000000,0x00008000) IROM(0x08000000,0x00100000) CPUTYPE("Cortex-M4") FPU2 DSP CLOCK(12000000) ELITTLE</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>
@ -1213,8 +1211,6 @@
<hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam>
<RvdsVP>1</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<hadIRAM2>1</hadIRAM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
@ -1381,7 +1377,7 @@
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
<ClangAsOpt>4</ClangAsOpt>
<uClangAs>0</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -1884,8 +1880,8 @@
<TargetCommonOption>
<Device>STM32L476VGTx</Device>
<Vendor>STMicroelectronics</Vendor>
<PackID>Keil.STM32L4xx_DFP.2.6.2</PackID>
<PackURL>https://www.keil.com/pack/</PackURL>
<PackID>Keil.STM32L4xx_DFP.2.1.0</PackID>
<PackURL>http://www.keil.com/pack</PackURL>
<Cpu>IRAM(0x20000000,0x00018000) IRAM2(0x10000000,0x00008000) IROM(0x08000000,0x00100000) CPUTYPE("Cortex-M4") FPU2 DSP CLOCK(12000000) ELITTLE</Cpu>
<FlashUtilSpec></FlashUtilSpec>
<StartupFile></StartupFile>
@ -2052,8 +2048,6 @@
<hadXRAM>0</hadXRAM>
<uocXRam>0</uocXRam>
<RvdsVP>1</RvdsVP>
<RvdsMve>0</RvdsMve>
<RvdsCdeCp>0</RvdsCdeCp>
<hadIRAM2>1</hadIRAM2>
<hadIROM2>0</hadIROM2>
<StupSel>8</StupSel>
@ -2220,7 +2214,7 @@
<NoWarn>0</NoWarn>
<uSurpInc>0</uSurpInc>
<useXO>0</useXO>
<ClangAsOpt>4</ClangAsOpt>
<uClangAs>0</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -2309,7 +2303,7 @@
<NoWarn>2</NoWarn>
<uSurpInc>2</uSurpInc>
<useXO>2</useXO>
<ClangAsOpt>0</ClangAsOpt>
<uClangAs>2</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -2388,7 +2382,7 @@
<NoWarn>2</NoWarn>
<uSurpInc>2</uSurpInc>
<useXO>2</useXO>
<ClangAsOpt>0</ClangAsOpt>
<uClangAs>2</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -2512,7 +2506,7 @@
<NoWarn>2</NoWarn>
<uSurpInc>2</uSurpInc>
<useXO>2</useXO>
<ClangAsOpt>0</ClangAsOpt>
<uClangAs>2</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -2646,7 +2640,7 @@
<NoWarn>2</NoWarn>
<uSurpInc>2</uSurpInc>
<useXO>2</useXO>
<ClangAsOpt>0</ClangAsOpt>
<uClangAs>2</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -2725,7 +2719,7 @@
<NoWarn>2</NoWarn>
<uSurpInc>2</uSurpInc>
<useXO>2</useXO>
<ClangAsOpt>0</ClangAsOpt>
<uClangAs>2</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -2814,7 +2808,7 @@
<NoWarn>2</NoWarn>
<uSurpInc>2</uSurpInc>
<useXO>2</useXO>
<ClangAsOpt>0</ClangAsOpt>
<uClangAs>2</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -2943,7 +2937,7 @@
<NoWarn>2</NoWarn>
<uSurpInc>2</uSurpInc>
<useXO>2</useXO>
<ClangAsOpt>0</ClangAsOpt>
<uClangAs>2</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -3052,7 +3046,7 @@
<NoWarn>2</NoWarn>
<uSurpInc>2</uSurpInc>
<useXO>2</useXO>
<ClangAsOpt>0</ClangAsOpt>
<uClangAs>2</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -3231,7 +3225,7 @@
<NoWarn>2</NoWarn>
<uSurpInc>2</uSurpInc>
<useXO>2</useXO>
<ClangAsOpt>0</ClangAsOpt>
<uClangAs>2</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>
@ -3340,7 +3334,7 @@
<NoWarn>2</NoWarn>
<uSurpInc>2</uSurpInc>
<useXO>2</useXO>
<ClangAsOpt>0</ClangAsOpt>
<uClangAs>2</uClangAs>
<VariousControls>
<MiscControls></MiscControls>
<Define></Define>

BIN
MDK-ARM/controller-v2/controller-v2.4
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Binary file not shown.

