motor_ctl-2/User/Src/protect_check.c

#include "protect_check.h"
#include "math_tools.h"
#include "gpio.h"
#include "hall_sensor.h"
#include "eeprom_24c02.h"
#include "log_save.h"

/*****************************全局变量定义*******************************/
//过流保护检测参数
FlagStatus MC_Protect_OverCurrentTrig_Flag = RESET;

/******************************局部函数定义******************************/
//低压保护检测
void MC_Protect_UnderVoltage_Process(uint16_t BusVoltage, uint8_t DesignVoltage, uint16_t UV_TH, MC_ErrorCode_Struct_t* p_MC_ErrorCode)
{
  static uint32_t uvTimeCnt = 0;
	static uint32_t uvFaultTimeCnt = 0;
	uint16_t UV_Voltage = 0;
	
	//根据额定电压更新保护阈值
	switch(DesignVoltage)
	{
		case 24:
		{
			UV_Voltage = UV_TH * 7;//低压保护时，电芯电压为3100mV
		  break;
		}
		case 36:
		{
			UV_Voltage = UV_TH * 10;//低压保护时，电芯电压为3100mV
		  break;
		}
		case 48:
		{
			UV_Voltage = UV_TH * 13;//低压保护时，电芯电压为3100mV
		  break;
		}
		default:
		{
  		UV_Voltage = BusVoltage;
			break;
		}
	}
	if(p_MC_ErrorCode->ERROR_Bit.Protect_UnderVoltage == 0)
	{
		//低压保护判断
		if(BusVoltage >= UV_Voltage)
		{
			uvTimeCnt = HAL_GetTick();
		}
		if((HAL_GetTick() - uvTimeCnt) > 5000)
		{
			p_MC_ErrorCode->ERROR_Bit.Protect_UnderVoltage = 1;
			//记录故障日志
			MC_ErrorLogSaveInfo.NotesInfo1 = BusVoltage;
			ErrorLogSave_Update(&MC_ErrorLogSaveInfo);
			IsErrorLogSaveInfoUpdateFlag = TRUE;
			//存储故障次数
			MC_RunLog1.UV_ProtectCnt++;
			RunLogSaveIndex = 1;
		}
		uvFaultTimeCnt = HAL_GetTick();
	}
	else
	{
		//低压保护恢复
		if(BusVoltage < (UV_Voltage + 500))
		{
			uvFaultTimeCnt = HAL_GetTick();
		}	
		if((HAL_GetTick() - uvFaultTimeCnt) > 5000)
		{
			p_MC_ErrorCode->ERROR_Bit.Protect_UnderVoltage = 0;
		}
	}
}

//过压保护检测
void MC_Protect_OverVoltage_Process(uint16_t BusVoltage, uint16_t DesignVoltage, MC_ErrorCode_Struct_t* p_MC_ErrorCode)
{
  static uint32_t ovTimeCnt = 0;
	static uint32_t ovFaultTimeCnt = 0;
	uint16_t OV_Voltage = 0;
	
	//根据额定电压更新保护阈值
	switch(DesignVoltage)
	{
		case 24:
		{
			OV_Voltage = 4500 * 7;//过压保护时，电芯电压为4500mV
		  break;
		}
		case 36:
		{
			OV_Voltage = 4500 * 10;//过压保护时，电芯电压为4500mV
		  break;
		}
		case 48:
		{
			OV_Voltage = 4500 * 13;//过压保护时，电芯电压为4500mV
		  break;
		}
		default:
		{
  		OV_Voltage = BusVoltage;
			break;
		}
	}
	if(p_MC_ErrorCode->ERROR_Bit.Protect_OverVoltage == 0)
	{
		//过压保护判断
		if(BusVoltage <= OV_Voltage)
		{
			ovTimeCnt = HAL_GetTick();
		}
		if((HAL_GetTick() - ovTimeCnt) > 5000)
		{
			p_MC_ErrorCode->ERROR_Bit.Protect_OverVoltage = 1;
			//记录故障日志
			ErrorLogSave_Update(&MC_ErrorLogSaveInfo);
			IsErrorLogSaveInfoUpdateFlag = TRUE;
			//存储故障次数
			MC_RunLog1.OV_ProtectCnt++;
			RunLogSaveIndex = 1;
		}
		ovFaultTimeCnt = HAL_GetTick();
	}
	else
	{
		//过压保护恢复
		if(BusVoltage > (OV_Voltage - 500))
		{
			ovFaultTimeCnt = HAL_GetTick();
		}	
		if((HAL_GetTick() - ovFaultTimeCnt) > 5000)
		{
			p_MC_ErrorCode->ERROR_Bit.Protect_OverVoltage = 0;
		}	
	}
}

