mirror of
https://github.com/Dev-KATECH/ADM.git
synced 2026-05-17 09:53:59 +09:00
3minbe
5c81b608c5
- 로직 수정 : I 제어기 추가(등판 성능 향상) : 모터 최대 토크 제한 수정(90Nm) : HAC가 해제 조건임에도 불구하고 해제되지 않는 현상 개선 : 차량 무게 수정(1500kg) : 사용자의 브레이크 입력이 존재하는 경우 모터 토크가 생성되지 않도록 제한 : DOB 적용 구간 수정(25km/h 이상) : 25km/h 이하 시 PI 및 FF 제어 : PI 제어 불감대 조정
1844 lines
108 KiB
XML
1844 lines
108 KiB
XML
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<indexType>2</indexType>
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<p_ComputedSampleTime>0.0</p_ComputedSampleTime>
|
|
<p_Name>Target_MCU_Out</p_Name>
|
|
</p_OutputPorts>
|
|
<p_OutputPorts type="ci.SignalInterface" uuid="2c319295-50e3-4093-85b0-89045929c567">
|
|
<p_ComputedNumericDimensions>1.0</p_ComputedNumericDimensions>
|
|
<p_ComputedSampleTime>.002</p_ComputedSampleTime>
|
|
<p_ComputedSampleTime>0.0</p_ComputedSampleTime>
|
|
<p_Name>GV_VCU_EstMass</p_Name>
|
|
</p_OutputPorts>
|
|
<p_OutputPorts type="ci.SignalInterface" uuid="137b5f2a-153b-4267-8ccb-69b13d56f2b5">
|
|
<p_ComputedNumericDimensions>1.0</p_ComputedNumericDimensions>
|
|
<p_ComputedSampleTime>.002</p_ComputedSampleTime>
|
|
<p_ComputedSampleTime>0.0</p_ComputedSampleTime>
|
|
<p_Name>GV_VCU_EstMassFlag</p_Name>
|
|
</p_OutputPorts>
|
|
<p_Type>ROOT</p_Type>
|
|
</p_RootComponentInterface>
|
|
</rootBlockDiagramInterface>
|
|
<simulinkFunctions type="ModelRefInfoRepo.SimulinkFunctions" uuid="fcf305e2-88bb-47c4-bb67-d08aad9dbcc1">
|
|
<compSimulinkFunctionCatalog></compSimulinkFunctionCatalog>
|
|
</simulinkFunctions>
|
|
<sltpContext type="sltp.mm.core.Context" uuid="787d0a1b-0a0b-40c6-9923-1f2af53f19b1">
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="904e1398-c005-427b-b730-6224e0ee1d53">
|
|
<dataName>portACU_Fault_Flag</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="ab675850-87d9-4a6b-87fd-5938e0614e98">
|
|
<dataName>portAct_Fault_Exist</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="12fee338-ef83-4770-8660-1033967b51f9">
|
|
<dataName>portDebug_AccControl_TorqueCmd</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="7eb7a60d-165f-4efa-a9f5-77e096552ef5">
|
|
<dataName>portDebug_CC_Brake_Output</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="8e564d01-ff04-4165-bb19-2918ca4359df">
|
|
<dataName>portDebug_HAC_Brake_Output</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="0a9f7592-db02-4714-b1a1-891880110386">
|
|
<dataName>portDebug_HAC_FLAG</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="0b10e0ca-15a9-486e-a6d1-4be3cddfc16f">
|
|
<dataName>portDebug_HAC_Pitch_angle</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="ea261f01-db66-491a-9001-db773cc03f30">
|
|
<dataName>portDebug_HAC_RPM_Decision</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="0b344bf5-620e-4c9e-a5ad-6dcd9fd228d5">
|
|
<dataName>portGV_ACU_ECU_Fault_Flag</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="76ef33ef-2be5-4f27-a3c3-4e180be711fb">
|
|
<dataName>portGV_ACU_ECU_Fault_Flag1</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="3701c54c-77b9-46a5-8343-c51a7d8b71e7">
|
|
<dataName>portGV_ACU_ECU_Fault_Flag2</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="c6eb85ea-2544-4cee-8de1-8975fccbcc7e">
|
|
