自整定程序新增各点位稳定信号（可正常运行）

MDK-ARM/controller-v2.uvoptx

@@ -245,6 +245,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>udevice,0x0A</ItemText>
         </Ww>
+        <Ww>
+          <count>17</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>mode_pwmp_hd-&gt;process_state,0x0A</ItemText>
+        </Ww>
       </WatchWindow1>
       <MemoryWindow1>
         <Mm>
@@ -1505,14 +1510,6 @@
     </File>
   </Group>
 
-  <Group>
-    <GroupName>::CMSIS</GroupName>
-    <tvExp>0</tvExp>
-    <tvExpOptDlg>0</tvExpOptDlg>
-    <cbSel>0</cbSel>
-    <RteFlg>1</RteFlg>
-  </Group>
-
   <Group>
     <GroupName>Middlewares/Library/DSP Library/DSP Library</GroupName>
     <tvExp>0</tvExp>
@@ -1520,7 +1517,7 @@
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
     <File>
-      <GroupNumber>17</GroupNumber>
+      <GroupNumber>16</GroupNumber>
       <FileNumber>91</FileNumber>
       <FileType>4</FileType>
       <tvExp>0</tvExp>
@@ -1533,4 +1530,12 @@
     </File>
   </Group>
 
+  <Group>
+    <GroupName>::CMSIS</GroupName>
+    <tvExp>0</tvExp>
+    <tvExpOptDlg>0</tvExpOptDlg>
+    <cbSel>0</cbSel>
+    <RteFlg>1</RteFlg>
+  </Group>
+
 </ProjectOpt>

MDK-ARM/controller-v2.uvprojx

@@ -1278,9 +1278,6 @@
             </File>
           </Files>
         </Group>
-        <Group>
-          <GroupName>::CMSIS</GroupName>
-        </Group>
         <Group>
           <GroupName>Middlewares/Library/DSP Library/DSP Library</GroupName>
           <GroupOption>
@@ -1379,6 +1376,9 @@
             </File>
           </Files>
         </Group>
+        <Group>
+          <GroupName>::CMSIS</GroupName>
+        </Group>
       </Groups>
     </Target>
   </Targets>

User/application/mode/mode_pwmp_hd.c

@@ -134,7 +134,7 @@ static void pwmp_control_update(filter_e type)
 
     if (mode_pwmp_hd->process_state == PWMP_HD_PROCESS_ADJUST)
     {
-        p->ctrl_target = p->ctrl_target;
+        p->ctrl_target = mode_pwmp_hd_adjust->ctrl_target;
     }
     else if (mode_pwmp_hd->process_state == PWMP_HD_PROCESS_TEST)
     {
@@ -165,6 +165,9 @@ static void pwmp_control_update(filter_e type)
     mode_pwmp_hd_test->small_trip_current_adc = p->small_trip_current_adc;
     mode_pwmp_hd_test->ctrl_feedback = p->ctrl_feedback;
     mode_pwmp_hd_test->real_error = p->real_error;
+    /*整定模式赋值*/
+    mode_pwmp_hd_adjust->ctrl_feedback = p->ctrl_feedback;
+    mode_pwmp_hd_adjust->real_error = p->real_error;
 }
 
 /*PID参数获取*/
@@ -227,6 +230,72 @@ void mode_pwmp_hd_stop(mode_pwmp_hd_t *handle)
     osel_memset((uint8_t *)&handle->control, 0, sizeof(mode_pwmp_hd_control_t));
 }
 