//堵转保护检测
void MC_Protect_RotorLock_Process(uint16_t BusCurrent, TrueOrFalse_Flag_Struct_t IsStopFlag, MC_ErrorCode_Struct_t* p_MC_ErrorCode)
{
  static uint32_t Protect_1st_TimeCnt = 0;
	static uint32_t Protect_2st_TimeCnt = 0;
	static uint32_t FaultTimeCnt = 0;
	
	if(p_MC_ErrorCode->ERROR_Bit.Protect_LockRotor == 0)
	{
		//堵转保护检测
		//一级电流堵转：电流大于2.5A，超时8s
		//二级电流堵转：电流大于7.5A，超时3s
		if(IsStopFlag == FALSE)
		{
			Protect_1st_TimeCnt = HAL_GetTick();
			Protect_2st_TimeCnt = HAL_GetTick();
		}
		else
		{
			if(BusCurrent < 2500)
			{
				Protect_1st_TimeCnt = HAL_GetTick();
				Protect_2st_TimeCnt = HAL_GetTick();
			}
			else if(BusCurrent < 7500)
			{
				Protect_2st_TimeCnt = HAL_GetTick();
			}
		}
		if(((HAL_GetTick() - Protect_1st_TimeCnt) > 8000) ||
			 ((HAL_GetTick() - Protect_2st_TimeCnt) > 3000))
		{
			p_MC_ErrorCode->ERROR_Bit.Protect_LockRotor = 1;
			//记录故障日志
			ErrorLogSave_Update(&MC_ErrorLogSaveInfo);
			IsErrorLogSaveInfoUpdateFlag = TRUE;
			//存储故障次数
			MC_RunLog1.LockRotor_ProtectCnt++;
			RunLogSaveIndex = 1;	
			
			FaultTimeCnt = HAL_GetTick();
		}
	}
	else
	{
		//堵转保护恢复
		if((HAL_GetTick() - FaultTimeCnt) > 5000)
		{
			if((MC_ControlCode.GearSt == MC_GearSt_OFF) &&  //关闭助力
				 (ADC_SensorData.TorqueSensor < 10) &&        //无踩踏力矩
				 (ADC_SensorData.GasSensor < 10) &&           //指拨为0
				 (MC_CadenceResult.IsStopFlag == TRUE))       //踏频停止
			{
				p_MC_ErrorCode->ERROR_Bit.Protect_LockRotor = 0;
			}
		}
	}
}

//过热保护检测
void MC_Protect_OverHeat_Process(uint8_t T_MCU, uint8_t T_PCB, uint8_t T_Coil, uint8_t TH, MC_ErrorCode_Struct_t* p_MC_ErrorCode)
{
  static uint32_t OT_Set_TimeCnt = 0;
	static uint32_t OT_Reset_TimeCnt = 0;
	
	if(HAL_GetTick() < 3000)
	{
	  OT_Set_TimeCnt = HAL_GetTick();
		OT_Reset_TimeCnt = HAL_GetTick();
	}
	
