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Moved Matlab files to a new repo 

Moved all the Matlab related files for the FOC motor control to a new repository:
bldc-motor-control-FOC
This commit is contained in:
EmanuelFeru 2020-09-01 18:10:02 +02:00
parent b1f7c4c296
commit 2890745fbb
540 changed files with 8 additions and 447086 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
.gitignore vendored
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.pio/
.pioenvs/
.vscode/
01_Matlab/slprj/
MDK-ARM/DebugConfig/
MDK-ARM/Listing/
MDK-ARM/Objects/

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01_Matlab/01_Libraries/01_Controller/BLDC_controller_Lib.slx
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01_Matlab/03_CreateParamTable/create_tableParamType.m
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% This file is part of the hoverboard-new-firmware-hack-FOC project
%
% Author: Emanuel FERU
% Copyright © 2019 Emanuel FERU <aerdronix@gmail.com>
%
% This program is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
%
% This program is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with this program. If not, see <http://www.gnu.org/licenses/>.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% =========================================================================
% get_param(gcb, 'BlockType')
% Compile model
BLDCmotorControl_FOC_R2017b_fixdt([],[],[],'compile');
modelName = 'BLDCmotorControl_FOC_R2017b_fixdt';
Parameter = '';
DataType = '';
% Search for constants
Blocks = find_system(modelName, 'regexp', 'on', 'BlockType', 'Constant');
for k = 1:length(Blocks)
if strcmp('yellow',get_param(Blocks{k},'BackgroundColor')) % get only the tunnable parameters
val = get_param(Blocks{k}, 'Value'); % BreakpointsData, Table
typ = get_param(Blocks{k}, 'CompiledPortDataTypes');
Parameter{end+1,1} = val;
DataType{end+1,1} = typ.Outport{1};
end
end
% Search for PreLookup
Blocks = find_system(modelName, 'regexp', 'on', 'BlockType', 'PreLookup');
for k = 1:length(Blocks)
if strcmp('yellow',get_param(Blocks{k},'BackgroundColor')) % get only the tunnable parameters
val = get_param(Blocks{k}, 'BreakpointsData'); % BreakpointsData, Table
typ = get_param(Blocks{k}, 'CompiledPortDataTypes');
Parameter{end+1,1} = val;
DataType{end+1,1} = typ.Inport{1};
end
end
% Search for Interpolation_n-D
Blocks = find_system(modelName, 'regexp', 'on', 'BlockType', 'Interpolation_n-D');
for k = 1:length(Blocks)
if strcmp('yellow',get_param(Blocks{k},'BackgroundColor')) % get only the tunnable parameters
val = get_param(Blocks{k}, 'Table'); % BreakpointsData, Table
typ = get_param(Blocks{k}, 'CompiledPortDataTypes');
Parameter{end+1,1} = val;
DataType{end+1,1} = typ.Outport{1};
end
end
% Search for Relay
Blocks = find_system(modelName, 'regexp', 'on', 'BlockType', 'Relay');
for k = 1:length(Blocks)
if strcmp('yellow',get_param(Blocks{k},'BackgroundColor')) % get only the tunnable parameters
val1 = get_param(Blocks{k}, 'OnSwitchValue');
val2 = get_param(Blocks{k}, 'OffSwitchValue');
typ = get_param(Blocks{k}, 'CompiledPortDataTypes');
Parameter{end+1,1} = val1;
Parameter{end+1,1} = val2;
DataType{end+1,1} = typ.Inport{1};
DataType{end+1,1} = typ.Inport{1};
end
end
% Terminate compilation
BLDCmotorControl_FOC_R2017b_fixdt([],[],[],'term');
% Create table
T = table(Parameter,DataType);
T = unique(T, 'rows'); % remove duplicates
T = sortrows(T); % sort
writetable(T,'tableParamType.xlsx'); % write to file
disp('---- Parameters Table: Successful ----');

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01_Matlab/03_CreateParamTable/setBlockSetting.m
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function setBlockSetting(topLevelModel,block,setting,value)
% This function changes a certain setting for a specific type of blocks found within the main model
% ============================================================
% Example
% setBlockSetting(bdroot, 'Inport', 'BackgroundColor', 'cyan');
% setBlockSetting(bdroot, 'Outport', 'BackgroundColor', 'orange');
% ============================================================
% Load Top Model
if( ~bdIsLoaded( topLevelModel ) )
load_system( topLevelModel ); % If Model is not already loaded, load it
end
%% Find Model Reference Blocks in the top level model:
topLevelModelHandle = get_param( topLevelModel , 'Handle' );
blkHandles = find_system( topLevelModelHandle, 'findall', 'on', 'FollowLinks', 'off', 'LookUnderMasks', 'on', 'blocktype', block);
if( ~isempty( blkHandles ) ) % If the model contains model references
for k = 1 : length(blkHandles)
set_param(blkHandles(k), setting, value);
end
end
disp('---- Setting done ----');

