Hysteresis_Compensation_MDD

Module -- Hysteresis Compensation

High-Level Description

This module will calculate a motor torque command to add into the low pass assist torque that will compensate for the hysteresis present in the system.

Figures

Diagram – Function Data Sharing

This diagram shows all data that is shared between functions within the module.

Diagram – HystComp_Per1

This diagram describes the functional characteristics and data flow of a given function.

Variable Data Dictionary

For details on module input / output variable, refer to the Data Dictionary for the application. Input / output variable names are listed here for reference.

(Note: Full variable names required in table.)

(Note: All global variables including End Of Line data used should be shown here)

Module Internal Variables

This section identifies the name, range and resolutions for module specific data created by this module. If there are no range restrictions on the variable, the term “FULL” is placed into the table for legal range.

User defined typedef definition/declaration

This section documents any user types uniquely used for the module.

Constant Data Dictionary

Calibration Constants

This section lists the calibrations used by the module. For details on calibration constants, refer to the Data Dictionary for the application.

Program(fixed) Constants

Embedded Constants

All embedded constants whose values are provided in Eng units will be evaluated to the equivalent counts by using the FPM_InitFixedPoint_m() macro within the #define statement.

Local

Global

This section lists the global constants used by the module. For details on global constants, refer to the Data Dictionary for the application.

Module specific Lookup Tables Constants

(This is for lookup tables (arrays) with fixed values, same name as other tables)

Functions/Macros used by the Sub-Modules

Library Functions / Macros

The library functions / Macros that are called by the various sub modules are identified below,

1. FPM_FloatToFixed_m()

2. FPM_FixedToFloat_m()

3. LPF_OpUpdate_f32_m ()

4. IntplVarXY_u16_u16Xu16Y_Cnt()

5. IntplVarXY_u16_s16Xu16Y_Cnt()

6. TableSize_m()

7. Abs_s16_m()

8. Abs_f32_m()

9. Sign_s16_m()

10. Sign_f32_m()

11. Limit_m()

12. BilinearXMYM_u16_u16XMu16YM_Cnt

Data Hiding Functions

The data hiding functions / macros used in this module are identified below,

1. None

Local Functions/Macros Used by this MDD only

(Note if they are defined in another source file, then reference the appropriate header file)

The local functions/macros in this module are identified below,

1. MoreCompensation()

2. LessCompensation()

3. CalcAvailComp()

Software Module Implementation

Initialization Functions

(Note: For multiple init functions, insert new headers at the “Header 2” level – subset of “5.1 Initialization Functions” and follow the same sub-section design shown below)

Init: HystComp_Init1()

Design Rationale

LPF_KUpdate_f32 is used to initialize the LPF filter instead of the full LPF_Init_f32 macro as an optimization since the required initial state of the filter is 0, which is the initialized value of the RAM, so there is no need to explicitly initialize the state variables in this init function.

Module Outputs

None

Module Internal

None

Initialize Low Pass Filters

Periodic Functions

Per: HystComp_Per1

Design Rationale

None

Program Flow Start

Rte_Call_HystComp_Per1_CP0_CheckpointReached()Store Module Inputs to Local copies

DefeatHystService_Cnt_lgc as Boolean

VehSpd_Kph_T_f32 of type float32

AssistCmd_MtrNm_T_f32 as float32

HwTrq_HwNm_T_f32 of type float32

AssistCmd_HwNm_T_f32 of type float32

AssistCmdFilt_HwNm_T_s8p7 of type s8p7_T

AssistCmdFilt_HwNm_T_f32 of type float32

HwTrqFilt_HwNm_T_f32 of type float32

RawHysComp_HwNm_St_f32 of type float32

HysComp_HwNm_T_f32 as float32

HysComp_MtrNm_T_f32 as float32

Fraction_Uls_T_f32 as float32

CompAvail_HwNm_T_f32 as float32

TrqChange_HwNm_T_f32 as type float32

PrevRiseY_Uls_T_f32 as float32

RawHysCompZm1_HwNm_T_f32 as float32

PrevRiseY_Uls_T_f32 = Fraction_Uls_M_f32

RawHysCompZm1_HwNm_T_f32 = RawCalc_HwNm_M_f32

DefeatHystService_Cnt_lgc = Rte_IRead_HystComp_Per1_DefeatHystService_Cnt_lgc();

