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chargeController
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修改pi调节

This commit is contained in:
起床就犯困 2025-02-20 16:24:49 +08:00
parent 176c26834a
commit 3758a65139
5 changed files with 3083 additions and 61 deletions
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38
APP/businessLogic/Src/bl_chargControl.c
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@ -49,8 +49,10 @@ void setPIControlStep(float *PI_step)
*/ */
void mppt_constantVoltage(float InVoltage) void mppt_constantVoltage(float InVoltage)
{ {
static float kp = 0.005; static float kp = 0.005f;
static float ki = 0.00001; // static float ki = 0.00001;
// static float ki = 0.1f;
static float ki = 10.0f;
// static float solarInCircuitVoltage; // static float solarInCircuitVoltage;
static float error; static float error;
static float stepPwm; static float stepPwm;
@ -58,12 +60,17 @@ void mppt_constantVoltage(float InVoltage)
// solarInCircuitVoltage = getSolarInCircuitVoltage(); // solarInCircuitVoltage = getSolarInCircuitVoltage();
// error = InVoltage - getSolarInCircuitVoltage(); // error = InVoltage - getSolarInCircuitVoltage();
error = getSolarInCircuitVoltage() - InVoltage; error = getSolarInCircuitVoltage() - InVoltage;
stepPwm = kp * error + ki * getSolarInCircuitVoltage();
// static float Ierror;
// Ierror += error;
// stepPwm = kp * error + ki * getSolarInCircuitVoltage();
stepPwm = kp * error + ki * error * 0.00001f;
setPIControlStep(&stepPwm); setPIControlStep(&stepPwm);
setDutyRatio((getDutyRatio() + stepPwm)); setDutyRatio((getDutyRatio() + stepPwm));
// if (getMosTemperState() == mosTemperEnd) { // if (getMosTemperState() == mosTemperEnd) {
// setDutyRatio((getDutyRatio() + stepPwm - 0.1)); // setDutyRatio((getDutyRatio() + stepPwm - 0.1));
// } else { // } else {
// setDutyRatio((getDutyRatio() + stepPwm)); // setDutyRatio((getDutyRatio() + stepPwm));
@ -78,15 +85,21 @@ void mppt_constantVoltage(float InVoltage)
*/ */
void mppt_constantVoltageNoBatteryO(float OutVoltage) void mppt_constantVoltageNoBatteryO(float OutVoltage)
{ {
static float kp = 0.005; static float kp = 0.005f;
static float ki = 0.00001; // static float ki = 0.00001;
// static float ki = 0.1f;
static float ki = 10.0f;
static float outVolt; static float outVolt;
static float error; static float error;
static float stepPwm; static float stepPwm;
outVolt = getOutputVoltage(); outVolt = getOutputVoltage();
error = OutVoltage - outVolt; error = OutVoltage - outVolt;
stepPwm = kp * error + ki * outVolt;
// static float Ierror;
// Ierror += error;
// stepPwm = kp * error + ki * outVolt;
stepPwm = kp * error + ki * error * 0.00001f;
setPIControlStep(&stepPwm); setPIControlStep(&stepPwm);
setDutyRatio((getDutyRatio() + stepPwm)); setDutyRatio((getDutyRatio() + stepPwm));
@ -103,15 +116,20 @@ void mppt_constantVoltageO(float OutVoltage)
// static float lastVolt = 0; // static float lastVolt = 0;
// static float lastStepPwm = 0; // static float lastStepPwm = 0;
static float lastDutyRatio = 0; static float lastDutyRatio = 0;
static float kp = 0.002; static float kp = 0.005f;
static float ki = 0.00001; // static float ki = 0.00001;
// static float ki = 0.1f;
static float ki = 10.0f;
static float outVolt; static float outVolt;
static float error; static float error;
static float StepPwm; static float StepPwm;
outVolt = getOutputVoltage(); outVolt = getOutputVoltage();
error = OutVoltage - outVolt; error = OutVoltage - outVolt;
StepPwm = kp * error + ki * outVolt; // static float Ierror;
// Ierror += error;
// StepPwm = kp * error + ki * outVolt;
StepPwm = kp * error + ki * error * 0.00001f;
setPIControlStep(&StepPwm); setPIControlStep(&StepPwm);
/* 当有电池时，输出电压的曲线是先上升后下降 */ /* 当有电池时，输出电压的曲线是先上升后下降 */

28
APP/businessLogic/Src/task.c
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@ -205,20 +205,20 @@ void Task_wdi(void)
{ {
feedDog(); feedDog();
debug_printf("chargCurrent:%f \n", getChargCurrent()); // debug_printf("chargCurrent:%f \n", getChargCurrent());
debug_printf("outputVoltage:%f \n", getOutputVoltage()); // debug_printf("outputVoltage:%f \n", getOutputVoltage());
debug_printf("BatteryVoltage:%f \n", getBatteryVoltage()); // debug_printf("BatteryVoltage:%f \n", getBatteryVoltage());
debug_printf("dischargCurrent:%f \n", getDischargCurrent()); // debug_printf("dischargCurrent:%f \n", getDischargCurrent());
debug_printf("solarInCircuitVoltage:%f \n", getSolarInCircuitVoltage()); // debug_printf("solarInCircuitVoltage:%f \n", getSolarInCircuitVoltage());
debug_printf("HighSideMosTemperature:%f \n", getHighSideMosTemperature()); // debug_printf("HighSideMosTemperature:%f \n", getHighSideMosTemperature());
debug_printf("InputVoltage:%f \n", getInputVoltage()); // debug_printf("InputVoltage:%f \n", getInputVoltage());
debug_printf("DischargMosState:%d \n", getDischargMosState()); // debug_printf("DischargMosState:%d \n", getDischargMosState());
