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411 lines
16 KiB
C++
411 lines
16 KiB
C++
/*
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* AlgorithmWork.cpp
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*
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* Author: Aleksey Gerasimenko
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* gerasimenko.aleksey.n@gmail.com
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*/
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#include "SYSCTRL/AlgorithmWork.h"
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namespace SYSCTRL
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{
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//CONSTRUCTOR
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AlgorithmWork::AlgorithmWork(SYSCTRL::SystemEnvironment& env):
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AlgorithmBase(),
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m_env(env),
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m_reference_switcher(false),
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_execute(&SYSCTRL::AlgorithmWork::_execute_undef)
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//
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{}//CONSTRUCTOR
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//
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void AlgorithmWork::setup()
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{
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_execute = &SYSCTRL::AlgorithmWork::_execute_run;
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//
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}//
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//
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#pragma CODE_SECTION("ramfuncs");
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void AlgorithmWork::reset()
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{
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#if TYPECONTROL == VECTORCONTROL
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//
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m_env.regulator_voltage_load_direct.reset();
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m_env.regulator_voltage_load_quadrature.reset();
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//
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m_env.integrator_direct.reset();
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m_env.integrator_quadrature.reset();
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//
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m_env.regulator_current_limit.set_to_high_saturation();
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m_env.regulator_current_pfc.reset();
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//
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#endif
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#if TYPECONTROL == SCALARCONTROL
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//
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m_env.regulator_current_limit_a.set_to_high_saturation();
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m_env.regulator_current_pfc_a.reset();
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m_env.regulator_current_limit_b.set_to_high_saturation();
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m_env.regulator_current_pfc_b.reset();
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m_env.regulator_current_limit_c.set_to_high_saturation();
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m_env.regulator_current_pfc_c.reset();
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m_env.regulator_voltage_load_a_active.reset();
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m_env.regulator_voltage_load_a_reactive.reset();
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m_env.regulator_voltage_load_b_active.reset();
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m_env.regulator_voltage_load_b_reactive.reset();
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m_env.regulator_voltage_load_c_active.reset();
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m_env.regulator_voltage_load_c_reactive.reset();
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//
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#endif
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#if TYPECONTROL == DIRECTREVERSECONTROL
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m_env.drc_positive_voltage_controller_direct.reset();
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m_env.drc_positive_voltage_controller_quadrature.reset();
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m_env.drc_negative_voltage_controller_direct.reset();
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m_env.drc_negative_voltage_controller_quadrature.reset();
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//
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m_env.drc_reference_voltage_direct_intensity.reset();
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//
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m_env.drc_regulator_current_load_direct.reset();
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m_env.drc_regulator_current_load_quadrature.reset();
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//
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m_env.drc_referencer_current_bypass_direct.reset();
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m_env.drc_referencer_current_bypass_quadrature.reset();
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//
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m_env.drc_regulator_current_limit.set_to_low_saturation();
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m_env.drc_regulator_current_pfc.reset();
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//
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m_reference_switcher = false;
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//
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#endif
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//
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}//
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//
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#pragma CODE_SECTION("ramfuncs");
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void AlgorithmWork::reset_switcher()
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{
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m_reference_switcher = false;
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//
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}//
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//
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#pragma CODE_SECTION("ramfuncs");
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void AlgorithmWork::execute()
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{
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(this->*_execute)();
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//
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}//
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//
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#if TYPECONTROL == VECTORCONTROL
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#pragma CODE_SECTION("ramfuncs");
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void AlgorithmWork::_execute_run()
