HOW to change from left spindle to right spindle system-优快云博客

本文探讨了基于双轴系统的软件配置与故障诊断方法，包括主次轴位置计算、误用与障碍物检测，以及功率平衡算法。通过分析不同模块如SpindleBreakDetection_cfg.c和SwcApplPowerBalancer.c，揭示了系统如何处理电机电流限制和尾门电机状态。此外，还讨论了短路接地诊断在双轴系统中的应用。

1. project_cfg.h

#define LEFT_SPINDLE_DRIVEN (1u)
#define RIGHT_SPINDLE_DRIVEN (2u)
#define LEFT_OR_RIGHT_DRIVEN RIGHT_SPINDLE_DRIVEN

2. SensorPosition.c

Seems problem! but may only effect on Diagnosis

Spo_CalculatePosition

1. Calculate main position based of data from left spindle */

C_U8_CONFIG_NUMBER_OF_SPINDLES

E_SPO_SPINDLE_PRIMARY

E_SPO_SPINDLE_SECONDARY

3. MisuseDetection_cfg.c

#if(2u == NUMBER_OF_SPINDLES)
...

#endif

4. ObstacleDetection_cfg.c

5. SlamDetection_cfg.c

/* primary side - dual sided and single systems */
SCI_Read_HallSensor_Rpm(&(Sld_ms_PrimarySpindleData.u16_Rpm), E_SHA_HALL_PRIMARY );

    #if(2u == NUMBER_OF_SPINDLES)
        /* secondary side - only dual sided systems */
        SCI_Read_HallSensor_Rpm(&(Sld_ms_SecondarySpindleData.u16_Rpm), E_SHA_HALL_SECONDARY );
    #endif

6. SpindleBreakDetection_cfg.c

7. SwcApplPIDCtrlPwm_A.c

/* Set/reset over current flag depending on spindle current and limit value */
if ((Inputs->u16_MotorCurrentA < lu16_CalculatedCurrentLimit)
#if NUMBER_OF_SPINDLES > 1
&& (Inputs->u16_MotorCurrentB < lu16_CalculatedCurrentLimit)
#endif

8. SwcActuatorSpindleMotor.c

typedef enum{
#if NUMBER_OF_SPINDLES > 1
TlgtMot_Right = 1, /* right Tailgate motor */
#endif
TlgtMot_Left = 0 /* left Tailgate motor */
} TlgtMotT;

9. SwcApplPowerBalancer.c

/* primary side - dual sided and single systems */
Sbd_ms_PrimarySpindleData.u16_PreviousRpm = Sbd_ms_PrimarySpindleData.u16_Rpm;
SCI_Read_HallSensor_Rpm(&(Sbd_ms_PrimarySpindleData.u16_Rpm), E_SHA_HALL_PRIMARY );
...
Sbd_ms_PrimarySpindleData.b_TailgatePositionValid = lb_ReadBoolean;

    #if(2u == NUMBER_OF_SPINDLES)
        /* secondary side - only dual sided systems */

        Sbd_ms_SecondarySpindleData.b_TailgatePositionValid = lb_ReadBoolean;
    #endif

Already Research:

2. Short to Gnd Dignosis

some investigation already done:

In Pmg_UpdateHCOMStableFlag() of PowerManager_cfg.c

from the comment

/* Hall Supply A and B shall behavior in the same way, not working independantly*/

this part only considered double spindle system.

the flag b_UHallStable is set here

转载于:https://www.cnblogs.com/dannykong/p/10873455.html