+// TODO:需要对进气和排气过程进行判定
+/*将10-20、20-30、30-40...等区间进行局部线性化，并将输入的目标变量进行映射处理*/
+static float32_t convert_target_to_controlvalue()
+{ // FIXME:将函数补足
+    uint16_t i = 0;
+    float32 tmp = 0;
+    static float32 control_value = 0; // 此变量要传回，故定义为static类型。
+
+    i = (uint16_t)(fabs(mode_pwmp_hd->control.ctrl_target) / 10);
+
+    /*此处判断为解决处于10、20、30等整十处的特殊情况*/
+    if (((uint16_t)fabs(mode_pwmp_hd->control.ctrl_target) % 10 == 0) && (fabs(mode_pwmp_hd->control.ctrl_target) >= 10))
+    {
+        if (mode_pwmp_hd->action == INFLATE)
+        {
+            control_value = mode_pwmp_hd->valvepos.valvepos_in[i - 1];
+        }
+        else if (mode_pwmp_hd->action == DEFLATE)
+        {
+            control_value = mode_pwmp_hd->valvepos.valvepos_de[i - 1];
+        }
+    }
+    else
+    { /*处于区间内的情况*/
+        if (mode_pwmp_hd->action == INFLATE)
+        {
+            tmp = ((mode_pwmp_hd->control.ctrl_target - (i * 10)) / (10));
+            control_value = tmp * mode_pwmp_hd->valvepos.valvepos_in_k[i - 1] + mode_pwmp_hd->valvepos.valvepos_in_b[i - 1];
+        }
+        else if (mode_pwmp_hd->action == DEFLATE)
+        {
+            tmp = ((mode_pwmp_hd->control.ctrl_target - (i * 10)) / (10));
+            control_value = tmp * mode_pwmp_hd->valvepos.valvepos_de_k[i - 1] + mode_pwmp_hd->valvepos.valvepos_de_b[i - 1];
+        }
+    }
+
+    return control_value;
+}
+
+/*判断运动状态（充气/排气）*/
+static void inflate_or_deflate()
+{
+    if (udevice.value_action_type == ATO)
+    {
+        if (mode_pwmp_hd->control.real_error < 0)
+        {
+            mode_pwmp_hd->action = DEFLATE;
+        }
+        else if (mode_pwmp_hd->control.real_error > 0)
+        {
+            mode_pwmp_hd->action = INFLATE;
+        }
+    }
+    else if (udevice.value_action_type == ATC)
+    {
+        if (mode_pwmp_hd->control.real_error < 0)
+        {
+            mode_pwmp_hd->action = INFLATE;
+        }
+        else if (mode_pwmp_hd->control.real_error > 0)
+        {
+            mode_pwmp_hd->action = DEFLATE;
+        }
+    }
+}
+
 /**
  * @brief 算法方案初始化
  * @param {execute_plan_hd_e} plan
@@ -286,6 +355,11 @@ static execute_rsp_hd_t *execute_dac_plan1()
     Control_diff = mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin - mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
     float32 out = 0.0;
 
