def display_state_and_command(time, X, U):
titles_state = ['$\\theta$', '$\omega$', '$i_u$', '$i_v$', '$i_w$']
titles_cmd = ['$u_l$', '$u_h$', '$v_l$', '$v_h$', '$w_l$', '$w_h$']
for i in range(0, 2):
plt.subplot(6, 2, 2 * i + 1)
plt.plot(time, mu.deg_of_rad(X[:, i]), 'r', linewidth=3.0)
plt.title(titles_state[i])
for i in range(2, dm.sv_size):
plt.subplot(6, 2, 2 * i + 1)
plt.plot(time, X[:, i], 'r', linewidth=3.0)
plt.title(titles_state[i])
for i in range(0, 6):
plt.subplot(6, 2, 2 * i + 2)
plt.plot(time, U[:, i], 'r', linewidth=3.0)
plt.title(titles_cmd[i])
def display_state_and_command(time, X, U):
titles_state = ['$\\theta$', '$\omega$', '$i_u$', '$i_v$', '$i_w$']
titles_cmd = ['$u_l$', '$u_h$', '$v_l$', '$v_h$', '$w_l$', '$w_h$']
for i in range(0, 2):
plt.subplot(6, 2, 2*i+1)
plt.plot(time,mu.deg_of_rad(X[:,i]), 'r', linewidth=3.0)
plt.title(titles_state[i])
for i in range(2, dm.sv_size):
plt.subplot(6, 2, 2*i+1)
plt.plot(time, X[:,i], 'r', linewidth=3.0)
plt.title(titles_state[i])
for i in range(0, 6):
plt.subplot(6, 2, 2*i+2)
plt.plot(time, U[:,i], 'r', linewidth=3.0)
plt.title(titles_cmd[i])
def display_state_and_command(time, X, U):
titles_state = ["$\\theta$", "$\omega$", "$i_u$", "$i_v$", "$i_w$"]
titles_cmd = ["$u_l$", "$u_h$", "$v_l$", "$v_h$", "$w_l$", "$w_h$"]
for i in range(0, 2):
plt.subplot(6, 2, 2 * i + 1)
plt.plot(time, mu.deg_of_rad(X[:, i]), "r", linewidth=3.0)
plt.title(titles_state[i])
for i in range(2, dm.sv_size):
plt.subplot(6, 2, 2 * i + 1)
plt.plot(time, X[:, i], "r", linewidth=3.0)
plt.title(titles_state[i])
for i in range(0, 6):
plt.subplot(6, 2, 2 * i + 2)
plt.plot(time, U[:, i], "r", linewidth=3.0)
plt.title(titles_cmd[i])
def plot_output(time, Y, ls):
ang_unit = ang_unit_rpm
# Phase current
ax = plt.subplot(4, 1, 1)
ax.yaxis.set_label_text('A', {'color' : 'k', 'fontsize' : 15 })
plt.plot(time,Y[:,dm.ov_iu], ls, linewidth=1.5)
plt.plot(time,Y[:,dm.ov_iv], ls, linewidth=1.5)
plt.plot(time,Y[:,dm.ov_iw], ls, linewidth=1.5)
plt.legend(['$i_u$', '$i_v$', '$i_w$'], loc='upper right')
plt.title('Phase current')
# Phase terminal voltage
ax = plt.subplot(4, 1, 2)
ax.yaxis.set_label_text('V', {'color' : 'k', 'fontsize' : 15 })
plt.plot(time,Y[:,dm.ov_vu], ls, linewidth=1.5)
plt.plot(time,Y[:,dm.ov_vv], ls, linewidth=1.5)
plt.plot(time,Y[:,dm.ov_vw], ls, linewidth=1.5)
plt.legend(['$v_u$', '$v_v$', '$v_w$'], loc='upper right')
plt.title('Phase terminal voltage')
# Rotor mechanical position
ax = plt.subplot(4, 1, 3)
ax.yaxis.set_label_text('Deg', {'color' : 'k', 'fontsize' : 15 })
plt.plot(time,mu.deg_of_rad(Y[:,dm.ov_theta]), ls, linewidth=1.5)
# plt.plot(time, Y[:,dm.ov_theta], ls, linewidth=1.5)
plt.title('Rotor angular position')
# Rotor mechanical angular speed
ax = plt.subplot(4, 1, 4)
if (ang_unit == ang_unit_rad_s):
ax.yaxis.set_label_text('Rad/s', {'color' : 'k', 'fontsize' : 15 })
plt.plot(time,Y[:,dm.ov_omega], ls, linewidth=1.5)
elif (ang_unit == ang_unit_deg_s):
ax.yaxis.set_label_text('Deg/s', {'color' : 'k', 'fontsize' : 15 })
plt.plot(time,mu.degps_of_radps(Y[:,dm.ov_omega]), ls, linewidth=1.5)
elif (ang_unit == ang_unit_rpm):
ax.yaxis.set_label_text('RPM', {'color' : 'k', 'fontsize' : 15 })
plt.plot(time,mu.rpm_of_radps(Y[:,dm.ov_omega]), ls, linewidth=1.5)
plt.title('Rotor Rotational Velocity')
def plot_output(time, Y, ls):
ang_unit = ang_unit_rpm
