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在故障模式下断开推进电机\舵机\启闭机构和敞水机构的电

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zjk
2026-02-26 10:47:26 +08:00
parent 987d8b3ce0
commit d5507b2e00
3 changed files with 58 additions and 5 deletions
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src/pPowerManger/fsm/FaultState.cpp
+53 -2
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@@ -5,8 +5,59 @@ void FaultState::entry() {
PowerManagerFsm::entry();
if(pm->m_missionState.type == TaskType::THROW_LOAD)
{
LOG_F(INFO, "检测到抛载");
pm->m_systemData->setSystemInfo("ERROR:检测到抛载");
LOG_F(INFO, "检测到抛载");
pm->m_systemData->setSystemInfo("ERROR:检测到抛载");
//1 解除启闭机构
unsigned char cmd = 0;
pm->m_lowerCommManager->operate_HVA_actuatorCircuit_Breaker(0);
MOOSPause(3);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover2, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover3, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover5, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowCover6, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
//2 解除敞水机构
pm->m_lowerCommManager->operate_HVA_openWaterCoverStartCylinderCircuit_Breaker(0);
MOOSPause(3);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet1, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet2, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet3, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet4, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet5, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet6, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet7, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowWaterInet8, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
//3 解除艏部舵机
pm->m_lowerCommManager->operate_HVA_bowRudderControlBoxCircuit_Breaker(0);
MOOSPause(3);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderDeploy, (unsigned char)cmd);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::bowRudderServo1, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
//4 解除艉部舵机
pm->m_lowerCommManager->operate_HVA_mastSteeringGearControlBoxCircuit_Breaker(0);
MOOSPause(3);
pm->m_driver.setDeviceState(pm->m_subDisSysCmd, DeviceId::mastLiftingServo, (unsigned char)cmd);
pm->m_upperCommManager->processPeriodicTasks();
//关闭推进电机
pm->m_lowerCommManager->operate_HV_propulsionMotor_Breaker(0);
//检测电机去使能状态，5秒超时
auto startTime = std::chrono::steady_clock::now();
while(pm->m_thrustEnable == 1)
{
// 检查是否超时（5秒）
auto currentTime = std::chrono::steady_clock::now();
auto elapsed = std::chrono::duration_cast<std::chrono::seconds>(currentTime - startTime);
if(elapsed.count() >= 20)
{
LOG_F(WARNING, "电机去使能超时（20秒）");
pm->m_systemData->setSystemInfo("ERROR:电机去使能超时（20秒）");
return;
}
MOOSPause(100);
}
}
}
src/pPowerManger/fsm/Lifting.cpp
+3 -1
View File
@@ -63,7 +63,9 @@ void Lifting::entry() {
MOOSPause(3);
pm->m_lowerCommManager->operate_HV_coolingSystem_Breaker(0);
MOOSPause(3);
// 仪表电恢复待机状态
pm->m_driver.getSTANDBYTable(&pm->m_subDisSysCmd);
pm->m_upperCommManager->processPeriodicTasks();
//2.5 断开动力电断路器
pm->m_lowerCommManager->operate_HV_bowHighVoltageBox_Breaker(0);
MOOSPause(3);
src/pPowerManger/systemData.h
+2 -2
View File
@@ -864,8 +864,8 @@ public:
if(power_bus_status.meterPowerLossSignal == 1) disSysFaultCode.insert(36); else disSysFaultCode.erase(36);
if(power_bus_status.powerLithiumBatteryCircuitBreaker == 1)
{
if(power_bus_status.aBusInsulationStatus == 1) disSysFaultCode.insert(35);
if(power_bus_status.powerBusInsulationStatus == 1) disSysFaultCode.insert(34);
if(power_bus_status.aBusInsulationStatus == 1) disSysFaultCode.insert(35); else disSysFaultCode.erase(35);
if(power_bus_status.powerBusInsulationStatus == 1) disSysFaultCode.insert(34); else disSysFaultCode.erase(34);
}
else
{