/** ****************************************************************************** * @file remain_distance.c * @author Damon * @version V1.5 * @date 20190105 * @brief 电池剩余续航里程统计 ****************************************************************************** * @attention *本功能模块输出计算结果为，剩余续航里程RemainDis.remainDistance * ****************************************************************************** */ #include "remain_distance.h" #include "eeprom_24c02.h" #include "math_tools.h" /*电流积分，最小值，单位mA*/ #define CURRENT_MIN 130 /*电流积分周期*/ #define Q_ADD_TIME_MS 5 extern const MC_AvgPower_Struct_t MC_AvgPower_Default; //续航计算相关参数 Remain_Dis_t RemainDis = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0xFFFF, 0, 0, FALSE, 0}; //电池电量计算相关参数 Battery_Info_t Battery_Info = {0, 0, 0, 0, 0, FALSE, 0, 0, 0}; /****************************************************************************** * @Function: void RD_getQRemainRecord( void ) * @Discrible: 读取电池剩余电量 * @Param: * @Return: * @Others: 此函数在系统上电时调用一次，读取电池剩余电量 已添加到RD_RemainDis_init(void)，无需单独调用 ****************************************************************************** * @Recode date version author modify * ------------------------------------------------------------------ * 20190815 V1.3 Damon modify * *******************************************************************************/ static void RD_getQRemainRecord(uint16_t Volgate, uint16_t RateVol, BatterCellInfo_Struct_t* CellParam) { uint16_t BusVoltage; uint16_t i; uint16_t Num, BatteryRemainQ; //根据额定电压换算电芯电压 if(RateVol == 24) BusVoltage = Volgate * 10 / 7; else if(RateVol == 48) BusVoltage = Volgate * 10 / 13; else BusVoltage = Volgate; //查表读取电池电量 Num = sizeof(CellParam->CellParam) >> 1; for(i = 0; i < Num; i++) { if(CellParam->CellParam[i] <= BusVoltage) { BatteryRemainQ = CellParam->DesignCap - i * CellParam->DesignCap / 100; break; } else//电池电压低于最小值 { BatteryRemainQ = 0; } } MC_RunInfo.SOC = Num - i - 1; Battery_Info.Q_remain_real = BatteryRemainQ; } /****************************************************************************** * @Function: void RD_RemainDis_init(void) * @Discrible: 模块功能初始化 * @Param: uwWheelLength:轮胎周长,BusVoltage:母线电压 * @Return: * @Others: 此函数在进入主循环前调用，调用后，标志位置位，开启模块的统计功能 ****************************************************************************** * @Recode date version author modify * ------------------------------------------------------------------ * 20181221 V1.2 Damon modify * *******************************************************************************/ void RD_RemainDis_Init(uint16_t uwWheelLength, TrueOrFalse_Flag_Struct_t BMS_COM_OK, uint16_t BusVoltage, uint8_t DesignVol, uint16_t BMS_RC) { Battery_Info.Q_discharged = 