def main():
# t_psim, Y_psim = mio.read_csv('bldc_startup_psim_1us_resolution.csv')
# mp.plot_output(t_psim, Y_psim, '.')
freq_sim = 1e6 # simulation frequency
compress_factor = 3
time = pl.arange(0.0, 0.01, 1. / freq_sim) # create time slice vector
X = np.zeros((time.size, dm.sv_size)) # allocate state vector
Xdebug = np.zeros((time.size, dm.dv_size)) # allocate debug data vector
Y = np.zeros((time.size, dm.ov_size)) # allocate output vector
U = np.zeros((time.size, dm.iv_size)) # allocate input vector
X0 = [0, mu.rad_of_deg(0.1), 0, 0, 0] #
X[0, :] = X0
W = [0, 1]
for i in range(1, time.size):
if i == 1:
Uim2 = np.zeros(dm.iv_size)
else:
Uim2 = U[i - 2, :]
Y[i - 1, :] = dm.output(X[i - 1, :],
Uim2) # get the output for the last step
U[i - 1, :] = ctl.run(0, Y[i - 1, :],
time[i -
1]) # run the controller for the last step
tmp = integrate.odeint(dm.dyn,
X[i - 1, :], [time[i - 1], time[i]],
args=(U[i - 1, :], W)) # integrate
X[i, :] = tmp[1, :] # copy integration output to the current step
X[i, dm.sv_theta] = mu.norm_angle(
X[i, dm.sv_theta]) # normalize the angle in the state
tmp, Xdebug[i, :] = dm.dyn_debug(X[i - 1, :], time[i - 1], U[i - 1, :],
W) # get debug data
print_simulation_progress(i, time.size)
Y[-1, :] = Y[-2, :]
U[-1, :] = U[-2, :]
if compress_factor > 1:
time = compress(time, compress_factor)
Y = compress(Y, compress_factor)
X = compress(X, compress_factor)
U = compress(U, compress_factor)
Xdebug = compress(Xdebug, compress_factor)
mp.plot_output(time, Y, '-')
# pl.show()
plt.figure(figsize=(10.24, 5.12))
display_state_and_command(time, X, U)
plt.figure(figsize=(10.24, 5.12))
mp.plot_debug(time, Xdebug)
pl.show()
def main():
# t_psim, Y_psim = mio.read_csv('bldc_startup_psim_1us_resolution.csv')
# mp.plot_output(t_psim, Y_psim, '.')
freq_sim = 1e6 # simulation frequency
compress_factor = 3
time = pl.arange(0.0, 0.01, 1./freq_sim) # create time slice vector
X = np.zeros((time.size, dm.sv_size)) # allocate state vector
Xdebug = np.zeros((time.size, dm.dv_size)) # allocate debug data vector
Y = np.zeros((time.size, dm.ov_size)) # allocate output vector
U = np.zeros((time.size, dm.iv_size)) # allocate input vector
X0 = [0, mu.rad_of_deg(0.1), 0, 0, 0] #
X[0,:] = X0
W = [0, 1]
for i in range(1,time.size):
if i==1:
Uim2 = np.zeros(dm.iv_size)
else:
Uim2 = U[i-2,:]
Y[i-1,:] = dm.output(X[i-1,:], Uim2) # get the output for the last step
U[i-1,:] = ctl.run(0, Y[i-1,:], time[i-1]) # run the controller for the last step
tmp = integrate.odeint(dm.dyn, X[i-1,:], [time[i-1], time[i]], args=(U[i-1,:], W)) # integrate
X[i,:] = tmp[1,:] # copy integration output to the current step
X[i, dm.sv_theta] = mu.norm_angle( X[i, dm.sv_theta]) # normalize the angle in the state
tmp, Xdebug[i,:] = dm.dyn_debug(X[i-1,:], time[i-1], U[i-1,:], W) # get debug data
print_simulation_progress(i, time.size)
Y[-1,:] = Y[-2,:]
U[-1,:] = U[-2,:]
if compress_factor > 1:
time = compress(time, compress_factor)
Y = compress(Y, compress_factor)
X = compress(X, compress_factor)
U = compress(U, compress_factor)
Xdebug = compress(Xdebug, compress_factor)
mp.plot_output(time, Y, '-')
# pl.show()
plt.figure(figsize=(10.24, 5.12))
display_state_and_command(time, X, U)
plt.figure(figsize=(10.24, 5.12))
mp.plot_debug(time, Xdebug)
pl.show()
def backemf(X,thetae_offset):
phase_thetae = mu.norm_angle((X[sv_theta] * (NbPoles / 2.)) + thetae_offset)
bemf_constant = mu.vpradps_of_rpmpv(Kv) # aka. ke in V/rad/s
max_bemf = bemf_constant * X[sv_omega]
bemf = 0.
if 0. <= phase_thetae <= (math.pi * (1./6.)):
bemf = (max_bemf / (math.pi * (1./6.))) * phase_thetae
elif (math.pi/6.) < phase_thetae <= (math.pi * (5./6.)):
bemf = max_bemf
elif (math.pi * (5./6.)) < phase_thetae <= (math.pi * (7./6.)):
bemf = -((max_bemf/(math.pi/6.))* (phase_thetae - math.pi))
elif (math.pi * (7./6.)) < phase_thetae <= (math.pi * (11./6.)):
bemf = -max_bemf
elif (math.pi * (11./6.)) < phase_thetae <= (2.0 * math.pi):
bemf = (max_bemf/(math.pi/6.)) * (phase_thetae - (2. * math.pi))
else:
print "ERROR: angle out of bounds can not calculate bemf {}".format(phase_thetae)
return bemf
def backemf(X, thetae_offset):
phase_thetae = mu.norm_angle((X[sv_theta] * (NbPoles / 2.)) +
thetae_offset)
bemf_constant = mu.vpradps_of_rpmpv(Kv) # aka. ke in V/rad/s
max_bemf = bemf_constant * X[sv_omega]
bemf = 0.
if 0. <= phase_thetae <= (math.pi * (1. / 6.)):
bemf = (max_bemf / (math.pi * (1. / 6.))) * phase_thetae
elif (math.pi / 6.) < phase_thetae <= (math.pi * (5. / 6.)):
bemf = max_bemf
elif (math.pi * (5. / 6.)) < phase_thetae <= (math.pi * (7. / 6.)):
bemf = -((max_bemf / (math.pi / 6.)) * (phase_thetae - math.pi))
elif (math.pi * (7. / 6.)) < phase_thetae <= (math.pi * (11. / 6.)):
bemf = -max_bemf
elif (math.pi * (11. / 6.)) < phase_thetae <= (2.0 * math.pi):
bemf = (max_bemf / (math.pi / 6.)) * (phase_thetae - (2. * math.pi))
else:
print "ERROR: angle out of bounds can not calculate bemf {}".format(
phase_thetae)
return bemf
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