<dataName>portGV_ACU_ECU_Fault_Flag3</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="e6e0097c-ce50-487f-8f93-68786f97ae00">
|
|
<dataName>portGV_ACU_Fault_Flag</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="4c0fd4b4-7c0b-430a-80cf-50f53e3b455b">
|
|
<dataName>portGV_BrakeTorqueCommand</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="28f9fb19-9880-442e-a7af-97ffb0386c4c">
|
|
<dataName>portGV_Brake_Act_Fault</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="eba28ab9-bac5-41e4-9f01-935184cd62a7">
|
|
<dataName>portGV_Brake_Command</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="05c6d880-5f88-411a-8a44-94bfa0705059">
|
|
<dataName>portGV_Drive_ACC_Cmd</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="625fe520-7ed6-4089-b76c-75d001b9e6eb">
|
|
<dataName>portGV_Drive_Mode</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="3749d477-1df1-4f3e-affa-7ed76b4e83dd">
|
|
<dataName>portGV_Gear_Postion_Out</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="0193f885-b22b-43c2-a49f-9f7fd93d2dee">
|
|
<dataName>portGV_Hill_Torque_Assist</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="fa9eff2c-f101-4e79-9fb0-8be09b377b1a">
|
|
<dataName>portGV_IDB_ECU_Fault_Flag</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="ace7a136-4da5-4544-9879-232f77dc543d">
|
|
<dataName>portGV_IMU_AX_Val</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="027d1889-db22-44cf-b171-61e8b304398e">
|
|
<dataName>portGV_IMU_AY_Val</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="e086df36-9974-4914-a477-12425c599702">
|
|
<dataName>portGV_IMU_AZ_Val</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="44f345e5-55d3-453f-a35c-ce0dd8a2f834">
|
|
<dataName>portGV_IMU_PitchRtVal</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="c079d282-feda-4b8f-b50d-5ab997758eea">
|
|
<dataName>portGV_MCU_Act_Fault</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="934e1415-d477-4214-a977-e0c1c5b4b917">
|
|
<dataName>portGV_MCU_Actuator_Fault_Flag</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="1c0d1655-9f34-4c1e-b772-03a5f11a905d">
|
|
<dataName>portGV_MCU_EstTrq</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="bdfd99fd-ab5f-4666-8a89-f25014ea6d58">
|
|
<dataName>portGV_MCU_RPM</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="046beb8f-bcdd-4dbe-a296-db6ff8215788">
|
|
<dataName>portGV_Master_Rack_Angle_Cmd</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="f4368895-d6ea-49d0-8ded-25de43764d4a">
|
|
<dataName>portGV_Motor_Torque_Cmd</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="b0c0c544-8c50-48fd-9fc5-4da6fc000f60">
|
|
<dataName>portGV_Operation_Mode</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="14a2d060-7a35-4501-a43d-e6c6863f51ea">
|
|
<dataName>portGV_Operation_Mode1</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="076d7974-8dcf-41c0-add4-0dedefaec7df">
|
|
<dataName>portGV_RCU_ECU_Fault_Flag</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="9236acbb-6f08-464a-8d69-1defea7dfb21">
|
|
<dataName>portGV_RC_IDB_Fault</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="79cdadd6-d158-4885-b73c-7d0db405c978">
|
|
<dataName>portGV_RC_MCU_Fault</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="00fedec4-c214-47c9-9983-610f47d355bf">
