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+/************************************************************************
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+ Project: Welling Motor Control Paltform
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+ Filename: pwrlim.c
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+ Partner Filename: pwrlim.h
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+ Description: Motor input power limit
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+ Complier: IAR Embedded Workbench for ARM 7.80, IAR Systems.
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+ CPU TYPE : GD32F3x0
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+*************************************************************************
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+ Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
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+ All rights reserved.
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+*************************************************************************
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+*************************************************************************
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+Revising History (ECL of this file):
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+Fjy create this file;
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+************************************************************************/
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+
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+/************************************************************************
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+ Beginning of File, do not put anything above here except notes
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+ Compiler Directives:
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+*************************************************************************/
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+#ifndef _PWRLIM_C_
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+#define _PWRLIM_C_
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+#endif
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+
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+/************************************************************************
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+Include File
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+************************************************************************/
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+#include "user.h"
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+
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+/************************************************************************
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+Constant Table:
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+************************************************************************/
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+
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+/************************************************************************
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+ Private Variables
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+*************************************************************************/
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+
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+/************************************************************************
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+Exported Functions:
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+************************************************************************/
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+/************************************************************************
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+ Function: pwr_voPwrLimInit;
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+ Description: Initialize Variables for "pwr_voPwrLim"
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+ Call by:
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+ Input Variables:
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+ Output/Return Variables:
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+ Subroutine Call:
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+ Reference:
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+************************************************************************/
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+void pwr_voPwrLimInit(void)
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+{
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+ pwr_stPwrLimOut.swIqLimPu = (SWORD)cof_uwCurMaxPu;
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+ pwr_stPwrLimOut.swPwrErrZ1 = 0;
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+ pwr_stPwrLimOut.slIqLimDetaSum = 0;
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+ pwr_stPwrLimOut.swIqLimDetaSum = 0;
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+ pwr_stPwrLimOut.swIqLimPu = 0;
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+
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+ pwr_stPwrLimOut2.slIqLimDetaSum = 0;
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+ pwr_stPwrLimOut2.swIqLimDetaSum = 0;
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+ pwr_stPwrLimOut2.swPwrErrZ1 = 0;
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+ pwr_stPwrLimOut2.swPwrLimActualPu = (SWORD)cof_uwPwrMaxPu;
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+ pwr_stPwrLimOut2.swIqLimPu = 0;
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+}
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+
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+/************************************************************************
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+Function: pwr_voPwrLimCof;
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+Description: Coefficient calculation for "pwr_voPwrLim"
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+Call by:
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+Input Variables:
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+Output/Return Variables:
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+Subroutine Call:
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+Reference:
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+************************************************************************/
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+void pwr_voPwrLimCof(PWRLIM_COFIN *in, PWRLIM_COF *out)
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+{
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+ UWORD uwPwrLim;
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+ ULONG ulPbWt;
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+
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+ if (in->uwIBaseAp > 32767)
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+ {
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+ in->uwIBaseAp = 32767;
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+ }
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+ else if (in->uwIBaseAp < 1)
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+ {
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+ in->uwIBaseAp = 1;
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+ }
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+ else
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+ {
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+ // do nothing
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+ }
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+
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+ if (in->uwUbVt < 100)
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+ {
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+ in->uwUbVt = 100;
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+ }
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+ else {}
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+
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+ if (in->swPwrLimW > 30000)
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+ {
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+ in->swPwrLimW = 30000;
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+ }
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+ else if (in->swPwrLimW < 100)
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+ {
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+ in->swPwrLimW = 100;
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+ }
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+ else
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+ {
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+ // do noting
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+ }
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+ if (in->uwPwrErrW < 20)
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+ {
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+ in->uwPwrErrW = 20;
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+ }
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+ else if (in->uwPwrErrW >= in->swPwrLimW)
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+ {
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+ in->uwPwrErrW = in->swPwrLimW - 10;