debug_printf("MPPT_Mode:%d \n", getMPPT_Mode()); // debug_printf("MPPT_Mode:%d \n", getMPPT_Mode());
debug_printf("loopImpedance:%f \n", getLoopImpedance()); // debug_printf("loopImpedance:%f \n", getLoopImpedance());
debug_printf("DutyRatio:%f \n", getDutyRatio()); // debug_printf("DutyRatio:%f \n", getDutyRatio());
// debug_printf("OUT_VOLT_IN:%f \n", get_OUT_VOLT_IN()); //// debug_printf("OUT_VOLT_IN:%f \n", get_OUT_VOLT_IN());
debug_printf("HAL_GetTick:%d \n", HAL_GetTick()); // debug_printf("HAL_GetTick:%d \n", HAL_GetTick());
debug_printf("getExChargeCurr:%f \n", getExChargeCurr()); // debug_printf("getExChargeCurr:%f \n", getExChargeCurr());
// char buf[100]; // char buf[100];
// sprintf(buf, "chargCurrent:%f \n", getChargCurrent()); // sprintf(buf, "chargCurrent:%f \n", getChargCurrent());

290
Core/Src/system_stm32g4xx.c
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@ -1,3 +1,292 @@
// #define REMOTE_UPDATE // 控制是否远程升级
#ifdef REMOTE_UPDATE
/**
******************************************************************************
* @file system_stm32g4xx.c
* @author MCD Application Team
* @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File
*
* This file provides two functions and one global variable to be called from
* user application:
* - SystemInit(): This function is called at startup just after reset and
* before branch to main program. This call is made inside
* the "startup_stm32g4xx.s" file.
*
* - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
* by the user application to setup the SysTick
* timer or configure other parameters.
*
* - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
* be called whenever the core clock is changed
* during program execution.
*
* After each device reset the HSI (16 MHz) is used as system clock source.
* Then SystemInit() function is called, in "startup_stm32g4xx.s" file, to
* configure the system clock before to branch to main program.
*
* This file configures the system clock as follows:
*=============================================================================
*-----------------------------------------------------------------------------
* System Clock source | HSI
*-----------------------------------------------------------------------------
* SYSCLK(Hz) | 16000000
*-----------------------------------------------------------------------------
* HCLK(Hz) | 16000000
*-----------------------------------------------------------------------------
* AHB Prescaler | 1
*-----------------------------------------------------------------------------
* APB1 Prescaler | 1
*-----------------------------------------------------------------------------
* APB2 Prescaler | 1
*-----------------------------------------------------------------------------
* PLL_M | 1
*-----------------------------------------------------------------------------
* PLL_N | 16
*-----------------------------------------------------------------------------
* PLL_P | 7
*-----------------------------------------------------------------------------
* PLL_Q | 2
*-----------------------------------------------------------------------------
* PLL_R | 2
*-----------------------------------------------------------------------------
* Require 48MHz for RNG | Disabled
*-----------------------------------------------------------------------------
*=============================================================================
******************************************************************************
* @attention
*
* Copyright (c) 2019 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/** @addtogroup CMSIS
* @{
*/
/** @addtogroup stm32g4xx_system
* @{
*/
/** @addtogroup STM32G4xx_System_Private_Includes
* @{
*/
#include "stm32g4xx.h"
#if !defined (HSE_VALUE)
#define HSE_VALUE 24000000U /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */
#if !defined (HSI_VALUE)
#define HSI_VALUE 16000000U /*!< Value of the Internal oscillator in Hz*/
#endif /* HSI_VALUE */
/**
* @}
*/
/** @addtogroup STM32G4xx_System_Private_TypesDefinitions
* @{
*/
/**
* @}
*/
/** @addtogroup STM32G4xx_System_Private_Defines
* @{
*/
/************************* Miscellaneous Configuration ************************/
/* Note: Following vector table addresses must be defined in line with linker
configuration. */
/*!< Uncomment the following line if you need to relocate the vector table
anywhere in Flash or Sram, else the vector table is kept at the automatic
remap of boot address selected */
/* #define USER_VECT_TAB_ADDRESS */
#if defined(USER_VECT_TAB_ADDRESS)
/*!< Uncomment the following line if you need to relocate your vector Table
in Sram else user remap will be done in Flash. */
/* #define VECT_TAB_SRAM */
#if defined(VECT_TAB_SRAM)
#define VECT_TAB_BASE_ADDRESS SRAM_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x200. */
#define VECT_TAB_OFFSET 0x00000000U /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
#else
#define VECT_TAB_BASE_ADDRESS FLASH_BASE /*!< Vector Table base address field.