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{
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//
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m_env.hardware.ref_control_order = ORDER_START;
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//
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//if(m_env.algorithm_control.signal.enable_current_limit)
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if(false)
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{
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m_env.voltage_reference_load_direct = m_env.regulator_current_limit.execute(m_env.rms_current_load_module, m_env.current_reference_limit);
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}
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else
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{
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m_env.regulator_current_limit.set_to_low_saturation();
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m_env.voltage_reference_load_direct = m_env.regulator_current_limit.get_output();
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}
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//
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//if(m_env.algorithm_control.signal.enable_pfc)
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if(false)
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{
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m_env.regulator_current_pfc.reset();
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m_env.voltage_reference_load_quadrature = m_env.regulator_current_pfc.get_output();
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}
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else
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{
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m_env.regulator_current_pfc.reset();
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m_env.voltage_reference_load_quadrature = m_env.regulator_current_pfc.get_output();
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}
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//
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// for PII-Controller
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#if TYPE_VOLTAGE_CONTROLLER == VOLTAGE_CONTROLLER_PII
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m_env.voltage_pi_reg_out_direct = m_env.regulator_voltage_load_direct.execute(m_env.voltage_reference_load_direct, m_env.voltage_load_direct);
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//m_env.voltage_pi_reg_out_quadrature = m_env.regulator_voltage_load_quadrature.execute(m_env.voltage_reference_load_quadrature, m_env.voltage_load_quadrature);
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m_env.voltage_pi_reg_out_quadrature = FP_ZERO;
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m_env.voltage_cell_direct = m_env.integrator_direct.execute(m_env.voltage_pi_reg_out_direct);
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//m_env.voltage_cell_quadrature = m_env.integrator_quadrature.execute(m_env.voltage_pi_reg_out_quadrature);
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m_env.voltage_cell_quadrature = FP_ZERO;
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#endif
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// for I-Controller
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#if TYPE_VOLTAGE_CONTROLLER == VOLTAGE_CONTROLLER_I
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m_env.voltage_cell_direct = m_env.integrator_direct.execute(m_env.voltage_reference_load_direct - m_env.voltage_load_direct);
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m_env.voltage_cell_quadrature = FP_ZERO;
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#endif
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//
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FLTSYSLIB::Transformation::park_inverse(m_env.main_ab_orts.active,
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m_env.main_ab_orts.reactive,
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m_env.voltage_cell_direct,
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m_env.voltage_cell_quadrature,
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m_env.voltage_cell_alpha,
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m_env.voltage_cell_beta);
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//
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FLTSYSLIB::Transformation::clarke_inverse(m_env.voltage_cell_alpha,
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m_env.voltage_cell_beta,
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m_env.voltage_cell_a,
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m_env.voltage_cell_b,
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m_env.voltage_cell_c);
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//
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m_voltage_a = m_env.voltage_cell_a * m_env.cell_dc_voltage_a_reciprocal;
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m_voltage_b = m_env.voltage_cell_b * m_env.cell_dc_voltage_b_reciprocal;
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m_voltage_c = m_env.voltage_cell_c * m_env.cell_dc_voltage_c_reciprocal;
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//
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}//
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//
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#endif
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#if TYPECONTROL == SCALARCONTROL
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#pragma CODE_SECTION("ramfuncs");
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void AlgorithmWork::_execute_run()
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{
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m_env.hardware.ref_control_order = ORDER_START;
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m_env.phase_control.phase_a.reference.voltage_dc = m_env.phase_control.common_ref.voltage_dc;
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m_env.phase_control.phase_b.reference.voltage_dc = m_env.phase_control.common_ref.voltage_dc;
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m_env.phase_control.phase_c.reference.voltage_dc = m_env.phase_control.common_ref.voltage_dc;
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m_env.phase_control.phase_a.reference.current_ampl_limit_const = m_env.phase_control.common_ref.current_limit_rms;
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m_env.phase_control.phase_b.reference.current_ampl_limit_const = m_env.phase_control.common_ref.current_limit_rms;
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m_env.phase_control.phase_c.reference.current_ampl_limit_const = m_env.phase_control.common_ref.current_limit_rms;
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m_env.phase_control.phase_a.reference.current_ampl_pfc_const = m_env.phase_control.common_ref.current_pfc_rms;
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m_env.phase_control.phase_b.reference.current_ampl_pfc_const = m_env.phase_control.common_ref.current_pfc_rms;
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m_env.phase_control.phase_c.reference.current_ampl_pfc_const = m_env.phase_control.common_ref.current_pfc_rms;
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_execute_single_phase(m_env.phase_control.phase_a,
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m_env.projection_voltage_input_a,
