├── Documentation ├── FOCsimulation.slx ├── LICENSE ├── Motor_script.m └── README.md /Documentation: -------------------------------------------------------------------------------- 1 | Find in this document step step by step to reproduce the motor simulation for different input scenarios: 2 | 3 | 1) The first step is to run the script "Motor_script.m" in order to load the model parameters. 4 | 5 | 2) Open the simulink model "FOCsimulation.slx" 6 | Inside this Simulink file, you will find three main blocks: 7 | -Input: The pre-set inputs are designed and labled with their required simulation time and grouped in [Step, Ramp, Random, Generated] 8 | -FOC: Here is the model of the FOC control scheme and where the scope is placed to verify the speed tracking of the motor control 9 | -Motor/Inverter Model: Hrre is the inverter and motor model which is parametrized via "Motor-script" 10 | 11 | 3) In the input block, manually connect the desired input shape to the input conditioning block. 12 | Inside the "Generated input shape" block, there are some pre-built test cases with their specific simulation time [Ts=value] 13 | 14 | 4) Set the simulation time for the selected input 15 | 5) Open the "Speed tracking scope" 16 | 6) Run the simulation 17 | 18 | To generate a dataset. store the "simout" signal values in an array 19 | (array = out.simout.signals.values;) 20 | -------------------------------------------------------------------------------- /FOCsimulation.slx: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/juancnustes/FOC_PMSM/e529fa95ca49e6e9be70414b33359886a11901ff/FOCsimulation.slx -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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put in command window, then save array 9 | 10 | %% Set PWM Switching frequency 11 | PWM_frequency = 30e3; %Hz // converter s/w freq 12 | T_pwm = 1/PWM_frequency; %s // PWM switching time period 13 | 14 | %% Set Sample Times 15 | Ts = T_pwm; %sec // Sample time step for controller 16 | Ts_simulink = T_pwm/2; %sec // Simulation time step for model simulation 17 | Ts_motor = T_pwm/2; %Sec // Simulation sample time 18 | Ts_inverter = T_pwm/2; %sec // Simulation time step for average value inverter 19 | Ts_speed = 30*Ts; %Sec // Sample time for speed controller 20 | 21 | %% Set data type for controller & code-gen 22 | dataType = 'single'; % Floating point code-generation 23 | 24 | %% System Parameters // Hardware parameters 25 | 26 | % Set Target Parameters 27 | target.CPU_frequency = 84e6; %Hz // Clock frequency 28 | target.PWM_frequency = PWM_frequency; %Hz // PWM frequency 29 | target.PWM_Counter_Period = round(target.CPU_frequency/target.PWM_frequency/2); % //PWM timer counts for up-down counter 30 | target.ADC_Vref = 3.3; %V // ADC voltage reference for LAUNCHXL-F28379D 31 | target.ADC_MaxCount = 4095; % // Max count for 12 bit ADC 32 | 33 | %% Motor Parameters () 34 | pmsm.p = 4; % // Pole Pairs for the motor 35 | pmsm.Rs = 0.4; %Ohm // Stator Resistor 36 | pmsm.Ld = 0.6e-3; %H // D-axis inductance value 37 | pmsm.Lq = 0.6e-3; %H // Q-axis inductance value 38 | pmsm.J = 4.8018552467e-06; %Kg-m2 // Inertia in SI units 39 | pmsm.B = 9.6037104933e-06; %Kg-m2/s // Friction Co-efficient 40 | pmsm.Ke = 4; %Bemf Const // Vpk_LL/krpm 41 | pmsm.Kt = 0.04103; %Nm/A // Torque constant 42 | pmsm.I_rated= 3.5; %A // Rated current (phase-peak) 43 | pmsm.N_max = 10000; %rpm // Max speed 44 | pmsm.PositionOffset = 0.1712; %PU position// Position Offset 45 | pmsm.QEPSlits = 1250; % // QEP Encoder Slits 46 | pmsm.FluxPM = (pmsm.Ke)/(sqrt(3)*2*pi*1000*pmsm.p/60); %PM flux computed from Ke 47 | pmsm.T_rated = (3/2)*pmsm.p*pmsm.FluxPM*pmsm.I_rated; %Get T_rated from I_rated 48 | 49 | pmsm.N_base = 4000; % Motor base speed 50 | pmsm.PositionOffset = 0.1917; % Sensorless not required 51 | 52 | %% Set inverter details (X-NUCLEO-IHM07M) 53 | 54 | inverter.V_dc = 24; %V // DC Link Voltage of the Inverter (Required for motor) 55 | inverter.I_trip = 3.55; %Amps // Max current for trip 56 | inverter.Rds_on = 2e-3; %Ohms // Rds ON for X-NUCLEO-IHM07M1 (From motor driver chip) 57 | inverter.Rshunt = 0.33; %Ohms // Rshunt for X-NUCLEO-IHM07M1 58 | inverter.CtSensAOffset = 1665; %Counts // ADC Offset for phase-A 59 | inverter.CtSensBOffset = 1943; %Counts // ADC Offset for phase-B 60 | inverter.ADCGain = 1; % // ADC Gain factor scaled by SPI (On board amplification is not possible) 61 | inverter.EnableLogic = 1; % // Active high for X-NUCLEO-IHM07M1 enable pin (EN_GATE) 62 | inverter.invertingAmp = -1; % // Non inverting current measurement amplifier 63 | inverter.ISenseVref = 3.3; %V // Voltage ref of inverter current sense circuit 64 | inverter.ISenseVoltPerAmp = 0.505; %V/Amps // Current sense voltage output per 1 A current (Rshunt * iSense op-amp gain) 65 | inverter.ISenseMax = inverter.ISenseVref/(2*inverter.ISenseVoltPerAmp); %Amps // Maximum Peak-Neutral current that can be measured by inverter current sense 66 | inverter.R_board = inverter.Rds_on + inverter.Rshunt/3; %Ohms 67 | inverter.ADCOffsetCalibEnable = false; 68 | 69 | %% PU System details // Set base values for pu conversion 70 | PU_System.V_base = (inverter.V_dc/sqrt(3)); 71 | PU_System.I_base = inverter.ISenseMax; 72 | PU_System.N_base = pmsm.N_base; 73 | PU_System.T_base = (3/2)*pmsm.p*pmsm.FluxPM*PU_System.I_base; 74 | PU_System.P_base = (3/2)*PU_System.V_base*PU_System.I_base; 75 | 76 | acceleration = 20000/PU_System.N_base; % P.U/Sec // Maximum allowable acceleraton 77 | 78 | %% Open loop reference values 79 | T_Ref_openLoop = 1; % Sec // Time for open-loop start-up 80 | Speed_openLoop_PU = 0.1; % PU // Per-Unit speed referene for open-loop start-up 81 | Vd_Ref_openLoop_PU = Speed_openLoop_PU*2; % Use 1.2x for Dyno setup and 2x for others 82 | 83 | %% Controller design 84 | PI_params = mcb.internal.SetControllerParameters(pmsm,inverter,PU_System,T_pwm,2*Ts,Ts_speed); 85 | 86 | %Updating delays for simulation 87 | PI_params.delay_Currents = int32(Ts/Ts_simulink); 88 | PI_params.delay_Position = int32(Ts/Ts_simulink); 89 | PI_params.delay_Speed = int32(Ts_speed/Ts_simulink); 90 | PI_params.delay_Speed1 = (PI_params.delay_IIR + 0.5*Ts)/Ts_speed; 91 | 92 | % Convert all parameters of datatype double to single 93 | %% Displaying model variables 94 | disp(pmsm); 95 | disp(inverter); 96 | disp(target); 97 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # FOC_PMSM 2 | Simulink model of a Field Oriented Control scheme applied to a Permanent Magnet Synchronous Motor 3 | 4 | To Run the model, download and open both files. First run the "Motor_Parameter.m" to initialize the model internal values. 5 | Open in Simulink the file "FOCsimulation" and choose among the various pre-set input cases (consider the simulation time written in each input case name). 6 | Visualize the motor control via "Speed tracking scope" 7 | 8 | For a more detailed user guide, read the Documentation script. 9 | --------------------------------------------------------------------------------