+    /*判断此时的充排气状态*/
+    inflate_or_deflate();
+    /*获取目标值对应的控制值大小*/
+    mode_pwmp_hd->valvepos_stable = convert_target_to_controlvalue();
+
     // 杭电：输出限幅的参数设置
     _pid.pid_u.hd.set_out_prm_position(&_pid.pid_u.hd, 100, 0);
     out = _pid.pid_u.hd.pid_position(&_pid.pid_u.hd, mode_pwmp_hd->control.real_error);
@@ -299,20 +373,45 @@ static execute_rsp_hd_t *execute_dac_plan1()
         /*二阶段加权系数*/
         static float32 index_min_second = 0.2;
         static float32 index_max_second = 0.3;
-        if (fabs(mode_pwmp_hd->control.real_error) >= 5.7)
+        if (mode_pwmp_hd->process_state == PWMP_HD_PROCESS_ADJUST)
-        {                                                                                                                                                                                     // 对PID输出结果进行归一化处理
+        {
-            out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index_max_first) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_first); // 映射实际控制器的范围
+            if (fabs(mode_pwmp_hd->control.real_error) >= 5.7)
-            out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_first;
+            {                                                                                                                                                                                     // 对PID输出结果进行归一化处理
-        }
+                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index_max_first) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_first); // 映射实际控制器的范围
-        else if (fabs(mode_pwmp_hd->control.real_error) < 5.7 && fabs(mode_pwmp_hd->control.real_error) >= 1)
+                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_first;
-        {                                                                                                                                                                                       // 对PID输出结果进行归一化处理
+            }
-            out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index_max_second) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_second); // 映射实际控制器的范围
+            else if (fabs(mode_pwmp_hd->control.real_error) < 5.7 && fabs(mode_pwmp_hd->control.real_error) >= 1)
-            out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_second;
+            {                                                                                                                                                                                       // 对PID输出结果进行归一化处理
+                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index_max_second) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_second); // 映射实际控制器的范围
+                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_second;
+            }
+            else
+            {
+                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
+                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+            }
         }
         else
         {
-            out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
+            if (fabs(mode_pwmp_hd->control.real_error) >= 5.7)
-            out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+            {                                                                                                                                                                                     // 对PID输出结果进行归一化处理
+                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index_max_first) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_first); // 映射实际控制器的范围
+                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_first;
+            }
+            else if (fabs(mode_pwmp_hd->control.real_error) < 5.7 && fabs(mode_pwmp_hd->control.real_error) >= 1)
+            {                                                                                                                                                                                       // 对PID输出结果进行归一化处理
+                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin + Control_diff * index_max_second) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_second); // 映射实际控制器的范围
+                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin - Control_diff * index_min_second;
+            }
+            else if (fabs(mode_pwmp_hd->control.real_error) < 1 && fabs(mode_pwmp_hd->control.real_error) > 0.7)
+            {
+                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
+                out += mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin;
+            }
+            else
+            {
+                out = mode_pwmp_hd->valvepos_stable;
+            }
         }
 #else
         float32 index = fabs(1 - exp(-(pow(mode_pwmp_hd->control.real_error, 2) - 1)));
@@ -372,8 +471,15 @@ static execute_rsp_hd_t *execute_dac_plan1()
         }
         else if (fabs(mode_pwmp_hd->control.real_error) <= 0.99)
         {
-            out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
+            if (mode_pwmp_hd_adjust->adjust_state == PWMP_HD_ADJUST_STEP_BY_10_TO_100 || mode_pwmp_hd_adjust->adjust_state == PWMP_HD_ADJUST_STEP_BY_10_TO_0)
-            out += (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin);
+            {
+                out *= (mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin) - (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin); // 映射实际控制器的范围
+                out += (mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin);
+            }
+            else
+            {
+                out = mode_pwmp_hd->valvepos_stable;
+            }
         }
 #endif
     }
@@ -383,6 +489,7 @@ static execute_rsp_hd_t *execute_dac_plan1()
 
     return &rsp;
 }
+
 /// <summary>
 ///
 /// </summary>
@@ -561,7 +668,7 @@ static void pwmp_adjust_hd_rough_position0(uint8_t *state, mode_pwmp_hd_adjust_s
             else
             {
                 /*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;
+                mode_pwmp_hd_adjust->arr_record_1 = mode_pwmp_hd_adjust->arr_last > 1000 ? mode_pwmp_hd_adjust->arr_last * 0.97 : 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;
                 mode_pwmp_hd_adjust->arr_current = mode_pwmp_hd_adjust->arr_record_1;
@@ -954,7 +1061,7 @@ static void pwmp_adjust_hd_accurate_position100(uint8_t *state, mode_pwmp_hd_adj
                 else
                 {
                     /*40mm————30；16mm————40*/
-                    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 * 1; // 0.1秒钟加一次
                 }
                 mode_pwmp_hd_adjust->last_adc = mode_pwmp_hd_adjust->psb_adc;
                 mode_pwmp_hd_adjust->arr_last = mode_pwmp_hd_adjust->arr_current;
@@ -1345,8 +1452,6 @@ static void pwmp_adjust_hd_pid_calculate(uint8_t *state, mode_pwmp_hd_adjust_sta
     *state = next_state; // 将状态切换
 }
 
-/**/
-
 /*参数保存模式*/
 static void pwmp_adjust_hd_save(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
 {
@@ -1364,6 +1469,148 @@ static void pwmp_adjust_hd_save(uint8_t *state, mode_pwmp_hd_adjust_state_e next
     mode_pwmp_hd->params_save_cb();
 }
 