14
User/application/inc/mode_pwmp_hd.h
View File

@ -11,12 +11,8 @@
#define TIME_CYCLE 0.01f // 定义时间周期:10ms
#define FSM_WAIT(st) BIT_SET(st, BIT7)
#define FSM_IS_WAIT(st) (st & BIT7)
#define DIFF_ADC_MAX 6U
#define DIFF_ADC_MAX 10U
/*阶跃信号大小*/
#define FULL_TRIP_SIGNAL 925 // 925 2020
#define HALF_TRIP_SIGNAL 753
#define SMALL_TRIP_SIGNAL 650
///////////////////////////////////////*算法整定部分宏定义END*///////////////////////////////////////////
#define EXECUTE_PLAN EXECUTE_PLAN_1
@ -36,12 +32,13 @@ typedef struct
uint8_t tuned_flag; // 是否整定过 1：整定过 0：未整定过
uint8_t tuned_state; // 自整定结果
uint16_t bleeding; // 放气值
uint16_t inflation; // 充气值
uint16_t startup_value; // 阀位启动值
uint16_t arr_diff; // 控制区间
uint16_t ad_diff; // 磁条区间
uint16_t pwmp_min; // 控制最小值
uint16_t pwmp_max; // 控制最大值
uint16_t pwmp_min_origin;// 整定控制最小值
uint16_t pwmp_max_origin;// 整定控制最大值
uint16_t trip_0; // 磁条0位置AD
uint16_t trip_100; // 词条100位置AD
uint16_t trip_min0; // 小回路行程0位置AD
@ -111,6 +108,8 @@ typedef enum
PWMP_HD_ADJUST_ACCURATE_POSITION0, // 精调位置0
PWMP_HD_ADJUST_ROUGH_POSITION100, // 粗调位置100
PWMP_HD_ADJUST_ACCURATE_POSITION100, // 精调位置100
PWMP_HD_ADJUST_ALL_CLOSE_TIME, // 全关时间
PWMP_HD_ADJUST_ALL_OPEN_TIME, // 全开时间
PWMP_HD_ADJUST_CALCULATE, // 阀门参数计算
PWMP_HD_ADJUST_PID_CALCULATE, // PID参数计算
PWMP_HD_ADJUST_PID_TUNING, // PID参数自整定过程(整定得到K、T、L)
@ -156,6 +155,7 @@ typedef struct
uint16_t arr_record_2; // 最大位置阀门的ad值
uint32_t all_open_time; // 全开时间
uint32_t all_open_time_full; // 信号为最大输出时的全开时间
uint32_t all_close_time; // 全关时间
BOOL all_close_time_flag;
uint32_t tmp_time; // 临时用来记录全开全关/整定时间

430
User/application/src/mode_pwmp_hd.c
View File

@ -84,9 +84,9 @@ static void pwmp_control_update(filter_e type)
}
/*PID参数获取*/
static float32 get_pwmp_control_kp(void)
static float32 get_pwmp_hd_control_kp(void)
{
if (mode_pwmp_hd->pwmp_save->storage.kp < 1)
if (mode_pwmp_hd->pwmp_save->storage.kp < 2)
{
return mode_pwmp_hd->pwmp_save->storage.kp * 10;
}
@ -96,14 +96,14 @@ static float32 get_pwmp_control_kp(void)
}
}
static float32 get_pwmp_control_ki(void)
static float32 get_pwmp_hd_control_ki(void)
{
return mode_pwmp_hd->pwmp_save->storage.ki;
return mode_pwmp_hd->pwmp_save->storage.ki < 0.001 ? mode_pwmp_hd->pwmp_save->storage.ki * 10 : 0.018;
}
static float32 get_pwmp_control_kd(void)
static float32 get_pwmp_hd_control_kd(void)
{
return mode_pwmp_hd->pwmp_save->storage.kd;
return mode_pwmp_hd->pwmp_save->storage.kd < 0.01 ? mode_pwmp_hd->pwmp_save->storage.kd : 0.005;
}
/*将自己结构体变量中的参数保存到公共参数中*/
@ -206,7 +206,7 @@ void execute_pid_init(execute_plan_hd_e plan)
case EXECUTE_PLAN_1:
_pid.type = PID_TYPE_CUSTOM_HANGDIAN;
pid_constructor(&_pid);
_pid.pid_u.hd.set_ctrl_prm_position(&_pid.pid_u.hd, get_pwmp_control_kp(), get_pwmp_control_ki(), get_pwmp_control_kd());
_pid.pid_u.hd.set_ctrl_prm_position(&_pid.pid_u.hd, get_pwmp_hd_control_kp(), get_pwmp_hd_control_ki(), get_pwmp_hd_control_kd());
break;
case EXECUTE_PLAN_2:
@ -352,12 +352,6 @@ static void pid_autotune_way_set(pid_autotune_way_e state)
pid_autotune_hd->autotune_way = state;
}
/*阶跃信号设定*/
static void set_step_signal(uint16_t signal_in)
{
pdctrl_out(signal_in);
}
/*判断阀门状态：移动、停止、停止但仍在等待*/
static valve_position_change_e pwmp_adjust_hd_valve_position_change(uint8_t *state, uint8_t next_state, uint8_t diff_adc_max)
{
@ -443,8 +437,8 @@ static void pwmp_adjust_hd_idle(uint8_t *state, mode_pwmp_hd_adjust_state_e next
{
case POSITION_NO_CHANGE_FOREVER:
// 位置不再改变，记录此时阀门位置AD值
mode_pwmp_hd_adjust->adc_record_1 = mode_pwmp_hd_adjust->psb_adc;
mode_pwmp_hd_adjust->adc_record_0 = mode_pwmp_hd_adjust->psb_adc;
mode_pwmp_hd_adjust->adc_record_1 = pid_autotune_hd->data.adjust_tmp_actual;
mode_pwmp_hd_adjust->adc_record_0 = pid_autotune_hd->data.adjust_tmp_actual;
break;
case POSITION_CHANGE:
*state = PWMP_HD_ADJUST_IDEL;
@ -460,13 +454,11 @@ static void pwmp_adjust_hd_idle(uint8_t *state, mode_pwmp_hd_adjust_state_e next
/*整定粗调0*/
static void pwmp_adjust_hd_rough_position0(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