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+ }
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+ else
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+ {
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+ // do noting
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+ }
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+
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+ if (in->swIqMaxAp > in->uwIBaseAp)
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+ {
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+ in->swIqMaxAp = (SWORD)in->uwIBaseAp;
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+ }
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+ else if (in->swIqMaxAp < 1)
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+ {
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+ in->swIqMaxAp = 1;
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+ }
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+ else
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+ {
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+ // do nothing
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+ }
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+
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+ out->swIqMaxPu = (SWORD)(((SLONG)in->swIqMaxAp << 14) / (SLONG)in->uwIBaseAp); // Q14, Max phase current (peak value)
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+
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+ ulPbWt = ((ULONG)3 * in->uwUbVt * in->uwIBaseAp / 100) >> 1; // Q0, unit: 0.1w, Power base
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+
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+ uwPwrLim = (UWORD)(((ULONG)in->uwPwrErrW << 15) / ulPbWt); // Q15
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+ out->uwPwrLimKp = (UWORD)(((ULONG)out->swIqMaxPu << 6) / uwPwrLim); // 14+6-15=Q5
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+
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+ if (in->swPwrLimW > ((SWORD)in->uwPwrErrW))
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+ {
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+ out->swPwrLimPu = (SWORD)((((SLONG)in->swPwrLimW - (SLONG)in->uwPwrErrW) << 15) / (SLONG)ulPbWt); // Q15
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+ }
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+ else
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+ {
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+ out->swPwrLimPu = 0;
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+ }
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+
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+ out->swPwrLimStartTemp = (SWORD)in->swPwrLimStartTempCe;
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+ out->swPwrLimEndTemp = (SWORD)((in->swAlarmTempCe + in->swPwrLimStartTempCe) >> 1);
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+ out->swPwrLimTempCof = (out->swPwrLimPu >> 1) / (out->swPwrLimEndTemp - out->swPwrLimStartTemp);
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+ out->swIqLimTempCof =
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+ ((SLONG)out->swIqMaxPu * 83 >> 7) / (out->swPwrLimEndTemp - out->swPwrLimStartTemp); ///< 0.65=83>>7
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+
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+ out->uwPwrLimStartBatCap = 20;
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+ out->uwPwrLimEndBatCap = 5;
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+ out->uwPwrlimBatCapCof =
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+ ((SLONG)out->swPwrLimPu * 3 >> 2) / (out->uwPwrLimStartBatCap - out->uwPwrLimEndBatCap);
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+
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+ out->uwPwrLimPIKp = in->uwPwrLimPIKp; // Q15
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+ out->uwPwrLimPIKi = in->uwPwrLimPIKi; // Q15
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+}
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+
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+/************************************************************************
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+Function: pwr_voPwrLim;
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+Description: Power Limit Using Kp;
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+Call by:
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+Input Variables:
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+Output/Return Variables:
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+Subroutine Call:
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+Reference:
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+************************************************************************/
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+void pwr_voPwrLim(const PWRLIM_IN *in, const PWRLIM_COF *cof, PWRLIM_OUT *out)
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+{
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+ SWORD swEmPwLimIqPu; // Q14
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+
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+ if (in->swMotorPwrPu > cof->swPwrLimPu)
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+ {
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+ if (in->swSpdPu >= 0)
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+ {
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+ swEmPwLimIqPu =
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+ (SWORD)(((SLONG)cof->swPwrLimPu - (SLONG)in->swMotorPwrPu) * (SLONG)cof->uwPwrLimKp >> 6) + cof->swIqMaxPu; // Q15+Q5-Q6=Q14
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+ if (swEmPwLimIqPu > cof->swIqMaxPu)
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+ {
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+ swEmPwLimIqPu = cof->swIqMaxPu;
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+ }
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+ else if (swEmPwLimIqPu < 0)
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+ {
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+ swEmPwLimIqPu = 0;
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+ }
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+ else
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+ {
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+ // do nothing
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+ }
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+ out->swIqLimPu = swEmPwLimIqPu;
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+ }
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+ else
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+ {
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+ swEmPwLimIqPu = (SWORD)((((SLONG)in->swMotorPwrPu - cof->swPwrLimPu) * (SWORD)cof->uwPwrLimKp >> 6) - cof->swIqMaxPu); // Q14
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+ if (swEmPwLimIqPu < -cof->swIqMaxPu)
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+ {
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+ swEmPwLimIqPu = -cof->swIqMaxPu;
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+ }
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+ else if (swEmPwLimIqPu > 0)
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+ {
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+ swEmPwLimIqPu = 0;
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+ }
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+ else
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+ {
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+ // do nothing
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+ }
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+ out->swIqLimPu = swEmPwLimIqPu;
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+ }
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+ }
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+ else
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+ {
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+ if (in->swSpdPu >= 0)
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+ {
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+ out->swIqLimPu = cof->swIqMaxPu;
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+ }
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+ else
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+ {
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+ out->swIqLimPu = -cof->swIqMaxPu;
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+ }
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+ }
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+}
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+
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+/************************************************************************
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+Function: pwr_voPwrLim;
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+Description: Power Limit Using Kp and Ki;
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+Call by:
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+Input Variables:
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+Output/Return Variables:
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+Subroutine Call:
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+Reference:
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+************************************************************************/