+// XXX:将0、10、20...90、100处的阀位反馈值记录下来，做小区间的线性化。
+/*以每10%阀位为一步进，由0阀位增加到100阀位*/
+static void pwmp_hd_adjust_step_by_10_to_100(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
+{
+    execute_rsp_hd_t *execute_res;
+    if (!FSM_IS_WAIT(*state))
+    {
+
+        mode_pwmp_hd_adjust->ctrl_target = 10;
+        mode_pwmp_hd_adjust->adjust_state = (mode_pwmp_hd_adjust_state_e)*state;
+        FSM_WAIT(mode_pwmp_hd_adjust->adjust_state); // 等放气完毕就可以切入到else里面了
+        *state = PWMP_HD_ADJUST_BLEEDING;
+    }
+    else
+    {
+        static unsigned int i = 0;
+        /*将模式调整为控制模式*/
+        pwmp_control_update(FILTER_MEDIAN);
+        if (rt_data.loop_current >= 4.0)
+        {
+            if (mode_pwmp_hd_adjust->ctrl_target == 0)
+            {
+                pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin * 0.8);
+            }
+            else if (mode_pwmp_hd_adjust->ctrl_target == 100)
+            {
+                pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin * 1.5);
+            }
+            else
+            {
+                execute_res = execute_dac(EXECUTE_PLAN); // PID计算结果经过执行器处理
+                if (execute_res->code == EXECUTE_HD_OUT) // 执行DAC输出
+                {
+                    pdctrl_out(execute_res->dac);
+                }
+            }
+        }
+        /*当误差大于0.5%时重置等待时间*/
+        if (fabs(mode_pwmp_hd_adjust->real_error) > 1)
+        {
+            // 此处延时三秒钟
+            mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 30;
+        }
+        else
+        {
+            mode_pwmp_hd_adjust->wait_count--;
+            if (mode_pwmp_hd_adjust->wait_count == 0)
+            {
+                if ((unsigned int)mode_pwmp_hd_adjust->ctrl_target < 100)
+                {
+                    mode_pwmp_hd_adjust->valvepos.valvepos_in[i] = execute_res->dac;
+                    i++;
+                }
+                else
+                {
+                    *state = next_state;
+                }
+                mode_pwmp_hd_adjust->ctrl_target += 10;
+            }
+        }
+    }
+}
+
+/*排气值整定*/
+static void pwmp_hd_adjust_step_by_10_to_0(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
+{
+    execute_rsp_hd_t *execute_res;
+    if (!FSM_IS_WAIT(*state))
+    {
+        mode_pwmp_hd_adjust->ctrl_target = 90;
+        mode_pwmp_hd_adjust->adjust_state = (mode_pwmp_hd_adjust_state_e)*state;
+        FSM_WAIT(*state); // 设置等待状态
+    }
+    else
+    {
+        static unsigned int i = 0;
+        /*将模式调整为控制模式*/
+        pwmp_control_update(FILTER_MEDIAN);
+        if (rt_data.loop_current >= 4.0)
+        {
+            if (mode_pwmp_hd_adjust->ctrl_target == 0)
+            {
+                pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_min_origin * 0.8);
+            }
+            else if (mode_pwmp_hd_adjust->ctrl_target == 100)
+            {
+                pdctrl_out(mode_pwmp_hd->pwmp_save->storage.pwmp_max_origin * 1.5);
+            }
+            else
+            {
+                execute_res = execute_dac(EXECUTE_PLAN); // PID计算结果经过执行器处理
+                if (execute_res->code == EXECUTE_HD_OUT) // 执行DAC输出
+                {
+                    pdctrl_out(execute_res->dac);
+                }
+            }
+        }
+        /*当误差大于0.5%时重置等待时间*/
+        if (fabs(mode_pwmp_hd_adjust->real_error) > 1)
+        {
+            // 此处延时三秒钟
+            mode_pwmp_hd_adjust->wait_count = mode_pwmp_hd->wait_count_max * 30;
+        }
+        else
+        {
+            mode_pwmp_hd_adjust->wait_count--;
+            if (mode_pwmp_hd_adjust->wait_count == 0)
+            {
+                if ((unsigned int)mode_pwmp_hd_adjust->ctrl_target > 0)
+                {
+                    mode_pwmp_hd_adjust->valvepos.valvepos_de[i] = execute_res->dac;
+                    i++;
+                }
+                else
+                {
+                    *state = next_state;
+                }
+                mode_pwmp_hd_adjust->ctrl_target -= 10;
+            }
+        }
+    }
+}
+
+/*将整定出的参数进行保存*/
+static void pwmp_hd_adjust_valvepos_calculate(uint8_t *state, mode_pwmp_hd_adjust_state_e next_state)
+{
+    *state = next_state;
+    for (unsigned int i = 0; i < 9; i++)
+    {
+        mode_pwmp_hd->valvepos.valvepos_in[i] = mode_pwmp_hd_adjust->valvepos.valvepos_in[i];
+        mode_pwmp_hd->valvepos.valvepos_de[i] = mode_pwmp_hd_adjust->valvepos.valvepos_de[i];
+    }
+    for (unsigned int i = 0; i < 8; i++)
+    {
+        mode_pwmp_hd->valvepos.valvepos_in_k[i] = mode_pwmp_hd_adjust->valvepos.valvepos_in[i + 1] - mode_pwmp_hd_adjust->valvepos.valvepos_in[i];
+        mode_pwmp_hd->valvepos.valvepos_de_k[i] = mode_pwmp_hd_adjust->valvepos.valvepos_de[i + 1] - mode_pwmp_hd_adjust->valvepos.valvepos_de[i];
+        mode_pwmp_hd->valvepos.valvepos_in_b[i] = mode_pwmp_hd_adjust->valvepos.valvepos_in[i];
+        mode_pwmp_hd->valvepos.valvepos_de_b[i] = mode_pwmp_hd_adjust->valvepos.valvepos_de[i];
+    }
+    mode_pwmp_hd->params_save_cb();
+}
+
 //////////////////////////////////*状态机模式END*//////////////////////////////////////////////////////
 