0; Battery_Info.Q_remain_real = 0; Battery_Info.Q_remain_record = BatteryCellInfo.DesignCap; Battery_Info.Q_remain_real_last = 0; if(BMS_COM_OK == TRUE) //电池通讯正常时，直接获取电池容量 { Battery_Info.Q_remain_real = BMS_RC; } else //电池不含通讯时，根据母线电压估算剩余容量 { // RD_getQRemainRecord(BusVoltage * 36 / DesignVol); //放电曲线是按照36V,针对48V或24V做等效转换 } RemainDis.start = 0; RemainDis.I_motor = 0; RemainDis.acc_period = Q_ADD_TIME_MS; RemainDis.Q_add = 0; RemainDis.wheelLength = uwWheelLength; RemainDis.wheel_Count = 0; RemainDis.Power_per_km = 0; RemainDis.Power_per_km_average = 0; RemainDis.remainDistance = 0xFFFF;//码表显示---km RemainDis.flag_saveInfo = 0; RemainDis.flag_helpModeChange = 0; RemainDis.IsBMS_ComOK_Flag = FALSE; RemainDis.BMS_Com_DelayTimeCnt = HAL_GetTick(); } /****************************************************************************** * @Function: void RD_CalculateRemainDis(void) * @Discrible: 计算电池剩余续航里程 * @Param: * @Return: * @Others: 计算平均功耗（中间变量），和剩余续航里程 ****************************************************************************** * @Recode date version author modify * ------------------------------------------------------------------ * 20181210 V1.4 Damon modify * *******************************************************************************/ void RD_CalculateRemainDis(uint32_t WheelTurnCnt, uint16_t RemainCap, uint8_t SOC, uint16_t BusCurrent) { /*以下宏定义会影响平均功耗计算结果的变化快慢 WHEEL_COUNT_REFRESH_VALUE 电量统计周期，每10圈统计一次电量 Q_FIFO_LENGTH 动态平均功耗，取平均值的长度。Power_per_km（10圈x25=250圈，即动态功耗是车轮骑行250圈的平均值） P_FIFO_LENGTH 对Power_per_km求平均值的长度，Power_per_km_average（250圈x10=-2500圈） 修改宏定义的大小，可以改变Power_per_km_average的更新快慢，最终影响剩余续航里程的更新快慢。 */ /*车轮圈数，最小的电量统计周期*/ #define WHEEL_COUNT_REFRESH_VALUE 10 /*动态平均功耗，缓存长度*/ #define Q_FIFO_LENGTH 25 //25 250圈 约500m /*平均功耗，缓存长度*/ #define P_FIFO_LENGTH 30 //约15KM static uint16_t Q_FIFO[Q_FIFO_LENGTH]={0}; static uint16_t Q_Index=0; static uint32_t Q_sum=0; static uint8_t Q_fifo_full_falg=0; static int16_t Q_add_tmp=0; static int32_t PowerPerKmFltSum=0; uint8_t i; int32_t ptmp; static uint32_t RunTimeCnt = 0; static uint32_t WheelTurnCntOld = 0; if((HAL_GetTick() - RunTimeCnt) < Q_ADD_TIME_MS)//计算周期为Q_ADD_TIME_MS { return; } RunTimeCnt = HAL_GetTick(); //更新母线电流值 RemainDis.I_motor = BusCurrent; //更新计算周期内轮子圈数 RemainDis.wheel_Count = WheelTurnCnt - WheelTurnCntOld; /*开始计算*/ if(RemainDis.start == 1) { /*电池通讯中断超时2s判断*/ if((HAL_GetTick() - RemainDis.BMS_Com_DelayTimeCnt) > 2000) { RemainDis.BMS_Com_DelayTimeCnt = HAL_GetTick(); RemainDis.IsBMS_ComOK_Flag = FALSE; } else { //更新电池剩余容量 Battery_Info.Q_remain_real = RemainCap; } /*助力档位切换后*/ if( RemainDis.flag_helpModeChange == 1 ) { RemainDis.flag_helpModeChange = 0; /*清空一级缓冲区数据*/ for(i=0;i= WHEEL_COUNT_REFRESH_VALUE) { WheelTurnCntOld = WheelTurnCnt; /*消耗电量信息来自电池*/ if(RemainDis.IsBMS_ComOK_Flag == TRUE ) { //更新电池剩余容量 Battery_Info.Q_remain_real = RemainCap; //更新电池剩余电量 Battery_Info.SOC = SOC; if(Battery_Info.Q_remain_real_last != 0) { Q_add_tmp = (int16_t)(Battery_Info.Q_remain_real_last - Battery_Info.Q_remain_real); /*充电状态，或由母线电流切换到电量信息计算时，此值会出现负数*/ Q_add_tmp = (Q_add_tmp > 0) ? Q_add_tmp : 0; Q_add_tmp = (Q_add_tmp < 30) ? Q_add_tmp : 30; /*判断电池是否满充*/ if( ( Q_add_tmp == 0 ) && ( Battery_Info.SOC == 100 ) ) { /*当电池满充时，发出的电量信息会是标称值， 在Battery.SOC==100时不会随电量消耗尔减小*/ /*置标志位，不计算更新*/ } else { /*将一定轮圈数消耗的电量，写入FIFO,FIFO中的数据滑动求平均值*/ Q_sum -= Q_FIFO[Q_Index]; Q_sum += Q_add_tmp; Q_FIFO[Q_Index++] = Q_add_tmp; if(Q_Index>=Q_FIFO_LENGTH) { Q_Index = 0; Q_fifo_full_falg = 1; /*250圈,动态功耗刷新一次，置一次eeprom保存标志*/ RemainDis.flag_saveInfo = 1; } /* wheelCount x WHEEL_LENGTH(cm) ------------------------------- (km) wheelCount=(Q_FIFO_LENGTH * WHEEL_COUNT_REFRESH_VALUE) 1000 x 100 Q_sum(mA*h) x 1000 x 100 ------------------------------- (mA*h/km) wheelCount x WHEEL_LENGTH */ if( Q_sum > 0 ) { /*缓存满后，求平均值*/ if(Q_fifo_full_falg==1) { RemainDis.Power_per_km = (Q_sum * 1000 * 100 ) / ( Q_FIFO_LENGTH * WHEEL_COUNT_REFRESH_VALUE * RemainDis.wheelLength ); } else { /*缓存数据未满，以当前有效数据个数求平均值*/ RemainDis.Power_per_km = (Q_sum * 1000 * 100 ) / ( Q_Index * WHEEL_COUNT_REFRESH_VALUE * RemainDis.wheelLength ); } } else { RemainDis.Power_per_km = 0; } /*电量缓存Q_FIFO计满一次，滑动滤波求平均值*/ if(Q_Index==0) { ptmp = RemainDis.Power_per_km; PowerPerKmFltSum += ((ptmp << 8) - PowerPerKmFltSum) / P_FIFO_LENGTH; RemainDis.Power_per_km_average = (uint16_t)(PowerPerKmFltSum >> 8); } /*计算剩余续航里程*/ if(RemainDis.Power_per_km_average > 0) { RemainDis.remainDistance = Battery_Info.Q_remain_real / RemainDis.Power_per_km_result;//单位km } else { RemainDis.remainDistance = 0xFFFF;//码表显示---km } } } } /*电量信息来自电池的计算，需要用到此数据*/ Battery_Info.Q_remain_real_last = Battery_Info.Q_remain_real; } } } /****************************************************************************** * @Function: void RD_saveAndUpdateInfo(uint8_t uwHelpMode) * @Discrible: 保存功耗数据到EEPROM * @Param: * @Return: * @Others: 每一公里，保存一次数据到eeprom;助力档位切换时，刷新计算的功耗数据。此函数在主循环中调用 ****************************************************************************** * @Recode date version author modify * ------------------------------------------------------------------ * 20190105 V1.4 Damon modify * *******************************************************************************/ void RD_SaveAndUpdateInfo(MC_GearSt_Struct_t GearSt, MC_AssistRunMode_Struct_t MC_AssistRunMode) { static MC_GearSt_Struct_t MC_GearSt_Old = MC_GearSt_OFF; static MC_AssistRunMode_Struct_t