	if(p_MC_ErrorCode->ERROR_Bit.Protect_OverTemp == 0)
	{
		//温度传感器相互比较，差值在允许范围内进行处理
		if(((T_MCU < (50 + T_PCB))  || (T_PCB < (50 + T_MCU))) &&    //PCB温度和MCU温度差值小于50度
			 ((T_MCU < (100 + T_Coil)) || (T_Coil < (100 + T_MCU))))   //绕组温度和MCU温度差值小于100度
		{
			if((T_PCB < (TH - 20)) && (T_Coil < (TH + 15)))
			{
				OT_Set_TimeCnt = HAL_GetTick();
			}
		}
		else
		{
			if(T_MCU < (TH - 20))
			{
			  OT_Set_TimeCnt = HAL_GetTick();
			}
		}
		//过热保护判断
		if((HAL_GetTick() - OT_Set_TimeCnt) > 5000)
		{
			OT_Reset_TimeCnt = HAL_GetTick();
			p_MC_ErrorCode->ERROR_Bit.Protect_OverTemp = 1;
			//记录故障日志
			ErrorLogSave_Update(&MC_ErrorLogSaveInfo);
			IsErrorLogSaveInfoUpdateFlag = TRUE;
			//存储故障次数
			MC_RunLog1.OT_ProtectCnt++;
			RunLogSaveIndex = 1;
		}
	}
	else
	{
		//过热保护恢复
		if((((T_PCB < (TH - 20)) && (T_Coil < (TH  - 20))) || (T_MCU < (TH - 40))) && ((HAL_GetTick() - OT_Reset_TimeCnt) > 300000))
		{
			p_MC_ErrorCode->ERROR_Bit.Protect_OverTemp = 0;
			OT_Set_TimeCnt = HAL_GetTick();
		}
	}
}

//电压波动异常保护检测
void MC_Protect_VoltageChange_Process(uint16_t Voltage, uint16_t Current, MC_ErrorCode_Struct_t* p_MC_ErrorCode)
{
  static uint32_t PeriodTimeCnt = 0;
	uint32_t DiffSqrtResult = 0;
	static uint8_t TrigCnt = 0;
	static uint16_t Array[10] = {0};
	uint16_t i;
	
	if((HAL_GetTick() - PeriodTimeCnt) >= 100)
	{
	  for(i=0; i<(sizeof(Array) / 2 - 1); i++)
		{
			Array[i] = Array[i + 1];
		}
		Array[sizeof(Array) / 2 - 1] = Voltage;
		DiffSqrtResult = GetStandardDeviation(Array, sizeof(Array) >> 1);
		//保护判断
		if(p_MC_ErrorCode->ERROR_Bit.Protect_VoltageChange == 0)
		{
		  if((Current < 50) && (DiffSqrtResult > 1000))
			{
			  if(TrigCnt > 50) // 5s
				{
				  p_MC_ErrorCode->ERROR_Bit.Protect_VoltageChange = 1;
					//记录故障日志
					MC_ErrorLogSaveInfo.NotesInfo1 = DiffSqrtResult / 256;
					MC_ErrorLogSaveInfo.NotesInfo2 = GetMaxData(Array, sizeof(Array) >> 1);
					MC_ErrorLogSaveInfo.NotesInfo3 = GetMinData(Array, sizeof(Array) >> 1);
		    	ErrorLogSave_Update(&MC_ErrorLogSaveInfo);
			    IsErrorLogSaveInfoUpdateFlag = TRUE;
					//存储故障次数
					MC_RunLog2.VoltageChange_FaultCnt++;
					RunLogSaveIndex = 2;
				}
			}
			else
			{
			  TrigCnt = 0;
			}
		}
		else 
		{
			//恢复判断
			if(DiffSqrtResult <= 1000)
			{
		  	p_MC_ErrorCode->ERROR_Bit.Protect_VoltageChange = 0;
			}
		}
	}
}

//软件过流保护检测
void MC_OverCurrent_SoftProtect_Process(uint16_t BusCurrent, uint16_t MaxCurrent, MC_ErrorCode_Struct_t* p_MC_ErrorCode)
{
  static uint32_t Protect_TimeCnt = 0;
	static uint32_t Fault_TimeCnt = 0;
	uint16_t Current_Th;
	