|
|
<dataName>portGV_RC_RWA1_2_FAULT</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="53035477-0b63-4aa5-aa5a-a7e75b1121b9">
|
|
<dataName>portGV_RWA1_ECU_Fault_Flag</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="faf1cbd8-8191-4a52-866b-2b16116d3ec6">
|
|
<dataName>portGV_RWA2_ECU_Fault_Flag</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="35b36096-77ab-4e73-b23e-c23c51967ade">
|
|
<dataName>portGV_RWA_Actuator_Fault</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="4d7c04f3-b690-4bbf-aa59-c75b63678d58">
|
|
<dataName>portGV_RWA_Fault_Flag</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="72e1565a-b9ba-4e0a-af86-07ae2a3e42f4">
|
|
<dataName>portGV_RWA_RackAngleCommand</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="389145f4-171c-470f-9b22-e6afcec557e3">
|
|
<dataName>portGV_RWS_RackAngleCmd1</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="e104af37-216c-4b75-be90-47ce94f07a35">
|
|
<dataName>portGV_RWS_RackAngleCommand</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="52395f5f-8604-4a98-b006-ac6b82cf97ab">
|
|
<dataName>portGV_Speed_Limit</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="0893a137-2506-46be-aad0-349ba9852ea2">
|
|
<dataName>portGV_Steer_Act_Fault</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="45a08c06-0fe8-4c7a-ac69-f012c920a763">
|
|
<dataName>portGV_Torq_cmd_out1</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="38d56359-801b-4d87-839f-192fe14fb8c9">
|
|
<dataName>portGV_VCU_AccControlFlag</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="30ee2fba-804f-4706-bda2-55bbf8ffb5d1">
|
|
<dataName>portGV_VCU_Acc_Limit</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="10470b5c-3653-4c6c-a030-04a36af29ce1">
|
|
<dataName>portGV_VCU_EstMass</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="3c191d90-9bda-4d61-baee-7353eb031557">
|
|
<dataName>portGV_VCU_EstMassFlag</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="3c50516c-6e57-476f-a0df-1e849dd6f1df">
|
|
<dataName>portGV_VCU_GearSelStat</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="ab8454d2-3f19-4e92-b794-b52301c839ba">
|
|
<dataName>portGV_Vx_Command</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="39fd090c-0005-4f7f-bbfc-f6a3ba628012">
|
|
<dataName>portGV_Vx_Fbk</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="e15be4dc-e6dd-4789-b46b-446d14349760">
|
|
<dataName>portGV_Vx_Limit</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="f3dda8e1-7540-4fdd-b37a-71ca9a129ceb">
|
|
<dataName>portIDB_ECU_FAULT_FLAG</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="1854f6d9-19c8-445b-9c73-daa2e3341754">
|
|
<dataName>portRCU_ECU_FAULT_FLAG</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="6aa2812a-6e4c-4500-8965-39a0253ebb25">
|
|
<dataName>portRWA2_ECU_FAULT_FLAG</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="6876f6ac-b361-48f6-83d2-d52798ee8934">
|
|
<dataName>portRWA_ECU_FAULT_FLAG</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="c85e34fb-5f17-42a5-844c-6433be16922f">
|
|
<dataName>portRWS_RackAngleCommand</dataName>
|
|
<type>RootInport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="57a60fa9-9d03-40b8-8b5c-fc395b1ba21f">
|
|