 //////////////////////////////*整定程序入口BEGIN*//////////////////////////////////////////////////////
@@ -1406,7 +1653,17 @@ void pwmp_adjust(uint8_t *state)
         pwmp_adjust_hd_pid_calculate(state, PWMP_HD_ADJUST_SAVE);
         break;
     case PWMP_HD_ADJUST_SAVE:
-        pwmp_adjust_hd_save(state, PWMP_HD_ADJUST_STOP);
+        pwmp_adjust_hd_save(state, PWMP_HD_ADJUST_STEP_BY_10_TO_100);
+        break;
+        /*GPS2000中特有的整定流程，整定得到充排气过程中每百分之10稳定阀位的控制值，并将控制值每10%区间做线性处理*/
+    case PWMP_HD_ADJUST_STEP_BY_10_TO_100:
+        pwmp_hd_adjust_step_by_10_to_100(state, PWMP_HD_ADJUST_STEP_BY_10_TO_0);
+        break;
+    case PWMP_HD_ADJUST_STEP_BY_10_TO_0:
+        pwmp_hd_adjust_step_by_10_to_0(state, PWMP_HD_ADJUST_VALVEPOS_CALCULATE);
+        break;
+    case PWMP_HD_ADJUST_VALVEPOS_CALCULATE:
+        pwmp_hd_adjust_valvepos_calculate(state, PWMP_HD_ADJUST_STOP);
         break;
     case PWMP_HD_ADJUST_BLEEDING:
         pwmp_adjust_hd_bleeding(state);

User/application/mode/mode_pwmp_hd.h

@@ -3,7 +3,7 @@
 #include "main.h"
 
 #define MODE_DEFAULT_AUTOLOAD 99 // 预分频系数
-#define WAIT_COUNT_MAX 2        // 蓝牙等待最大次数
+#define WAIT_COUNT_MAX 2         // 蓝牙等待最大次数
 