This value must be a multiple of 0x200. */
#define VECT_TAB_OFFSET 0x000088B8U /*!< Vector Table base offset field.
This value must be a multiple of 0x200. */
#endif /* VECT_TAB_SRAM */
#endif /* USER_VECT_TAB_ADDRESS */
/******************************************************************************/
/**
* @}
*/
/** @addtogroup STM32G4xx_System_Private_Macros
* @{
*/
/**
* @}
*/
/** @addtogroup STM32G4xx_System_Private_Variables
* @{
*/
/* The SystemCoreClock variable is updated in three ways:
1) by calling CMSIS function SystemCoreClockUpdate()
2) by calling HAL API function HAL_RCC_GetHCLKFreq()
3) each time HAL_RCC_ClockConfig() is called to configure the system clock frequency
Note: If you use this function to configure the system clock; then there
is no need to call the 2 first functions listed above, since SystemCoreClock
variable is updated automatically.
*/
uint32_t SystemCoreClock = HSI_VALUE;
const uint8_t AHBPrescTable[16] = {0U, 0U, 0U, 0U, 0U, 0U, 0U, 0U, 1U, 2U, 3U, 4U, 6U, 7U, 8U, 9U};
const uint8_t APBPrescTable[8] = {0U, 0U, 0U, 0U, 1U, 2U, 3U, 4U};
/**
* @}
*/
/** @addtogroup STM32G4xx_System_Private_FunctionPrototypes
* @{
*/
/**
* @}
*/
/** @addtogroup STM32G4xx_System_Private_Functions
* @{
*/
/**
* @brief Setup the microcontroller system.
* @param None
* @retval None
*/
void SystemInit(void)
{
/* FPU settings ------------------------------------------------------------*/
#if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
SCB->CPACR |= ((3UL << (10*2))|(3UL << (11*2))); /* set CP10 and CP11 Full Access */
#endif
/* Configure the Vector Table location add offset address ------------------*/
#if defined(USER_VECT_TAB_ADDRESS)
SCB->VTOR = VECT_TAB_BASE_ADDRESS | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */
#endif /* USER_VECT_TAB_ADDRESS */
}
/**
* @brief Update SystemCoreClock variable according to Clock Register Values.
* The SystemCoreClock variable contains the core clock (HCLK), it can
* be used by the user application to setup the SysTick timer or configure
* other parameters.
*
* @note Each time the core clock (HCLK) changes, this function must be called
* to update SystemCoreClock variable value. Otherwise, any configuration
* based on this variable will be incorrect.
*
* @note - The system frequency computed by this function is not the real
* frequency in the chip. It is calculated based on the predefined
* constant and the selected clock source:
*
* - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(**)
*
* - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(***)
*
* - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(***)
* or HSI_VALUE(*) multiplied/divided by the PLL factors.
*
* (**) HSI_VALUE is a constant defined in stm32g4xx_hal.h file (default value
* 16 MHz) but the real value may vary depending on the variations
* in voltage and temperature.
*
* (***) HSE_VALUE is a constant defined in stm32g4xx_hal.h file (default value
* 24 MHz), user has to ensure that HSE_VALUE is same as the real
* frequency of the crystal used. Otherwise, this function may
* have wrong result.
*
* - The result of this function could be not correct when using fractional
* value for HSE crystal.
*
* @param None
* @retval None
*/
void SystemCoreClockUpdate(void)
{
uint32_t tmp, pllvco, pllr, pllsource, pllm;
/* Get SYSCLK source -------------------------------------------------------*/
switch (RCC->CFGR & RCC_CFGR_SWS)
{
case 0x04: /* HSI used as system clock source */
SystemCoreClock = HSI_VALUE;
break;
case 0x08: /* HSE used as system clock source */
SystemCoreClock = HSE_VALUE;
break;
case 0x0C: /* PLL used as system clock source */
/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLLM) * PLLN
SYSCLK = PLL_VCO / PLLR
*/
pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC);
pllm = ((RCC->PLLCFGR & RCC_PLLCFGR_PLLM) >> 4) + 1U ;
if (pllsource == 0x02UL) /* HSI used as PLL clock source */
{
pllvco = (HSI_VALUE / pllm);
}
else /* HSE used as PLL clock source */
{
pllvco = (HSE_VALUE / pllm);
}
pllvco = pllvco * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 8);
pllr = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLR) >> 25) + 1U) * 2U;
SystemCoreClock = pllvco/pllr;
break;
default:
break;
}
/* Compute HCLK clock frequency --------------------------------------------*/
/* Get HCLK prescaler */
tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
/* HCLK clock frequency */
SystemCoreClock >>= tmp;
}
/**
* @}
*/
/**
* @}
*/
/**
* @}
*/
#else
/** /**
****************************************************************************** ******************************************************************************
* @file system_stm32g4xx.c * @file system_stm32g4xx.c
@ -283,3 +572,4 @@ void SystemCoreClockUpdate(void)
*/ */
#endif

1685
EWARM/chargeController.ewd
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1103
EWARM/chargeController.ewp
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