<dataName>portTarget_IDB_Out</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="fe74a477-1053-406b-8f97-012ba17ab3b5">
|
|
<dataName>portTarget_MCU_Out</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<globalData type="sltp.mm.core.GlobalData" uuid="68742c2c-cba8-4118-9c90-65748218eb45">
|
|
<dataName>portTarget_RWA_Out</dataName>
|
|
<type>RootOutport</type>
|
|
</globalData>
|
|
<priorityDirection>HighNumberLast</priorityDirection>
|
|
<unusedTaskIds>1</unusedTaskIds>
|
|
<defaultEventBehavior type="sltp.mm.core.EventBehavior" uuid="892c6dc3-b87c-49b1-a4bc-a3d44bef9115"/>
|
|
<editorState type="sltp.mm.core.EditorState" uuid="7becc8ed-b1f0-43a6-8b2b-5d40275f3397">
|
|
<isSynchronized>true</isSynchronized>
|
|
<panelState type="sltp.mm.core.EditorPanelState" uuid="82fad48e-7cb0-4a87-8547-e6cf5309aa21"/>
|
|
</editorState>
|
|
<rootTask type="sltp.mm.core.Task" uuid="8969e6f1-2245-402c-8af9-c5d110e51aa9">
|
|
<context type="sltp.mm.core.Context" uuid="787d0a1b-0a0b-40c6-9923-1f2af53f19b1"/>
|
|
<explicit>false</explicit>
|
|
<name>Default</name>
|
|
<priority>-2147483648</priority>
|
|
<subgraph type="sltp.mm.core.Graph" uuid="7681e8ae-bc6f-4ca4-b306-6aa963fe1d4d">
|
|
<tasks type="sltp.mm.core.Task" uuid="410d9c42-a121-4acd-b88f-af4fd050a991">
|
|
<context type="sltp.mm.core.Context" uuid="787d0a1b-0a0b-40c6-9923-1f2af53f19b1"/>
|
|
<explicit>false</explicit>
|
|
<id>2</id>
|
|
<isTimed>true</isTimed>
|
|
<name>D1</name>
|
|
<priority>40</priority>
|
|
<rates type="sltp.mm.core.Rate" uuid="3cb91d97-4fc0-4f82-bdf3-a514d9c2065d">
|
|
<annotation>D1</annotation>
|
|
<color>-12240129</color>
|
|
<hasBlocks>true</hasBlocks>
|
|
<identifier>ClassicPeriodicDiscrete0.0020</identifier>
|
|
<rateIndex>0</rateIndex>
|
|
<rateSpec type="sltp.mm.core.RateSpec">
|
|
<period>.002</period>
|
|
</rateSpec>
|
|
<sti>0</sti>
|
|
</rates>
|
|
</tasks>
|
|
</subgraph>
|
|
</rootTask>
|
|
</sltpContext>
|
|
<stateWriterToOwnerMap type="ModelRefInfoRepo.StateWriterInfo" uuid="33a1e4b4-ab8d-4034-a9cb-d89762324d7f"/>
|
|
<stoClientDataRegistry type="sto.ClientDataRegistry" uuid="ba49eeb7-ce0e-4c65-b0da-432132810cb4">
|
|
<dataSets type="sto.ClientClockNamedDataSet" uuid="2f13c3a1-db83-4ec7-b5c6-4207fc521a15">
|
|
<tag>sltpEvents</tag>
|
|
</dataSets>
|
|
<dataSets type="sto.ClientTaskHierarchyElementNamedDataSet" uuid="cee1088c-e468-45af-b17d-41cbc2f3bb9a">
|
|
<tag>sltpTaskGroups</tag>
|
|
</dataSets>
|
|
<dataSets type="sto.ClientTaskHierarchyElementNamedDataSet" uuid="f13fc13e-2ad9-4f8f-8947-772e7f16067d">
|
|
<dSet type="ModelRefInfoRepo.SltpTaskData" uuid="50eccc76-0245-451e-b833-140c7723cb7b"/>
|
|
<tSet type="ModelRefInfoRepo.SltpTaskData" uuid="50eccc76-0245-451e-b833-140c7723cb7b">
|
|
<dataName>D1</dataName>
|
|
<linkedSet type="sto.ClientTaskHierarchyElementNamedDataSet" uuid="f13fc13e-2ad9-4f8f-8947-772e7f16067d"/>
|
|
<id type="sto.TaskHierarchyElementId">
|
|
<clockId>ADM_Integrated_Logic::defaultTimer</clockId>
|
|
<id>_task0</id>
|
|
</id>
|
|
</tSet>
|
|
<tag>sltpTasks</tag>
|
|
</dataSets>
|
|
</stoClientDataRegistry>
|
|
<varTsUIDMap type="ModelRefInfoRepo.VarTsUIDMap" uuid="d8d087b3-aaf2-417b-8163-581b11b94aed"/>
|
|
</ModelRefInfoRepo.ModelRefInfoRoot>
|
|
</MF0> |