# Phase current
ax = plt.subplot(4, 1, 1)
ax.yaxis.set_label_text('A', {'color': 'k', 'fontsize': 15})
plt.plot(time, Y[:, dm.ov_iu], ls, linewidth=1.5)
plt.plot(time, Y[:, dm.ov_iv], ls, linewidth=1.5)
plt.plot(time, Y[:, dm.ov_iw], ls, linewidth=1.5)
plt.legend(['$i_u$', '$i_v$', '$i_w$'], loc='upper right')
plt.title('Phase current')
# Phase terminal voltage
ax = plt.subplot(4, 1, 2)
ax.yaxis.set_label_text('V', {'color': 'k', 'fontsize': 15})
plt.plot(time, Y[:, dm.ov_vu], ls, linewidth=1.5)
plt.plot(time, Y[:, dm.ov_vv], ls, linewidth=1.5)
plt.plot(time, Y[:, dm.ov_vw], ls, linewidth=1.5)
plt.legend(['$v_u$', '$v_v$', '$v_w$'], loc='upper right')
plt.title('Phase terminal voltage')
# Rotor mechanical position
ax = plt.subplot(4, 1, 3)
ax.yaxis.set_label_text('Deg', {'color': 'k', 'fontsize': 15})
plt.plot(time, mu.deg_of_rad(Y[:, dm.ov_theta]), ls, linewidth=1.5)
# plt.plot(time, Y[:,dm.ov_theta], ls, linewidth=1.5)
plt.title('Rotor angular position')
# Rotor mechanical angular speed
ax = plt.subplot(4, 1, 4)
if (ang_unit == ang_unit_rad_s):
ax.yaxis.set_label_text('Rad/s', {'color': 'k', 'fontsize': 15})
plt.plot(time, Y[:, dm.ov_omega], ls, linewidth=1.5)
elif (ang_unit == ang_unit_deg_s):
ax.yaxis.set_label_text('Deg/s', {'color': 'k', 'fontsize': 15})
plt.plot(time, mu.degps_of_radps(Y[:, dm.ov_omega]), ls, linewidth=1.5)
elif (ang_unit == ang_unit_rpm):
ax.yaxis.set_label_text('RPM', {'color': 'k', 'fontsize': 15})
plt.plot(time, mu.rpm_of_radps(Y[:, dm.ov_omega]), ls, linewidth=1.5)
plt.title('Rotor Rotational Velocity')
def run_hpwm_l_on_bipol(Sp, Y, t):
elec_angle = mu.norm_angle(Y[dm.ov_theta] * dm.NbPoles/2)
U = np.zeros(dm.iv_size)
step = "none"
# switching pattern based on the "encoder"
# H PWM L ON pattern
if 0. <= elec_angle <= (math.pi * (1./6.)): # second half of step 1
# U off
# V low
# W hpwm
hu = 0
lu = 0
hv = 0
lv = 1
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hw = 1
else:
hw = 0
lw = 0
step = "1b"
elif (math.pi * (1.0/6.0)) < elec_angle <= (math.pi * (3.0/6.0)): # step 2
# U hpwm
# V low
# W off
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hu = 1
else:
hu = 0
lu = 0
hv = 0
lv = 1
hw = 0
lw = 0
step = "2 "
elif (math.pi * (3.0/6.0)) < elec_angle <= (math.pi * (5.0/6.0)): # step 3
# U hpwm
# V off
# W low
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hu = 1
else:
hu = 0
lu = 0
hv = 0
lv = 0
hw = 0
lw = 1
step = "3 "
elif (math.pi * (5.0/6.0)) < elec_angle <= (math.pi * (7.0/6.0)): # step 4
# U off
# V hpwm
# W low
hu = 0
lu = 0
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hv = 1
else:
hv = 0
lv = 0
hw = 0
lw = 1
step = "4 "
elif (math.pi * (7.0/6.0)) < elec_angle <= (math.pi * (9.0/6.0)): # step 5
# U low
# V hpwm
# W off
hu = 0
lu = 1
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hv = 1
else:
hv = 0
lv = 0
hw = 0
lw = 0
step = "5 "
elif (math.pi * (9.0/6.0)) < elec_angle <= (math.pi * (11.0/6.0)): # step 6
# U low
# V off
# W hpwm
hu = 0
lu = 1
hv = 0
lv = 0
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hw = 1
else:
hw = 0
lw = 0
step = "6 "
elif (math.pi * (11.0/6.0)) < elec_angle <= (math.pi * (12.0/6.0)): # first half of step 1
# U off
# V low
# W hpwm
hu = 0
lu = 0
hv = 0
lv = 1
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hw = 1
else:
hw = 0
lw = 0
step = "1a"
else:
print 'ERROR: The electrical angle is out of range!!!'