MC_AssistRunMode_Old = MC_AssistRunMode_INVALID; static uint16_t usPowerPerKmAverageLast =0; static uint16_t powerDefaultCurrentMode=0; int16_t sPercent; int32_t ltmp; if( ( (GearSt & 0x0F) != 0 ) && ( MC_AssistRunMode != MC_AssistRunMode_INVALID )) { RemainDis.start = 1; /*保存当前助力档位的数据到eeprom*/ if( RemainDis.flag_saveInfo == 1 ) { RemainDis.flag_saveInfo = 0; /*平均功耗值有更新时,执行保存数据相关操作*/ if( RemainDis.Power_per_km_average != usPowerPerKmAverageLast ) { if(RemainDis.Power_per_km_average != 0) { /*计算平均功耗，增减量的百分比，放大100倍*/ ltmp = (int32_t)(RemainDis.Power_per_km_average - powerDefaultCurrentMode) * 100; sPercent = ltmp / powerDefaultCurrentMode; /*各档位关联*/ /*不低于默认值30%*/ if( (sPercent >= -30)&&(sPercent <= 455) ) { /*更新平均功耗*/ RemainDis.Power_per_km_result = powerDefaultCurrentMode * ( 100 + sPercent ) / 100; /*计算各档位增减后的值*/ ltmp = MC_AvgPower_Default.GearSt_ECO; MC_AvgPower.GearSt_ECO = ltmp * ( 100 + sPercent ) / 100; ltmp = MC_AvgPower_Default.GearSt_NORM; MC_AvgPower.GearSt_NORM = ltmp * ( 100 + sPercent ) / 100; ltmp = MC_AvgPower_Default.GearSt_SPORT; MC_AvgPower.GearSt_SPORT = ltmp * ( 100 + sPercent ) / 100; ltmp = MC_AvgPower_Default.GearSt_TURBO; MC_AvgPower.GearSt_TURBO = ltmp * ( 100 + sPercent ) / 100; ltmp = MC_AvgPower_Default.GearSt_SMART; MC_AvgPower.GearSt_SMART = ltmp * ( 100 + sPercent ) / 100; /*保存所有档位的更新数据*/ SaveParamToEEprom_24C02(&I2C_Handle_EEPROM, EEPROM_24C02_ADDR_AVG_POWER, sizeof(MC_AvgPower_Struct_t), (uint8_t*)&MC_AvgPower.GearSt_ECO); } } /*备份平均功耗值*/ usPowerPerKmAverageLast = RemainDis.Power_per_km_average; } } /*助力档位切换后，根据当前档位更新功耗数据*/ if((GearSt != MC_GearSt_Old) || (MC_AssistRunMode != MC_AssistRunMode_Old)) { switch(GearSt) { case MC_GearSt_Torque_ECO: RemainDis.Power_per_km_average = MC_AvgPower.GearSt_ECO; powerDefaultCurrentMode = MC_AvgPower_Default.GearSt_ECO; break; case MC_GearSt_Torque_NORM: RemainDis.Power_per_km_average = MC_AvgPower.GearSt_NORM; powerDefaultCurrentMode = MC_AvgPower_Default.GearSt_NORM; break; case MC_GearSt_Torque_SPORT: RemainDis.Power_per_km_average = MC_AvgPower.GearSt_SPORT; powerDefaultCurrentMode = MC_AvgPower_Default.GearSt_SPORT; break; case MC_GearSt_Torque_TURBO: RemainDis.Power_per_km_average = MC_AvgPower.GearSt_TURBO; powerDefaultCurrentMode = MC_AvgPower_Default.GearSt_TURBO; break; case MC_GearSt_SMART: RemainDis.Power_per_km_average = MC_AvgPower.GearSt_SMART; powerDefaultCurrentMode = MC_AvgPower_Default.GearSt_SMART; break; default: RemainDis.Power_per_km_average = 0; powerDefaultCurrentMode = 0; break; } /*备份平均功耗值*/ usPowerPerKmAverageLast = RemainDis.Power_per_km_average; RemainDis.Power_per_km_result = RemainDis.Power_per_km_average; /*计算剩余续航里程*/ if(RemainDis.Power_per_km_average > 0) { RemainDis.remainDistance = Battery_Info.Q_remain_real / RemainDis.Power_per_km_result;//单位km } else { RemainDis.remainDistance = 0xFFFF;//码表界面显示：---km } /*置标志位，在后续计算中，刷新相关数据*/ RemainDis.flag_helpModeChange = 1; } } else { RemainDis.start = 0; RemainDis.Power_per_km_average = 0; RemainDis.Power_per_km_result = 0; RemainDis.remainDistance = 0xFFFF;//码表界面显示：---km } /*备份助力档位*/ MC_GearSt_Old = GearSt; MC_AssistRunMode_Old = MC_AssistRunMode; } /* 根据电池电压计算剩余电量，运行周期200ms */ uint8_t Battery_SocCal(Battery_Info_t* p_Battery_Info, BatterCellInfo_Struct_t* p_CellInfo, uint8_t SOC_Old, uint8_t Vol_Design) { static uint16_t TimeDelayCnt = 0; static uint8_t Result = 0, Result_Pre=0; static TrueOrFalse_Flag_Struct_t InitFlag = FALSE; uint16_t i; uint16_t TableNum; uint32_t BatteryRemainQ; static uint8_t u8LoopCnt = 0; static uint16_t u16MaxVoltage = 0; static uint32_t u32VolSum = 0; static TrueOrFalse_Flag_Struct_t FlagFristCal = TRUE; TableNum = sizeof(p_CellInfo->CellParam) >> 1; if(InitFlag == FALSE) //初始化动态显示百分比 { if(HAL_GetTick() < 2500) return 0; else { TimeDelayCnt++; u32VolSum += p_Battery_Info->u16CurVoltage; if(TimeDelayCnt <= 1) return 25; else if(TimeDelayCnt <= 3) return 50; else if(TimeDelayCnt <= 5) return 75; else if(TimeDelayCnt <= 7) return 100; else { InitFlag = TRUE; u16MaxVoltage = (Vol_Design == 24) ? (uint16_t)(u32VolSum >> 3) * 10 / 7 : ((Vol_Design == 48) ? (uint16_t)(u32VolSum >> 3) * 10 / 13 : (uint16_t)(u32VolSum >> 3)); //查表计算SOC for(i=0; iCellParam[i] <= u16MaxVoltage) { BatteryRemainQ = p_CellInfo->DesignCap - i * p_CellInfo->DesignCap / 100; break; } else//电池电压低于最小值 { BatteryRemainQ = 0; } } p_Battery_Info->Q_remain_record = BatteryRemainQ; return TableNum - i - 1; } } } else //初始化后根据电压平均值计算百分比 { Result_Pre = SOC_Old; Result = Result_Pre; if(p_Battery_Info->BFlagCalSoc == TRUE) { //后面取12个值的最大值 p_Battery_Info->u16BusAverageVol[u8LoopCnt++] = (uint16_t)(p_Battery_Info->u32TotalBusVoltage / 15000); if(u8LoopCnt >= 12) { u16MaxVoltage = (Vol_Design == 24) ? GetMaxData(p_Battery_Info->u16BusAverageVol, 12) * 10 / 7 : ((Vol_Design == 48) ? GetMaxData(p_Battery_Info->u16BusAverageVol, 12) * 10 / 13 : GetMaxData(p_Battery_Info->u16BusAverageVol, 12)); u8LoopCnt = 0; } //查表计算SOC for(i=0; iCellParam[i] <= u16MaxVoltage) { BatteryRemainQ = p_CellInfo->DesignCap - i * p_CellInfo->DesignCap / 100; break; } else//电池电压低于最小值 { BatteryRemainQ = 0; } } p_Battery_Info->Q_remain_record = BatteryRemainQ; Result = TableNum - i - 1; //电量上升时，突变较小，取上次计算值 if(Result > Result_Pre) { if(Result < (Result_Pre + 20)) { Result = Result_Pre; } } p_Battery_Info->u32TotalBusVoltage = 0; p_Battery_Info->BFlagCalSoc = FALSE; } return Result; } }