{
// 找最小推动值arr
uint16_t current_adc = 0;
if (!FSM_IS_WAIT(*state))
{
// 以10%增加，提高DAC输出，找到能推动阀门的最小值
mode_pwmp_hd_adjust->arr_current = 50;
mode_pwmp_hd_adjust->arr_current = 100;
mode_pwmp_hd_adjust->arr_last = mode_pwmp_hd_adjust->arr_current;
pdctrl_out(mode_pwmp_hd_adjust->arr_current);
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 20;
@ -477,8 +469,8 @@ static void pwmp_adjust_hd_rough_position0(uint8_t *state, mode_pwmp_hd_adjust_s
{
valve_position_change_e s = pwmp_adjust_hd_valve_position_change(state, next_state, DIFF_ADC_MAX);
current_adc = mode_pwmp_hd_adjust->psb_adc;
if (ABS(current_adc - mode_pwmp_hd_adjust->adc_record_1) >= DIFF_ADC_MAX)
current_adc = pid_autotune_hd->data.adjust_tmp_actual;
if (ABS(current_adc - mode_pwmp_hd_adjust->adc_record_1) >= DIFF_ADC_MAX) // 阀位发生改变
{
if (mode_pwmp_hd_adjust->arr_last > 4000)
{
@ -487,14 +479,14 @@ static void pwmp_adjust_hd_rough_position0(uint8_t *state, mode_pwmp_hd_adjust_s
}
else
{
/*修正因启动值过大而导致的信号增加过大*/
/*得到一个粗略的，小于启动量的值*/
mode_pwmp_hd_adjust->arr_record_1 = mode_pwmp_hd_adjust->arr_last > 1000 ? mode_pwmp_hd_adjust->arr_last * 0.9 : mode_pwmp_hd_adjust->arr_last;
/**/
/*判断位置反馈磁条是正装还是反装*/
mode_pwmp_hd_adjust->adc_0_100_flag = mode_pwmp_hd_adjust->adc_record_0 < current_adc ? TRUE : FALSE;
}
*state = next_state;
}
else
else // 阀位未发生变化：继续增大输出
{
switch (s)
{
@ -507,11 +499,11 @@ static void pwmp_adjust_hd_rough_position0(uint8_t *state, mode_pwmp_hd_adjust_s
mode_pwmp_hd_adjust->arr_last = mode_pwmp_hd_adjust->arr_current;
if (mode_pwmp_hd_adjust->arr_last < 1000)
{
mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_current * 1.1;
mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_current * 1.05;
}
else
{
mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_current * 1.05;
mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_current * 1.02;
}
/*若输出信号为最大值时认定为整定错误*/
if (mode_pwmp_hd_adjust->arr_current > 4000)
@ -522,7 +514,7 @@ static void pwmp_adjust_hd_rough_position0(uint8_t *state, mode_pwmp_hd_adjust_s
}
pdctrl_out(mode_pwmp_hd_adjust->arr_current);
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 20;
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 40;
*state = PWMP_HD_ADJUST_ROUGH_POSITION0;
FSM_WAIT(*state); // 设置等待状态
}
@ -546,7 +538,7 @@ static void pwmp_adjust_hd_rough_position0(uint8_t *state, mode_pwmp_hd_adjust_s
}
}
/*不充不放值（0信号）的整定*/
/*放气值（0信号）的整定*/
static void pwmp_adjust_hd_bleeding_position0(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
{
BOOL flag = FALSE;
@ -560,32 +552,41 @@ static void pwmp_adjust_hd_bleeding_position0(uint8_t *state, mode_pwmp_hd_adjus
}
else
{
if (mode_pwmp_hd_adjust->adc_0_100_flag)
// if (mode_pwmp_hd_adjust->adc_0_100_flag)
// {
// if (mode_pwmp_hd_adjust->psb_adc <= mode_pwmp_hd_adjust->last_adc)
// {
// if (ABS(mode_pwmp_hd_adjust->psb_adc - mode_pwmp_hd_adjust->last_adc) > DIFF_ADC_MAX)
// {
// mode_pwmp_hd_adjust->arr_record_0 = mode_pwmp_hd_adjust->arr_last + DIFF_ADC_MAX;
// flag = TRUE;
// }
// }
// }
// else
// {
// if (mode_pwmp_hd_adjust->psb_adc >= mode_pwmp_hd_adjust->last_adc)
// {
// if (ABS(mode_pwmp_hd_adjust->psb_adc - mode_pwmp_hd_adjust->last_adc) > DIFF_ADC_MAX)
// {
// mode_pwmp_hd_adjust->arr_record_0 = mode_pwmp_hd_adjust->arr_last + DIFF_ADC_MAX;
// flag = TRUE;
// }
// }
// }
if (ABS(mode_pwmp_hd_adjust->psb_adc - mode_pwmp_hd_adjust->adc_record_1) < 6)
{
if (mode_pwmp_hd_adjust->psb_adc <= mode_pwmp_hd_adjust->last_adc)
{
if (ABS(mode_pwmp_hd_adjust->psb_adc - mode_pwmp_hd_adjust->last_adc) > DIFF_ADC_MAX)
{
mode_pwmp_hd_adjust->arr_record_0 = mode_pwmp_hd_adjust->arr_last + DIFF_ADC_MAX;
mode_pwmp_hd_adjust->arr_record_0 = mode_pwmp_hd_adjust->arr_current;
flag = TRUE;
}
}
}
else
{
if (mode_pwmp_hd_adjust->psb_adc >= mode_pwmp_hd_adjust->last_adc)
{
if (ABS(mode_pwmp_hd_adjust->psb_adc - mode_pwmp_hd_adjust->last_adc) > DIFF_ADC_MAX)
{
mode_pwmp_hd_adjust->arr_record_0 = mode_pwmp_hd_adjust->arr_last + DIFF_ADC_MAX;
flag = TRUE;
}
}
}