VehSpd_Kph_T_u9p7 = FPM_FloatToFixed_m(Rte_Iread_HystComp_Per1_VehicleSpeed_Kph_f32(), u9p7_T)

AssistCmd_MtrNm_T_f32 = Rte_Iread_HystComp_Per1_ BaseAssistCmd_MtrNm_f32 ()

HwTrq_HwNm_T_f32 =Rte_Iread_HystComp_Per1_HwTorque_HwNm_f32() Convert Low Pass Assist Command to HwNm

Apply Filtering to Torque Inputs

Freeze Input Values if LP Assist Exceeds Threshold

Calculate Hysteresis Loop Position Based on Quadrant

Calculate Hysteresis and Limit Rate of Change

Store Local copy of outputs into Module Outputs

Rte_Iwrite_HystComp_Per1_HysteresisComp_MtrNm_f32(HysComp_MtrNm_T_f32)

AstCmdLastUsed_HwNm_M_s8p7 = AssistCmdFilt_HwNm_T_s8p7;

HwTrqLastUsed_HwNm_M_f32 = HwTrqFilt_HwNm_T_f32;

Fraction_Uls_M_f32 = Fraction_Uls_T_f32;/*HysComp_Fraction*/

RawCalc_HwNm_M_f32 = RawHysComp_HwNm_T_f32;/*HysComp_RawCalc*/

CompAvail_HwNm_D_f32 = CompAvail_HwNm_T_f32 ;/*HysComp_Avail*/

Program Flow End

Rte_Call_HystComp_Per1_CP1_CheckpointReached()

Fault Recovery Functions

None

Shutdown Functions

None

Interrupt Functions

None

Serial Communication Functions

None

Local Function/Macro Definitions

If these are numerous and defined in a separate source file then reference the source file only.

MoreCompensation Calculation

Description

LessCompensation Calculation

Design Rationale

Two saturation blocks from the partial reversal block were omitted from the design as they were redundant. The limiting of the RiseY happens after the merge block and is redundant and the RiseX is implicitly limited by the interpolation lookup.

Description

Calculate Available Compensation

Design Rationale

The limit function that bounds HysTrq_HwNm_T_f32 between ZERO and FPSATHILMT was used to match the design in the FDD, however, the HIGH bound of the limit is unreachable as the maximum possible value for the input does not cause a limiting condition. An alternate design choice would have been to use a max() function between HysTrq_HwNm_T_f32 and ZERO as the only limiting factor is the LOWER bound.

Description

Localvariables:

EffOff_HwNm_T_f32

EffLoss_Uls_T_f32

HysTrq_HwNm_T_f32

HysBlend_Uls_T_f32

WIROffFric_HwNm_T_f32

WIROnFric_HwNm_T_f32

WIROffFric_HwNm_T_f32

CoulFricHysBlend_T_f32

HysNegBlend_Uls_T_f32

WIRFric_HwNm_T_f32

TempScale_HwNm_T_f32

CoulFric_HwNm_T_f32

HwTrqFilt_HwNm_T_s7p8

HysSat_HwNm_T_f32

HysNegBlndCmp_T_f32

WIRCmdAmpBlnd_MtrNm_u8p8

WIRCmdBlnd_Uls_T_f32

HysNegComp_Uls_T_f32

WIRFric_HwNm_T_f32

AssistMechTempEst_DegC_T_s14p1

AbsCombinedTrq_HwNm_T_f32

CompAvail_HwNm_T_f32

Execution Requirements

Execution Sequence of the Module

(Describe in words relevant details about the execution sequence of the different sub modules.)

Execution Rates for sub-modules called by the Scheduler

This table serves as reference for the Scheduler design

Execution Requirements for Serial Communication Functions

Memory Map Definition Requirements

Sub Modules (Functions)

This table identifies the software segments for functions identified in this module.

Local Functions

This table identifies the software segments for local functions identified in this module.

Known Issues / Limitations With Design

1. INLINE Functions defined in globalmacro.h are not unittested

Revision Control Log