	Current_Th = (MaxCurrent * 3) >> 1;//1.5倍
	
	if(p_MC_ErrorCode->ERROR_Bit.Protect_OverCurrent == 0)
	{
		if(BusCurrent < Current_Th)
		{
			Protect_TimeCnt = HAL_GetTick();
		}
		if((HAL_GetTick() - Protect_TimeCnt) > 5000)
		{
			p_MC_ErrorCode->ERROR_Bit.Protect_OverCurrent = 1;
			//记录故障日志
			MC_ErrorLogSaveInfo.NotesInfo1 = 2;
			MC_ErrorLogSaveInfo.NotesInfo2 = Current_Th;
			ErrorLogSave_Update(&MC_ErrorLogSaveInfo);
		  IsErrorLogSaveInfoUpdateFlag = TRUE;
			//存储故障次数
			MC_RunLog1.OC_ProtectCnt++;
			RunLogSaveIndex = 1;	
			Fault_TimeCnt = HAL_GetTick();
		}
	}
	else
	{
		//过流保护恢复
		if((HAL_GetTick() - Fault_TimeCnt) > 5000)
		{
			MC_ErrorCode.ERROR_Bit.Protect_OverCurrent = 0;
		}
	}
}

/******************************全局函数定义******************************/
#define OC_CLEARFLAG_DELAYTIME 15 //过流标志间隔清零延时，单位ms
#define OC_COUNTER_TH 1000          //过流保护计数判断阈值
//过流保护检测
/*
检测原理：
1、过流触发后，OverCurrentTrigFlag置位，封波2个周期后再次发波；
2、在过流触发计数达到OC_COUNTER_TH 次之前，如果存在两次过流触发间隔时间超过OC_CLEARFLAG_DELAYTIME ms，清除过流触发计数；
3、如果每两次过流触发间隔时间都不超过OC_CLEARFLAG_DELAYTIME ms，当过流触发计数达到OC_COUNTER_TH 次，则进入过流保护；
4、进入过流保护后，超时5s解除。

更改处理方式20210630
1、关闭过流告警；
2、出现过流信号时，封闭PWM2个周期
*/
void MC_Protect_OverCurrent_Process(FlagStatus* OverCurrentTrigFlag, MC_ErrorCode_Struct_t* p_MC_ErrorCode)
{
  static uint8_t OffPwmCnt = 0;        //过流信号触发后，关闭PWM延时计数
	static uint8_t StarPwmCnt = 0;       //关闭PWM后启动PWM延时计数
	
	if(*OverCurrentTrigFlag == RESET)
	{
		//关闭PWM计数清零
		OffPwmCnt = 0;
		//开启PWM
		if(StarPwmCnt == 0)
		{
			StarPwmCnt++;
			Enable_PwmGpio_Out();
		}
	}
	else
	{
		//开启PWM计数清零
		StarPwmCnt = 0;
		//2个PWM周期后，过流触发标志复位
		if(OffPwmCnt >= 1)
		{
			*OverCurrentTrigFlag = RESET;
		}
		else
		{
			//关闭PWM
			Disable_PwmGpio_Out();
		}
		OffPwmCnt++;
	}
}

//保护判断
void MC_Protect_Check_Process(void)
{
	//低压保护检测
	MC_Protect_UnderVoltage_Process(((IsComOK_BMS.IsOK_Flag == TRUE) ? BMS_RunInfo.Voltage : MC_RunInfo.BusVoltage), 
	                                MC_MotorParam.Rate_Voltage, 
	                                ((MC_ConfigParam1.UV_Protect_TH == 0) ? 3100 : MC_ConfigParam1.UV_Protect_TH), 
	                                &MC_ErrorCode);
	
	//过压保护检测
	MC_Protect_OverVoltage_Process(MC_RunInfo.BusVoltage, MC_MotorParam.Rate_Voltage, &MC_ErrorCode);

	//堵转保护检测
	MC_Protect_RotorLock_Process(MC_RunInfo.BusCurrent, MC_HallSensorData.IsStopFlag, &MC_ErrorCode);

	//过热保护检测
	MC_Protect_OverHeat_Process(MC_RunInfo.T_MCU, MC_RunInfo.T_PCB, MC_RunInfo.T_Coil, MC_ConfigParam1.TempTH_Protect, &MC_ErrorCode);

	//电压波动异常保护检测
	MC_Protect_VoltageChange_Process(MC_RunInfo.BusVoltage, MC_RunInfo.BusCurrent, &MC_ErrorCode);
	
  //软件过流保护检测
	MC_OverCurrent_SoftProtect_Process(MC_RunInfo.BusCurrent, MC_ConfigParam1.CurrentLimit * 1000, &MC_ErrorCode);
}