if (flag == TRUE)
{
mode_pwmp_hd_adjust->arr_record_2 = 4095; // 给定最大值输出
*state = next_state;
pdctrl_out(0); // 这里要先放气5秒然后计算全开时间
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 50;
}
else
{
@ -597,13 +598,13 @@ static void pwmp_adjust_hd_bleeding_position0(uint8_t *state, mode_pwmp_hd_adjus
mode_pwmp_hd_adjust->arr_current = last - 4;
pdctrl_out(mode_pwmp_hd_adjust->arr_current);
if (ABS(mode_pwmp_hd_adjust->psb_adc - mode_pwmp_hd_adjust->last_adc) > 4)
if (ABS(mode_pwmp_hd_adjust->psb_adc - mode_pwmp_hd_adjust->last_adc) > 6)
{
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 10;
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 10;
}
else
{
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 30;
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 30;
}
mode_pwmp_hd_adjust->last_adc = mode_pwmp_hd_adjust->psb_adc;
@ -612,68 +613,69 @@ static void pwmp_adjust_hd_bleeding_position0(uint8_t *state, mode_pwmp_hd_adjus
}
}
/*启动值细调*/
static void pwmp_adjust_hd_accurate_position0(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
{
// 精确的找到最小推动值
uint16_t current_adc = 0;
if (!FSM_IS_WAIT(*state))
{
mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_record_1;
mode_pwmp_hd_adjust->arr_last = mode_pwmp_hd_adjust->arr_current;
mode_pwmp_hd_adjust->adjust_state = (mode_pwmp_hd_adjust_state_e)*state;
FSM_WAIT(mode_pwmp_hd_adjust->adjust_state);
*state = PWMP_HD_ADJUST_BLEEDING;
}
else
{
valve_position_change_e s = pwmp_adjust_hd_valve_position_change(state, next_state, DIFF_ADC_MAX * 10);
// /*启动值细调*/
// static void pwmp_adjust_hd_accurate_position0(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
// {
// uint16_t current_adc = 0;
// if (!FSM_IS_WAIT(*state))
// {
// mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_record_1;
// mode_pwmp_hd_adjust->arr_last = mode_pwmp_hd_adjust->arr_current;
// mode_pwmp_hd_adjust->adjust_state = (mode_pwmp_hd_adjust_state_e)*state;
// FSM_WAIT(mode_pwmp_hd_adjust->adjust_state);
// *state = PWMP_HD_ADJUST_BLEEDING;
// }
// else
// {
// valve_position_change_e s = pwmp_adjust_hd_valve_position_change(state, next_state, DIFF_ADC_MAX);
current_adc = mode_pwmp_hd_adjust->psb_adc;
/*执行器发生动作*/
if (ABS(current_adc - mode_pwmp_hd_adjust->adc_record_1) >= DIFF_ADC_MAX)
{
mode_pwmp_hd_adjust->arr_record_1 = mode_pwmp_hd_adjust->arr_last;
mode_pwmp_hd_adjust->arr_record_2 = mode_pwmp_hd_adjust->arr_last + 100 < 4000 ? mode_pwmp_hd_adjust->arr_last + 100 : 100;
*state = next_state;
pdctrl_out(0); // 这里要先放气5秒然后计算全开时间
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 50;
}
else
{
switch (s)
{
case POSITION_NO_CHANGE_FOREVER: // 位置不再改变
{
if (ABS(current_adc - mode_pwmp_hd_adjust->adc_record_1) <= DIFF_ADC_MAX)
{
// 没有发生变化
mode_pwmp_hd_adjust->arr_last = mode_pwmp_hd_adjust->arr_current;
mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_current + DIFF_ADC_MAX;
pdctrl_out(mode_pwmp_hd_adjust->arr_current);
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 5;
*state = PWMP_HD_ADJUST_ACCURATE_POSITION0;
FSM_WAIT(*state); // 设置等待状态
}
else
{
DBG_ASSERT(FALSE __DBG_LINE);
}
break;
}
case POSITION_CHANGE:
DBG_ASSERT(FALSE __DBG_LINE);
break;
default:
break;
}
}
}
}
// current_adc = pid_autotune_hd->data.adjust_tmp_actual;
// /*执行器发生动作*/
// if (ABS(current_adc - mode_pwmp_hd_adjust->adc_record_1) >= DIFF_ADC_MAX)
// {
// mode_pwmp_hd_adjust->arr_record_1 = mode_pwmp_hd_adjust->arr_last;
// mode_pwmp_hd_adjust->arr_record_2 = 4095; // 给定最大值输出
// *state = next_state;
// pdctrl_out(0); // 这里要先放气5秒然后计算全开时间
// mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 50;
// }
// else
// {
// switch (s)
// {
// case POSITION_NO_CHANGE_FOREVER: // 位置不再改变
// {
// /*若执行器在0位置*/
// if (ABS(current_adc - mode_pwmp_hd_adjust->adc_record_1) <= DIFF_ADC_MAX)
// {
// // 阀位没有发生变化，以每6增大信号输出
// mode_pwmp_hd_adjust->arr_last = mode_pwmp_hd_adjust->arr_current;
// mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_current + 6;
// pdctrl_out(mode_pwmp_hd_adjust->arr_current);
// mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 30;
// *state = PWMP_HD_ADJUST_ACCURATE_POSITION0;
// FSM_WAIT(*state); // 设置等待状态
// }
// else
// {
// DBG_ASSERT(FALSE __DBG_LINE);
// }
// break;
// }
// case POSITION_CHANGE:
// DBG_ASSERT(FALSE __DBG_LINE);
// break;
// default:
// break;
// }
// }
// }
// }
/*粗略整定冲顶值*/
/*粗略整定得到满位置adc位置反馈*/
static void pwmp_adjust_hd_rough_position100(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
{
uint16_t current_adc = 0;
// 找最大推动值arr
if (!FSM_IS_WAIT(*state))
{
@ -685,24 +687,25 @@ static void pwmp_adjust_hd_rough_position100(uint8_t *state, mode_pwmp_hd_adjust
}
sys_millis_reset();
mode_pwmp_hd_adjust->all_open_time = sys_millis(); // 记录全开起始时间
mode_pwmp_hd_adjust->all_open_time_full = sys_millis(); // 记录全开起始时间
mode_pwmp_hd_adjust->tmp_time = 0;
pdctrl_out(mode_pwmp_hd_adjust->arr_record_2); // 以上一步求出的冲顶值进行输出
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 100;
pdctrl_out(mode_pwmp_hd_adjust->arr_record_2); // 以最大值进行输出
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 50; // 等待时间设置为5s
mode_pwmp_hd_adjust->adjust_state = (mode_pwmp_hd_adjust_state_e)*state;
FSM_WAIT(*state); // 设置等待状态
}
else
{
valve_position_change_e s = pwmp_adjust_hd_valve_position_change(state, next_state, DIFF_ADC_MAX);
current_adc = pid_autotune_hd->data.adjust_tmp_actual;
switch (s)
{
case POSITION_NO_CHANGE_FOREVER:
// 位置不再改变，记录此时阀门位置AD值
mode_pwmp_hd_adjust->adc_record_2 = mode_pwmp_hd_adjust->psb_adc;
mode_pwmp_hd_adjust->all_open_time = mode_pwmp_hd_adjust->tmp_time - mode_pwmp_hd_adjust->all_open_time;
mode_pwmp_hd_adjust->adc_record_2 = current_adc;
mode_pwmp_hd_adjust->all_open_time_full = mode_pwmp_hd_adjust->tmp_time - mode_pwmp_hd_adjust->all_open_time_full;
break;
case POSITION_CHANGE:
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 50;
@ -723,13 +726,10 @@ static void pwmp_adjust_hd_rough_position100(uint8_t *state, mode_pwmp_hd_adjust
/*精调冲顶值*/
static void pwmp_adjust_hd_accurate_position100(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
{
// 精确找最大推动值arr
uint16_t current_adc = 0;
if (!FSM_IS_WAIT(*state))
{
mode_pwmp_hd_adjust->all_close_time_flag = TRUE;
mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_record_1;
mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_record_1; // 初始值为前一步整定出的最小启动值
mode_pwmp_hd_adjust->arr_last = mode_pwmp_hd_adjust->arr_current;
mode_pwmp_hd_adjust->adjust_state = (mode_pwmp_hd_adjust_state_e)*state;
mode_pwmp_hd_adjust->preheat = TRUE;
@ -739,9 +739,10 @@ static void pwmp_adjust_hd_accurate_position100(uint8_t *state, mode_pwmp_hd_adj
else
{
valve_position_change_e s = pwmp_adjust_hd_valve_position_change(state, next_state, DIFF_ADC_MAX);
mode_pwmp_hd_adjust->psb_adc = pid_autotune_hd->data.adjust_tmp_actual;
current_adc = mode_pwmp_hd_adjust->psb_adc;
uint16_t adc_diff = ABS(current_adc - mode_pwmp_hd_adjust->adc_record_2);
/*当前反馈AD值与最大位置AD值的差值*/
uint16_t adc_diff = ABS(mode_pwmp_hd_adjust->psb_adc - mode_pwmp_hd_adjust->adc_record_2);
if (mode_pwmp_hd_adjust->arr_current == 0 && mode_pwmp_hd_adjust->preheat == TRUE)
{
@ -775,7 +776,7 @@ static void pwmp_adjust_hd_accurate_position100(uint8_t *state, mode_pwmp_hd_adj
}
else
{
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 10;
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 20;
}
mode_pwmp_hd_adjust->last_adc = mode_pwmp_hd_adjust->psb_adc;
@ -796,7 +797,7 @@ static void pwmp_adjust_hd_accurate_position100(uint8_t *state, mode_pwmp_hd_adj
}
else
{
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 3;
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 20;
}
break;
@ -806,19 +807,100 @@ static void pwmp_adjust_hd_accurate_position100(uint8_t *state, mode_pwmp_hd_adj
}
}
/*计算控制的全关时间：以ATO类型角度命名*/
static void pwmp_adjust_hd_all_close_time(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
{
if (!FSM_IS_WAIT(*state))
{
mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_record_0 - 100; // 此处的输入信号大小根据实际控制的最小值来设定
/*记录起始的全开时间*/
sys_millis_reset();