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m_env.main_abc_orts.phase_a,
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m_env.regulator_current_limit_a,
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m_env.regulator_current_pfc_a,
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m_env.regulator_dc_a,
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m_env.cell_dc_voltage_a,
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m_env.regulator_voltage_load_a_active,
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m_env.regulator_voltage_load_a_reactive);
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_execute_single_phase(m_env.phase_control.phase_b,
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m_env.projection_voltage_input_b,
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m_env.main_abc_orts.phase_b,
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m_env.regulator_current_limit_b,
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m_env.regulator_current_pfc_b,
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m_env.regulator_dc_b,
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m_env.cell_dc_voltage_b,
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m_env.regulator_voltage_load_b_active,
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m_env.regulator_voltage_load_b_reactive);
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_execute_single_phase(m_env.phase_control.phase_c,
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m_env.projection_voltage_input_c,
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m_env.main_abc_orts.phase_c,
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m_env.regulator_current_limit_c,
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m_env.regulator_current_pfc_c,
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m_env.regulator_dc_c,
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m_env.cell_dc_voltage_c,
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m_env.regulator_voltage_load_c_active,
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m_env.regulator_voltage_load_c_reactive);
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m_voltage_a = m_env.phase_control.phase_a.reference.voltage_cell_relative;
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m_voltage_b = m_env.phase_control.phase_b.reference.voltage_cell_relative;
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m_voltage_c = m_env.phase_control.phase_c.reference.voltage_cell_relative;
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//
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}//
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#endif
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//
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#if TYPECONTROL == SCALARCONTROL
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#pragma CODE_SECTION("ramfuncs");
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void AlgorithmWork::_execute_single_phase(SYSCTRL::AlgorithmSinglePhaseControl& phase,
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SYSCTRL::ProjectionAnalogSignalStructure& projection,
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SYSCTRL::VectorOrthogonalProjection& orts,
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FLTSYSLIB::PIController& regulator_limit,
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FLTSYSLIB::PIController& regulator_pfc,
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FLTSYSLIB::PIController& regulator_dc,
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float& dc_volatage,
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FLTSYSLIB::PIController& regulator_active,
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FLTSYSLIB::PIController& regulator_reactive)
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{
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// if(phase.control_bit.signal.enable_current_limit) // for debug!!!
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if(false)
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{
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phase.reference.voltage_limit = regulator_limit.execute(phase.reference.current_ampl_limit_const, phase.feedback.current_ampl_real);
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if(phase.control_bit.signal.enable_pfc)
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{
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phase.reference.voltage_pfc = regulator_pfc.execute(phase.reference.current_ampl_pfc_const, phase.feedback.current_ampl_jm) +
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regulator_dc.execute(phase.reference.voltage_dc, dc_volatage);
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}
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else
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{
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regulator_pfc.reset();
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phase.reference.voltage_pfc = projection.reactive;
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//
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}//if else
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}
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else
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{
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regulator_limit.set_to_high_saturation();
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phase.reference.voltage_limit = regulator_limit.get_output();
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//
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regulator_pfc.reset();
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phase.reference.voltage_pfc = projection.reactive;
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//
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}//if else
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// if(phase.control_bit.signal.enable_pfc) // for debug!!!
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if(false)
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{
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phase.reference.voltage_ampl_real = sqrtf(phase.reference.voltage_limit * phase.reference.voltage_limit - phase.reference.voltage_pfc * phase.reference.voltage_pfc);
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phase.reference.voltage_ampl_jm = phase.reference.voltage_pfc;
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//
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}
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else
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{
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phase.reference.voltage_ampl_real = phase.reference.voltage_limit;
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phase.reference.voltage_ampl_jm = phase.reference.voltage_pfc;
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//
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}//if else
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//
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phase.reference.voltage_cell_ampl_real = regulator_active.execute(phase.reference.voltage_ampl_real, phase.feedback.voltage_ampl_real);
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//
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//if(phase.control_bit.signal.enable_pfc) // for debug!!!