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01_Matlab/99_RecycleBin/BLDCmotorControl_FOC_R2017b.slx
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01_Matlab/99_RecycleBin/Filter_fixdt/filtLowPass_ert_rtw_sFix32En16/filtLowPass.c
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/*
* File: filtLowPass.c
*
* Code generated for Simulink model 'filtLowPass'.
*
* Model version : 1.1257
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Mon Feb 24 20:31:06 2020
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex
* Emulation hardware selection:
* Differs from embedded hardware (MATLAB Host)
* Code generation objectives:
* 1. Execution efficiency
* 2. RAM efficiency
* Validation result: Not run
*/
#include "filtLowPass.h"
#ifndef UCHAR_MAX
#include <limits.h>
#endif
#if ( UCHAR_MAX != (0xFFU) ) || ( SCHAR_MAX != (0x7F) )
#error Code was generated for compiler with different sized uchar/char. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if ( USHRT_MAX != (0xFFFFU) ) || ( SHRT_MAX != (0x7FFF) )
#error Code was generated for compiler with different sized ushort/short. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if ( UINT_MAX != (0xFFFFFFFFU) ) || ( INT_MAX != (0x7FFFFFFF) )
#error Code was generated for compiler with different sized uint/int. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if ( ULONG_MAX != (0xFFFFFFFFU) ) || ( LONG_MAX != (0x7FFFFFFF) )
#error Code was generated for compiler with different sized ulong/long. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if 0
/* Skip this size verification because of preprocessor limitation */
#if ( ULLONG_MAX != (0xFFFFFFFFFFFFFFFFULL) ) || ( LLONG_MAX != (0x7FFFFFFFFFFFFFFFLL) )
#error Code was generated for compiler with different sized ulong_long/long_long. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#endif
extern int32_T filtLowPass_l(int32_T rtu_u, uint16_T rtu_coef, DW_filtLowPass
*localDW);
/*===========*
* Constants *
*===========*/
#define RT_PI 3.14159265358979323846
#define RT_PIF 3.1415927F
#define RT_LN_10 2.30258509299404568402
#define RT_LN_10F 2.3025851F
#define RT_LOG10E 0.43429448190325182765
#define RT_LOG10EF 0.43429449F
#define RT_E 2.7182818284590452354
#define RT_EF 2.7182817F
/*
* UNUSED_PARAMETER(x)
* Used to specify that a function parameter (argument) is required but not
* accessed by the function body.
*/
#ifndef UNUSED_PARAMETER
# if defined(__LCC__)
# define UNUSED_PARAMETER(x) /* do nothing */
# else
/*
* This is the semi-ANSI standard way of indicating that an
* unused function parameter is required.
*/
# define UNUSED_PARAMETER(x) (void) (x)
# endif
#endif
/* Output and update for atomic system: '<Root>/filtLowPass' */
int32_T filtLowPass_l(int32_T rtu_u, uint16_T rtu_coef, DW_filtLowPass *localDW)
{
int32_T rtb_UnitDelay1;
int64_T tmp;
int32_T rty_y_0;
/* UnitDelay: '<S2>/UnitDelay1' */
rtb_UnitDelay1 = localDW->UnitDelay1_DSTATE;
/* Product: '<S2>/Divide3' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion'
* Sum: '<S2>/Sum2'
*/
tmp = ((int64_T)((rtu_u << 4) - (rtb_UnitDelay1 >> 12)) * rtu_coef) >> 4;
if (tmp > 2147483647LL) {
tmp = 2147483647LL;
} else {
if (tmp < -2147483648LL) {
tmp = -2147483648LL;
}
}
/* Sum: '<S2>/Sum3' incorporates:
* Product: '<S2>/Divide3'
*/
rty_y_0 = (int32_T)tmp + rtb_UnitDelay1;
/* Update for UnitDelay: '<S2>/UnitDelay1' */
localDW->UnitDelay1_DSTATE = rty_y_0;
return rty_y_0;
}
/* Model step function */
void filtLowPass_step(RT_MODEL *const rtM)
{
DW *rtDW = ((DW *) rtM->dwork);
ExtU *rtU = (ExtU *) rtM->inputs;
ExtY *rtY = (ExtY *) rtM->outputs;
/* Outputs for Atomic SubSystem: '<Root>/filtLowPass' */
/* Outport: '<Root>/y' incorporates:
* Inport: '<Root>/coef'
* Inport: '<Root>/u'
*/
rtY->y = filtLowPass_l(rtU->u, rtU->coef, &rtDW->filtLowPass_l2);
/* End of Outputs for SubSystem: '<Root>/filtLowPass' */
}
/* Model initialize function */
void filtLowPass_initialize(RT_MODEL *const rtM)
{
/* (no initialization code required) */
UNUSED_PARAMETER(rtM);
}
/*
* File trailer for generated code.
*
* [EOF]
*/