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+void pwr_voPwrLimPI(const PWRLIM_IN *in, const PWRLIM_COF *cof, PWRLIM_OUT *out)
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+{
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+ SWORD swError, swErrorDeta; ///< Q14
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+ SLONG slError; ///< Q15
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+ SLONG slIqLimDetaP, slIqLimDetaI, slIqLimSum; ///< Q30
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+ SWORD swPwrLimActualPu1 = cof->swPwrLimPu, swPwrLimActualPu2 = cof->swPwrLimPu; ///< Q15
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+ SWORD swIqlimPu1 = cof->swIqMaxPu, swIqlimPu2 = cof->swIqMaxPu; ///< Q14
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+
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+ /* 根据温度限制功率，电机测试模式开放 */
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+ if (cp_stFlg.RunModelSelect == ClZLOOP)
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+ {
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+ if (in->swPCBTemp < cof->swPwrLimStartTemp)
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+ {
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+ swPwrLimActualPu1 = cof->swPwrLimPu;
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+ }
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+ else if (in->swPCBTemp < cof->swPwrLimEndTemp)
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+ {
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+ swPwrLimActualPu1 = cof->swPwrLimPu - ((in->swPCBTemp - cof->swPwrLimStartTemp) * cof->swPwrLimTempCof);
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+ }
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+ else
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+ {
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+ swPwrLimActualPu1 = cof->swPwrLimPu >> 1; ///< EndTemp时限制为1/2的功率
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+ }
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+ }
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+
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+ /* 根据电池电量限制功率 */
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+ if (in->uwBatCap > cof->uwPwrLimStartBatCap)
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+ {
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+ swPwrLimActualPu2 = cof->swPwrLimPu;
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+ }
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+ else if (in->uwBatCap > cof->uwPwrLimEndBatCap)
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+ {
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+ swPwrLimActualPu2 = cof->swPwrLimPu - ((cof->uwPwrLimStartBatCap - in->uwBatCap) * cof->uwPwrlimBatCapCof);
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+ }
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+ else
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+ {
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+ swPwrLimActualPu2 = cof->swPwrLimPu >> 2; ///< EndTemp时限制为1/4的功率
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+ }
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+
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+ out->swPwrLimActualPu = (swPwrLimActualPu1 < swPwrLimActualPu2) ? swPwrLimActualPu1 : swPwrLimActualPu2;
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+
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+ /* 根据PCB温度限制电流 */
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+ if (cp_stFlg.RunModelSelect == CityBIKE || cp_stFlg.RunModelSelect == MountainBIKE)
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+ {
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+ if (in->swPCBTemp < cof->swPwrLimStartTemp)
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+ {
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+ swIqlimPu1 = cof->swIqMaxPu;
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+ }
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+ else if (in->swPCBTemp < cof->swPwrLimEndTemp)
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+ {
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+ swIqlimPu1 = cof->swIqMaxPu - ((SLONG)(in->swPCBTemp - cof->swPwrLimStartTemp) * cof->swIqLimTempCof);
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+ }
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+ else
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+ {
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+ swIqlimPu1 = (SWORD)((SLONG)cof->swIqMaxPu * 45 >> 7); ///< EndTemp时限制为额定电流=0.35*最大电流
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+ }
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+ }
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+
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+ /* 功率限制PI调节:根据功率限制电流 */
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+ slError = out->swPwrLimActualPu - in->swMotorPwrPu;
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+ if (slError >= 32768)
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+ {
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+ slError = 32768;
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+ }
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+ else if (slError < -32768)
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+ {
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+ slError = -32768;
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+ }
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+ else
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+ {
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+ // do nothing
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+ }
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+
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+ swError = (SWORD)slError;
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+ swErrorDeta = swError - out->swPwrErrZ1;
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+ out->swPwrErrZ1 = swError;
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+ slIqLimDetaP = (SLONG)cof->uwPwrLimPIKp * swErrorDeta; ///< Q15+Q15=Q30
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+ slIqLimDetaI = (SLONG)cof->uwPwrLimPIKi * swError; ///< Q15+Q15=Q30
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+ slIqLimSum = out->slIqLimDetaSum + slIqLimDetaP + slIqLimDetaI;
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+
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+ if (slIqLimSum > 0)
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+ {
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+ out->slIqLimDetaSum = 0;
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+ }
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+ else if (slIqLimSum < -((SLONG)cof->swIqMaxPu << 16))
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+ {
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+ out->slIqLimDetaSum = -((SLONG)cof->swIqMaxPu << 16);
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+ }
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+ else
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+ {
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+ out->slIqLimDetaSum = slIqLimSum; ///< Q30
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+ }
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+ out->swIqLimDetaSum = (SWORD)(out->slIqLimDetaSum >> 16); ///< Q30-Q16=Q14
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+
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+ swIqlimPu2 = cof->swIqMaxPu + out->swIqLimDetaSum;
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+
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+ /* 电流限制值输出 */
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+ out->swIqLimPu = (swIqlimPu1 < swIqlimPu2) ? swIqlimPu1 : swIqlimPu2;
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+}
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+
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+/************************************************************************
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+Local Functions (N/A)
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+************************************************************************/
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+
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+/************************************************************************
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+Copyright (c) 2018 Welling Motor Technology(Shanghai) Co. Ltd.
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+All rights reserved.
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+************************************************************************/
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+#ifdef _PWRLIM_C_
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+#undef _PWRLIM_C_ /* parasoft-suppress MISRA2004-19_6 "本项目中无法更改，后续避免使用" */
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+#endif
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+/************************************************************************
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+End of this File (EOF)!
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+Do not put anything after this part!
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+************************************************************************/
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CN\zhangkai71