mode_pwmp_hd_adjust->all_close_time = sys_millis();
mode_pwmp_hd_adjust->tmp_time = 0;
pdctrl_out(mode_pwmp_hd_adjust->arr_current);
FSM_WAIT(*state); // 设置等待状态
}
else
{
mode_pwmp_hd_adjust->psb_adc = get_actual_travel_adc();
if (abs(mode_pwmp_hd_adjust->psb_adc - mode_pwmp_hd_adjust->adc_record_0) < DIFF_ADC_MAX)
{
if (uDevice.eAirAction == ATO) // 若调节阀为气开阀
{
mode_pwmp_hd_adjust->tmp_time = sys_millis();
mode_pwmp_hd_adjust->all_close_time = mode_pwmp_hd_adjust->tmp_time - mode_pwmp_hd_adjust->all_close_time;
}
else // 若调节阀为气关阀
{
mode_pwmp_hd_adjust->tmp_time = sys_millis();
mode_pwmp_hd_adjust->all_open_time = mode_pwmp_hd_adjust->tmp_time - mode_pwmp_hd_adjust->all_close_time;
}
*state = next_state;
}
}
}
/*计算控制的全开时间*/
static void pwmp_adjust_hd_all_open_time(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
{
if (!FSM_IS_WAIT(*state))
{
mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_record_2 + 100; // 此处的输入信号大小根据实际控制的最大值来设定
/*记录起始的全开时间*/
sys_millis_reset();
mode_pwmp_hd_adjust->all_open_time = sys_millis();
mode_pwmp_hd_adjust->tmp_time = 0;
pdctrl_out(mode_pwmp_hd_adjust->arr_current);
FSM_WAIT(*state); // 设置等待状态
}
else
{
mode_pwmp_hd_adjust->psb_adc = get_actual_travel_adc();
if (abs(mode_pwmp_hd_adjust->psb_adc - mode_pwmp_hd_adjust->adc_record_2) < DIFF_ADC_MAX)
{
if (uDevice.eAirAction == ATO)
{
mode_pwmp_hd_adjust->tmp_time = sys_millis();
mode_pwmp_hd_adjust->all_open_time = mode_pwmp_hd_adjust->tmp_time - mode_pwmp_hd_adjust->all_open_time;
}
else
{
mode_pwmp_hd_adjust->tmp_time = sys_millis();
mode_pwmp_hd_adjust->all_close_time = mode_pwmp_hd_adjust->tmp_time - mode_pwmp_hd_adjust->all_open_time;
}
*state = next_state;
}
}
}
/*计算阀门自整定参数*/
static void pwmp_adjust_hd_calculate(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
{
if (!FSM_IS_WAIT(*state))
{
/*行程上下限*/
mode_pwmp_hd->pwmp_save->storage.trip_0 = mode_pwmp_hd_adjust->adc_record_0;
mode_pwmp_hd->pwmp_save->storage.trip_100 = mode_pwmp_hd_adjust->adc_record_2;
mode_pwmp_hd->pwmp_save->storage.ad_diff = ABS(mode_pwmp_hd->pwmp_save->storage.trip_0 - mode_pwmp_hd->pwmp_save->storage.trip_100);
mode_pwmp_hd->pwmp_save->storage.pwmp_max = mode_pwmp_hd_adjust->arr_record_2;
mode_pwmp_hd->pwmp_save->storage.pwmp_min = mode_pwmp_hd_adjust->arr_record_0;
mode_pwmp_hd->pwmp_save->storage.arr_diff = ABS(mode_pwmp_hd->pwmp_save->storage.pwmp_max - mode_pwmp_hd->pwmp_save->storage.pwmp_min);
/*控制区间*/
mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin = mode_pwmp_hd_adjust->arr_record_2;
mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin = mode_pwmp_hd_adjust->arr_record_0;
mode_pwmp_hd->pwmp_save->storage.arr_diff = ABS(mode_pwmp_hd_adjust->arr_record_2 - mode_pwmp_hd_adjust->arr_record_0);
mode_pwmp_hd->pwmp_save->storage.pwmp_max = mode_pwmp_hd_adjust->arr_record_2 + (mode_pwmp_hd->pwmp_save->storage.arr_diff * 0.2);
mode_pwmp_hd->pwmp_save->storage.pwmp_min = mode_pwmp_hd_adjust->arr_record_0 - (mode_pwmp_hd->pwmp_save->storage.arr_diff * 0.2);
/*启动值*/
mode_pwmp_hd->pwmp_save->storage.startup_value = mode_pwmp_hd_adjust->adc_record_1;
/*全开及全关时间*/
mode_pwmp_hd->pwmp_save->storage.all_open_time = mode_pwmp_hd_adjust->all_open_time;
mode_pwmp_hd->pwmp_save->storage.all_close_time = mode_pwmp_hd_adjust->all_close_time;
/*判断调节阀类型（气开/气关），对最低行程和最高行程进行标定*/
if (uDevice.eAirAction == ATO)
{
mode_pwmp_hd->pwmp_save->storage.trip_100 = mode_pwmp_hd->pwmp_save->storage.trip_100;
@ -859,15 +941,8 @@ static void pwmp_adjust_hd_calculate(uint8_t *state, mode_pwmp_hd_adjust_state_e
/*排气状态*/
static void pwmp_adjust_hd_bleeding(uint8_t *state)
{
uint16_t current_adc = 0;
if (!FSM_IS_WAIT(*state))
{
if (mode_pwmp_hd_adjust->all_close_time_flag == TRUE)
{
sys_millis_reset();
mode_pwmp_hd_adjust->all_close_time = sys_millis(); // 记录全关起始时间
mode_pwmp_hd_adjust->tmp_time = 0;
}
mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_default;
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 80;
pdctrl_out(0);