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if(false)
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{
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phase.reference.voltage_cell_ampl_jm = regulator_reactive.execute(phase.reference.voltage_ampl_jm, phase.feedback.voltage_ampl_jm);
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//
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}
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else
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{
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phase.reference.voltage_cell_ampl_jm = FP_ZERO;
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//
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}//if
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//
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phase.reference.voltage_cell_real = phase.reference.voltage_cell_ampl_real * orts.active;
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phase.reference.voltage_cell_jm = phase.reference.voltage_cell_ampl_jm * orts.reactive;
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phase.reference.voltage_cell = phase.reference.voltage_cell_real - phase.reference.voltage_cell_jm;
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//
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phase.reference.voltage_cell_relative = phase.reference.voltage_cell * phase.feedback.voltage_cell_dc_reciprocal;
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//
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}//
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#endif
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//
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#if TYPECONTROL == DIRECTREVERSECONTROL
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#pragma CODE_SECTION("ramfuncs");
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void AlgorithmWork::_execute_run()
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{
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//
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m_env.hardware.ref_control_order = ORDER_START;
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//
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if(m_reference_switcher)
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{
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//if(m_env.algorithm_control.signal.enable_current_limit)
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if(false)
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{
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m_env.drc_voltage_reference_load_direct = m_env.drc_regulator_current_limit.execute(m_env.rms_current_load_module, m_env.drc_current_reference_limit);
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}
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else
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{
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m_env.drc_regulator_current_limit.set_to_low_saturation();
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m_env.drc_voltage_reference_load_direct = m_env.drc_regulator_current_limit.get_output();
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}
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}
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else
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{
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m_env.drc_voltage_reference_load_direct = m_env.drc_reference_voltage_direct_intensity.execute(m_env.drc_regulator_current_limit.get_output());
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//
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if(m_env.drc_voltage_reference_load_direct >= m_env.drc_regulator_current_limit.get_output())
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{
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m_reference_switcher = true;
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}
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}
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//
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//if(m_env.algorithm_control.signal.enable_pfc)
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if(false)
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{
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m_env.drc_regulator_current_pfc.reset();
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m_env.drc_voltage_reference_load_quadrature = m_env.drc_regulator_current_pfc.get_output();
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}
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else
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{
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m_env.drc_regulator_current_pfc.reset();
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m_env.drc_voltage_reference_load_quadrature = m_env.drc_regulator_current_pfc.get_output();
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}
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//
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m_env.drc_positive_voltage_cell_direct = m_env.drc_positive_voltage_controller_direct.execute(m_env.drc_voltage_reference_load_direct, m_env.drc_positive_voltage_load_direct);
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m_env.drc_positive_voltage_cell_quadrature = m_env.drc_positive_voltage_controller_quadrature.execute(m_env.drc_voltage_reference_load_quadrature, m_env.drc_positive_voltage_load_quadrature);
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//m_env.drc_positive_voltage_cell_quadrature = FP_ZERO;
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m_env.drc_negative_voltage_cell_direct = m_env.drc_negative_voltage_controller_direct.execute(m_env.drc_voltage_reference_zero, m_env.drc_negative_voltage_load_direct);
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m_env.drc_negative_voltage_cell_quadrature = m_env.drc_negative_voltage_controller_quadrature.execute(m_env.drc_voltage_reference_zero, m_env.drc_negative_voltage_load_quadrature);
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//m_env.drc_negative_voltage_cell_direct = FP_ZERO;
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//m_env.drc_negative_voltage_cell_quadrature = FP_ZERO;
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//
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FLTSYSLIB::Transformation::park_inverse(m_env.main_ab_orts.active,
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m_env.main_ab_orts.reactive,
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m_env.drc_positive_voltage_cell_direct,
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m_env.drc_positive_voltage_cell_quadrature,
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m_env.drc_positive_voltage_cell_alpha,
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m_env.drc_positive_voltage_cell_beta);
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//
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FLTSYSLIB::Transformation::park_inverse(m_env.main_ab_orts.active,
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m_env.main_ab_orts.reactive,
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m_env.drc_negative_voltage_cell_direct,
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m_env.drc_negative_voltage_cell_quadrature,
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m_env.drc_negative_voltage_cell_alpha,
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m_env.drc_negative_voltage_cell_beta);
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//
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FLTSYSLIB::Transformation::clarke_inverse(m_env.drc_positive_voltage_cell_alpha,
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m_env.drc_positive_voltage_cell_beta,
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m_env.drc_positive_voltage_cell_a,
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m_env.drc_positive_voltage_cell_b,
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m_env.drc_positive_voltage_cell_c);
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//
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FLTSYSLIB::Transformation::clarke_inverse_back_order(m_env.drc_negative_voltage_cell_alpha,
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m_env.drc_negative_voltage_cell_beta,
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m_env.drc_negative_voltage_cell_a,
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m_env.drc_negative_voltage_cell_b,
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m_env.drc_negative_voltage_cell_c);
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//
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m_env.drc_voltage_cell_a = m_env.drc_positive_voltage_cell_a + m_env.drc_negative_voltage_cell_a;
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m_env.drc_voltage_cell_b = m_env.drc_positive_voltage_cell_b + m_env.drc_negative_voltage_cell_b;
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m_env.drc_voltage_cell_c = m_env.drc_positive_voltage_cell_c + m_env.drc_negative_voltage_cell_c;
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//
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m_voltage_a = m_env.drc_voltage_cell_a * m_env.cell_dc_voltage_a_reciprocal;
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m_voltage_b = m_env.drc_voltage_cell_b * m_env.cell_dc_voltage_b_reciprocal;
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m_voltage_c = m_env.drc_voltage_cell_c * m_env.cell_dc_voltage_c_reciprocal;
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//
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}//
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#endif
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//
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} /* namespace SYSCTRL */
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