 #define VIP_H_EN_HD 1 // 高电压输出开关
 ///////////////////////////////////////*算法整定部分宏定义BEGIN*////////////////////////////////////////
@@ -28,6 +28,12 @@ typedef enum
     PWMP_HD_PROCESS_STOP,
 } mode_pwmp_hd_process_state_e; // 处理状态
 
+typedef enum
+{
+    INFLATE=0,
+    DEFLATE,
+}mode_pwmp_hd_action_e;         // 运动状态（充气/排气）
+
 /*需要存储的变量*/
 typedef struct
 {
@@ -83,6 +89,22 @@ typedef union
 
 typedef struct
 {
+    /*充气过程：各百分之十阀位的控制信号值*/
+    uint16_t valvepos_in[9]; // 充气过程中9个不同阀位的控制信号值
+    /*排气过程：各百分之十阀位的控制信号值*/
+    uint16_t valvepos_de[9]; // 排气过程中9个不同阀位的控制信号值
+    
+    float32_t valvepos_in_k[8];
+    float32_t valvepos_de_k[8];
+    float32_t valvepos_in_b[8];
+    float32_t valvepos_de_b[8];
+} mode_pwmp_hd_valvepos_t;
+
+typedef struct
+{
+    mode_pwmp_hd_valvepos_t valvepos;   // 各稳定阀位控制信号值
+    mode_pwmp_hd_action_e action;       // 运动状态（充气/排气）
+
     uint8_t lcd_adjust_state; // LCD自整定流程状态
     float32 duty_percent;     // 占空比
     float32 current_electric; // 电流
@@ -96,6 +118,8 @@ typedef struct
     uint16_t current_adc;    // 当前位置反馈的AD值
     uint32_t count;          // 计数
 
+    float32 valvepos_stable; // 10%-90%阀位之间的稳定控制值
+
     mode_pwmp_hd_control_t control;
     mode_pwmp_hd_filter_t filter;
     mode_pwmp_hd_params_u *pwmp_save;
@@ -162,6 +186,9 @@ typedef enum
     PWMP_HD_ADJUST_BLEEDING,             // 在整定状态中放气
     PWMP_HD_ADJUST_BLEEDING_POSITION0,   // 放气位置0
     PWMP_HD_ADJUST_INITIATE,             // 启动值
+    PWMP_HD_ADJUST_STEP_BY_10_TO_100,    // 由0-100找到控制值
+    PWMP_HD_ADJUST_STEP_BY_10_TO_0,      // 由100-0找到控制值
+    PWMP_HD_ADJUST_VALVEPOS_CALCULATE,   // 对各区间阀位控制值进行线性化处理
     PWMP_HD_ADJUST_STOP,
     PWMP_HD_ADJUST_FAIL, // 整定失败
     PWMP_HD_ADJUST_TEST,
@@ -181,9 +208,18 @@ typedef enum
     PWMP_HD_ADJUST_RESULT_FAIL,
 } mode_pwmp_hd_adjust_result_e; // 整定结果
 
+typedef struct
+{
+    /*充气过程：各百分之十阀位的控制信号值*/
+    uint16_t valvepos_in[9]; // 充气过程中9个不同阀位的控制信号值
+    /*排气过程：各百分之十阀位的控制信号值*/
+    uint16_t valvepos_de[9]; // 排气过程中9个不同阀位的控制信号值
+} mode_pwmp_hd_adjust_valvepos_t;
+
 typedef struct
 {
     mode_pwmp_hd_adjust_state_e adjust_state;
+    mode_pwmp_hd_adjust_valvepos_t valvepos; // 记录处于每10%阀位的控制信号值
 
     volatile uint16_t wait_count;
     volatile uint16_t psb_adc;
@@ -216,6 +252,10 @@ typedef struct
     uint32_t current_0;   // 0位置电流大小
     uint32_t current_100; // 100位置电流大小
 
+    float32 ctrl_target;  // 控制目标值
+    float32 real_error;   // 实际误差
+    float32 ctrl_feedback;// 反馈值
+
     /*输出值*/
     uint16_t arr_default;          // 默认计数器(推动计数值)
     volatile uint16_t arr_current; // 当前推动阀门的计数器