@ -876,22 +951,17 @@ static void pwmp_adjust_hd_bleeding(uint8_t *state)
else
{
valve_position_change_e s = pwmp_adjust_hd_valve_position_change(state, mode_pwmp_hd_adjust->adjust_state, DIFF_ADC_MAX);
current_adc = mode_pwmp_hd_adjust->psb_adc;
mode_pwmp_hd_adjust->psb_adc = mode_pwmp_hd_adjust->psb_adc;
switch (s)
{
case POSITION_NO_CHANGE_FOREVER:
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 30; // 排气状态结束后在跳转后的状态中等待3s
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 50; // 排气状态结束后在跳转后的状态中等待5s
mode_pwmp_hd_adjust->arr_current = 0;
if (current_adc != mode_pwmp_hd_adjust->adc_record_1)
{
mode_pwmp_hd_adjust->adc_record_1 = current_adc;
mode_pwmp_hd->pwmp_save->storage.trip_0 = current_adc;
}
if (mode_pwmp_hd_adjust->all_close_time_flag == TRUE)
{
mode_pwmp_hd_adjust->all_close_time = mode_pwmp_hd_adjust->tmp_time - mode_pwmp_hd_adjust->all_close_time;
mode_pwmp_hd_adjust->all_close_time_flag = FALSE;
}
// if (mode_pwmp_hd_adjust->psb_adc != mode_pwmp_hd_adjust->adc_record_1)
// {
// mode_pwmp_hd_adjust->adc_record_1 = mode_pwmp_hd_adjust->psb_adc;
// mode_pwmp_hd->pwmp_save->storage.trip_0 = mode_pwmp_hd_adjust->psb_adc;
// }
break;
case POSITION_CHANGE:
if (mode_pwmp_hd_adjust->adc_record_0 == 0)
@ -905,18 +975,6 @@ static void pwmp_adjust_hd_bleeding(uint8_t *state)
mode_pwmp_hd_adjust->tmp_time = 0;
break;
case POSITION_NO_CHANGE:
if (mode_pwmp_hd_adjust->all_close_time_flag == TRUE)
{
if (mode_pwmp_hd_adjust->tmp_time == 0)
{
mode_pwmp_hd_adjust->tmp_time = sys_millis();
}
if (ABS(current_adc - mode_pwmp_hd_adjust->adc_record_0) > 50)
{
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 80;
}
}
break;
default:
*state = PWMP_HD_ADJUST_STOP;
@ -967,8 +1025,9 @@ static void pwmp_adjust_hd_PID_tuning(uint8_t *state, mode_pwmp_hd_adjust_state_
/*整定方法选择*/
pid_autotune_way_set(PID_AUTOTUNE_WAY_ZN);
/*阶跃信号设置*/
set_step_signal(FULL_TRIP_SIGNAL);
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 40; // 等待八秒
pid_autotune_hd->data.step_signal = mode_pwmp_hd_adjust->arr_record_2;
pdctrl_out(pid_autotune_hd->data.step_signal);
mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 40; // 等待四秒
FSM_WAIT(*state); // 设置等待状态
}
else
@ -987,8 +1046,6 @@ static void pwmp_adjust_hd_PID_tuning(uint8_t *state, mode_pwmp_hd_adjust_state_
{
pid_autotune_hd->data.slope = pid_autotune_hd->data.actual_error / TIME_CYCLE;
}
/*K的计算*/
pid_autotune_hd->k_hd = 1;
/*记录下变化率最大点值及行程坐标、时间*/
if (pid_autotune_hd->data.slope > pid_autotune_hd->data.slope_Max)
{
@ -1014,6 +1071,9 @@ static void pwmp_adjust_hd_PID_tuning(uint8_t *state, mode_pwmp_hd_adjust_state_
pid_autotune_hd->l_hd = get_time_tangent(0);
/*求得时间系数T*/
pid_autotune_hd->t_hd = get_time_tangent(pid_autotune_hd->data.actual_stable) - pid_autotune_hd->l_hd;
/*K的计算*/
pid_autotune_hd->k_hd = ((pid_autotune_hd->data.actual_stable) / (mode_pwmp_hd_adjust->adc_record_2 - mode_pwmp_hd_adjust->adc_record_0)) / ((pid_autotune_hd->data.step_signal) / (mode_pwmp_hd_adjust->arr_record_2 - mode_pwmp_hd_adjust->arr_record_0));
*state = next_state;
break;
case POSITION_CHANGE:
@ -1062,9 +1122,9 @@ static void pwmp_adjust_hd_pid_calculate(uint8_t *state, mode_pwmp_hd_adjust_sta
default:
break;
}
mode_pwmp_hd->pwmp_save->storage.kp = pid_autotune_hd->p_auto_hd;
mode_pwmp_hd->pwmp_save->storage.ki = pid_autotune_hd->i_auto_hd;
mode_pwmp_hd->pwmp_save->storage.kd = pid_autotune_hd->d_auto_hd;
mode_pwmp_hd->pwmp_save->storage.kp = fabs(pid_autotune_hd->p_auto_hd);
mode_pwmp_hd->pwmp_save->storage.ki = fabs(pid_autotune_hd->i_auto_hd);
mode_pwmp_hd->pwmp_save->storage.kd = fabs(pid_autotune_hd->d_auto_hd);
*state = next_state; // 将状态切换
}
@ -1103,16 +1163,22 @@ void pwmp_adjust(uint8_t *state)
pwmp_adjust_hd_rough_position0(state, PWMP_HD_ADJUST_BLEEDING_POSITION0);
break;
case PWMP_HD_ADJUST_BLEEDING_POSITION0:
pwmp_adjust_hd_bleeding_position0(state, PWMP_HD_ADJUST_ACCURATE_POSITION0);
break;
case PWMP_HD_ADJUST_ACCURATE_POSITION0:
pwmp_adjust_hd_accurate_position0(state, PWMP_HD_ADJUST_ROUGH_POSITION100);