# Assigning the scheme phase values to the simulator phases
# "Connecting the controller wires to the motor" ^^
# This way we can for example decide which direction we want to turn the motor
U[dm.iv_hu] = hu
U[dm.iv_lu] = lu
U[dm.iv_hv] = hw
U[dm.iv_lv] = lw
U[dm.iv_hw] = hv
U[dm.iv_lw] = lv
if debug:
print 'time {} step {} eangle {} switches {}'.format(t, step, mu.deg_of_rad(elec_angle), U)
return U
def run_hpwm_l_on_bipol(Sp, Y, t):
elec_angle = mu.norm_angle(Y[dm.ov_theta] * dm.NbPoles / 2)
U = np.zeros(dm.iv_size)
step = "none"
# switching pattern based on the "encoder"
# H PWM L ON pattern
if 0. <= elec_angle <= (math.pi * (1. / 6.)): # second half of step 1
# U off
# V low
# W hpwm
hu = 0
lu = 0
hv = 0
lv = 1
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hw = 1
else:
hw = 0
lw = 0
step = "1b"
elif (math.pi * (1.0 / 6.0)) < elec_angle <= (math.pi *
(3.0 / 6.0)): # step 2
# U hpwm
# V low
# W off
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hu = 1
else:
hu = 0
lu = 0
hv = 0
lv = 1
hw = 0
lw = 0
step = "2 "
elif (math.pi * (3.0 / 6.0)) < elec_angle <= (math.pi *
(5.0 / 6.0)): # step 3
# U hpwm
# V off
# W low
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hu = 1
else:
hu = 0
lu = 0
hv = 0
lv = 0
hw = 0
lw = 1
step = "3 "
elif (math.pi * (5.0 / 6.0)) < elec_angle <= (math.pi *
(7.0 / 6.0)): # step 4
# U off
# V hpwm
# W low
hu = 0
lu = 0
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hv = 1
else:
hv = 0
lv = 0
hw = 0
lw = 1
step = "4 "
elif (math.pi * (7.0 / 6.0)) < elec_angle <= (math.pi *
(9.0 / 6.0)): # step 5
# U low
# V hpwm
# W off
hu = 0
lu = 1
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hv = 1
else:
hv = 0
lv = 0
hw = 0
lw = 0
step = "5 "
elif (math.pi * (9.0 / 6.0)) < elec_angle <= (math.pi *
(11.0 / 6.0)): # step 6
# U low
# V off
# W hpwm
hu = 0
lu = 1
hv = 0
lv = 0
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hw = 1
else:
hw = 0
lw = 0
step = "6 "
elif (math.pi *
(11.0 / 6.0)) < elec_angle <= (math.pi *
(12.0 / 6.0)): # first half of step 1
# U off
# V low
# W hpwm
hu = 0
lu = 0
hv = 0
lv = 1
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hw = 1
else:
hw = 0
lw = 0
step = "1a"
else:
print("ERROR: The electrical angle is out of range!!!")
# Assigning the scheme phase values to the simulator phases
# "Connecting the controller wires to the motor" ^^
# This way we can for example decide which direction we want to turn the motor
U[dm.iv_hu] = hu
U[dm.iv_lu] = lu
U[dm.iv_hv] = hw
U[dm.iv_lv] = lw
U[dm.iv_hw] = hv
U[dm.iv_lw] = lv
if debug:
print('time {} step {} eangle {} switches {}'.format(
t, step, mu.deg_of_rad(elec_angle), U))
return U