pwmp_adjust_hd_bleeding_position0(state, PWMP_HD_ADJUST_ROUGH_POSITION100);
break;
// case PWMP_HD_ADJUST_ACCURATE_POSITION0:
// pwmp_adjust_hd_accurate_position0(state, PWMP_HD_ADJUST_ROUGH_POSITION100);
// break;
case PWMP_HD_ADJUST_ROUGH_POSITION100:
pwmp_adjust_hd_rough_position100(state, PWMP_HD_ADJUST_ACCURATE_POSITION100);
break;
case PWMP_HD_ADJUST_ACCURATE_POSITION100:
pwmp_adjust_hd_accurate_position100(state, PWMP_HD_ADJUST_CALCULATE);
pwmp_adjust_hd_accurate_position100(state, PWMP_HD_ADJUST_ALL_CLOSE_TIME);
break;
case PWMP_HD_ADJUST_ALL_CLOSE_TIME:
pwmp_adjust_hd_all_close_time(state, PWMP_HD_ADJUST_ALL_OPEN_TIME);
break;
case PWMP_HD_ADJUST_ALL_OPEN_TIME:
pwmp_adjust_hd_all_open_time(state, PWMP_HD_ADJUST_CALCULATE);
break;
case PWMP_HD_ADJUST_CALCULATE:
pwmp_adjust_hd_calculate(state, PWMP_HD_ADJUST_PID_TUNING);
@ -1130,7 +1196,7 @@ void pwmp_adjust(uint8_t *state)
pwmp_adjust_hd_bleeding(state);
break;
case PWMP_HD_ADJUST_IDEL:
pwmp_adjust_hd_idle(state, PWMP_HD_ADJUST_PID_TUNING);
pwmp_adjust_hd_idle(state, PWMP_HD_ADJUST_ROUGH_POSITION0);
break;
case PWMP_HD_ADJUST_STOP:
pwmp_adjust_hd_stop(state);
@ -1203,7 +1269,7 @@ void mode_pwmp_hd_process(void)
}
else
{
sprintf(ble_data, "%f\r\n", mode_pwmp_hd->control.ctrl_feedback);
sprintf(ble_data, "%f,%f,%f\r\n", mode_pwmp_hd->control.ctrl_feedback, mode_pwmp_hd->control.ctrl_target, mode_pwmp_hd->control.real_error);
}
ble_len = osel_mstrlen((unsigned char *)ble_data);
if (ble_len != 0)
@ -1289,25 +1355,34 @@ void mode_pwmp_hd_init(uint16_t positioner_model, mode_pwmp_hd_params_u *params,
mode_pwmp_hd->pwmp_save = params;
mode_pwmp_hd->params_save_cb = params_save_cb;
/*设定PWMP方式的工作模式*/
pwmp_hd_process_state_set(PWMP_HD_PROCESS_TEST);
pwmp_hd_process_state_set(PWMP_HD_PROCESS_CONTROL);
/*PID初始化*/
execute_pid_init(EXECUTE_PLAN);
/*计数最大值*/
mode_pwmp_hd->wait_count_max = 100 / ((MODE_DEFAULT_AUTOLOAD + 1) * 0.1); // （=10，每减一消耗10ms）
mode_pwmp_hd->wait_count_max = 100 / ((MODE_DEFAULT_AUTOLOAD + 1) * 0.1); // （=10，每减一消耗10ms，总消耗时间100ms）
#if 0 // 手动控制接口
/*临时参数设置（后续整定）*/
mode_pwmp_hd->pwmp_save->storage.trip_0 = 2583;
mode_pwmp_hd->pwmp_save->storage.trip_100 = 1722;
mode_pwmp_hd->pwmp_save->storage.trip_0 = 2579;
mode_pwmp_hd->pwmp_save->storage.trip_100 = 1727;
#if VIP_H_EN_HD == 1
mode_pwmp_hd->pwmp_save->storage.pwmp_min = 500;
mode_pwmp_hd->pwmp_save->storage.pwmp_max = 925;
// /*大电流输出模式控制范围(fisher)*/
// mode_pwmp_hd->pwmp_save->storage.pwmp_min = 500;
// mode_pwmp_hd->pwmp_save->storage.pwmp_max = 925;
/*大电流输出模式控制范围(自制)*/
mode_pwmp_hd->pwmp_save->storage.pwmp_min = 518;
mode_pwmp_hd->pwmp_save->storage.pwmp_max = 716;
#else
/*小电流输出模式控制范围*/
mode_pwmp_hd->pwmp_save->storage.pwmp_min = 1025;
mode_pwmp_hd->pwmp_save->storage.pwmp_max = 2050;
#endif
mode_pwmp_hd->pwmp_save->storage.valve_type = ATO; // 气开阀
#if INTEGRAL_SEPARATION == 1
#if 1
mode_pwmp_hd->pwmp_save->storage.kp = 5;
// mode_pwmp_hd->pwmp_save->storage.kp = 5;
// mode_pwmp_hd->pwmp_save->storage.ki = 0.02;
// mode_pwmp_hd->pwmp_save->storage.kd = 0.005;
mode_pwmp_hd->pwmp_save->storage.kp = 0.9;
mode_pwmp_hd->pwmp_save->storage.ki = 0.02;
mode_pwmp_hd->pwmp_save->storage.kd = 0.005;
#else
@ -1320,8 +1395,9 @@ void mode_pwmp_hd_init(uint16_t positioner_model, mode_pwmp_hd_params_u *params,
mode_pwmp_hd->pwmp_save->storage.ki = 0.5619;
mode_pwmp_hd->pwmp_save->storage.kd = 0.5504;
#endif
/*阀门参数校准*/
// calib_parapos_perent();
#endif
/*保存参数*/
mode_pwmp_hd->params_save_cb();
/*更新公共参数*/

7
User/lib/control/custom/pid_hd.c
View File

@ -3,6 +3,8 @@
float32 out_pos; // 位置式pid输出
float32 Kp_watch; // 观测Kp的大小
float32 Ki_watch; // 观测Kp的大小
float32 Kd_watch; // 观测Kp的大小
/// <summary>
/// 杭电：设置增量式PID参数
@ -16,6 +18,11 @@ static void _set_ctrl_prm_position(struct PID_HD *self, float32 kp, float32 ki,
pid_hd_position_t *pri = &self->pri_u.position;
osel_memset((uint8_t *)pri, 0, sizeof(pid_hd_position_t));
/*观测传进来的Kp、Ki、Kd*/
Kp_watch = kp;
Ki_watch = ki;
Kd_watch = kd;
pri->kp = kp;
pri->ki = ki;
pri->kd = kd;