97
01_Matlab/99_RecycleBin/Filter_fixdt/filtLowPass_ert_rtw_sFix32En16/filtLowPass.h
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/*
* File: filtLowPass.h
*
* Code generated for Simulink model 'filtLowPass'.
*
* Model version : 1.1257
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Mon Feb 24 20:31:06 2020
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex
* Emulation hardware selection:
* Differs from embedded hardware (MATLAB Host)
* Code generation objectives:
* 1. Execution efficiency
* 2. RAM efficiency
* Validation result: Not run
*/
#ifndef RTW_HEADER_filtLowPass_h_
#define RTW_HEADER_filtLowPass_h_
#ifndef filtLowPass_COMMON_INCLUDES_
# define filtLowPass_COMMON_INCLUDES_
#include "rtwtypes.h"
#endif /* filtLowPass_COMMON_INCLUDES_ */
/* Macros for accessing real-time model data structure */
/* Forward declaration for rtModel */
typedef struct tag_RTM RT_MODEL;
/* Block signals and states (auto storage) for system '<Root>/filtLowPass' */
typedef struct {
int32_T UnitDelay1_DSTATE; /* '<S2>/UnitDelay1' */
} DW_filtLowPass;
/* Block signals and states (auto storage) for system '<Root>' */
typedef struct {
DW_filtLowPass filtLowPass_l2; /* '<Root>/filtLowPass' */
} DW;
/* External inputs (root inport signals with auto storage) */
typedef struct {
int32_T u; /* '<Root>/u' */
uint16_T coef; /* '<Root>/coef' */
} ExtU;
/* External outputs (root outports fed by signals with auto storage) */
typedef struct {
int32_T y; /* '<Root>/y' */
} ExtY;
/* Real-time Model Data Structure */
struct tag_RTM {
ExtU *inputs;
ExtY *outputs;
DW *dwork;
};
/* Model entry point functions */
extern void filtLowPass_initialize(RT_MODEL *const rtM);
extern void filtLowPass_step(RT_MODEL *const rtM);
/*-
* These blocks were eliminated from the model due to optimizations:
*
* Block '<S2>/Scope1' : Unused code path elimination
*/
/*-
* The generated code includes comments that allow you to trace directly
* back to the appropriate location in the model. The basic format
* is <system>/block_name, where system is the system number (uniquely
* assigned by Simulink) and block_name is the name of the block.
*
* Note that this particular code originates from a subsystem build,
* and has its own system numbers different from the parent model.
* Refer to the system hierarchy for this subsystem below, and use the
* MATLAB hilite_system command to trace the generated code back
* to the parent model. For example,
*
* hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/filtLowPass') - opens subsystem BLDCmotorControl_FOC_R2017b_fixdt/filtLowPass
* hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/filtLowPass/Kp') - opens and selects block Kp
*
* Here is the system hierarchy for this model
*
* '<Root>' : 'BLDCmotorControl_FOC_R2017b_fixdt'
* '<S1>' : 'BLDCmotorControl_FOC_R2017b_fixdt/filtLowPass'
* '<S2>' : 'BLDCmotorControl_FOC_R2017b_fixdt/filtLowPass/Low_Pass_Filter'
*/
#endif /* RTW_HEADER_filtLowPass_h_ */
/*
* File trailer for generated code.
*
* [EOF]
*/

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01_Matlab/99_RecycleBin/Mixer_fixdt/mixer.c
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/*
* File: mixer.c
*
* Code generated for Simulink model 'mixer'.
*
* Model version : 1.1173
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Wed Oct 16 19:40:02 2019
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex
* Emulation hardware selection:
* Differs from embedded hardware (MATLAB Host)
* Code generation objectives:
* 1. Execution efficiency
* 2. RAM efficiency
* Validation result: Not run
*/
#include "mixer.h"
#ifndef UCHAR_MAX
#include <limits.h>
#endif
#if ( UCHAR_MAX != (0xFFU) ) || ( SCHAR_MAX != (0x7F) )
#error Code was generated for compiler with different sized uchar/char. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if ( USHRT_MAX != (0xFFFFU) ) || ( SHRT_MAX != (0x7FFF) )
#error Code was generated for compiler with different sized ushort/short. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if ( UINT_MAX != (0xFFFFFFFFU) ) || ( INT_MAX != (0x7FFFFFFF) )
#error Code was generated for compiler with different sized uint/int. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if ( ULONG_MAX != (0xFFFFFFFFU) ) || ( LONG_MAX != (0x7FFFFFFF) )
#error Code was generated for compiler with different sized ulong/long. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if 0
/* Skip this size verification because of preprocessor limitation */
#if ( ULLONG_MAX != (0xFFFFFFFFFFFFFFFFULL) ) || ( LLONG_MAX != (0x7FFFFFFFFFFFFFFFLL) )
#error Code was generated for compiler with different sized ulong_long/long_long. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#endif
extern void mixer_k(int16_T rtu_speed, int16_T rtu_steer, int16_T rtu_speed_coef,
int16_T rtu_steer_coef, int16_T *rty_speedR, int16_T
*rty_speedL);
/*===========*
* Constants *
*===========*/
#define RT_PI 3.14159265358979323846
#define RT_PIF 3.1415927F
#define RT_LN_10 2.30258509299404568402
#define RT_LN_10F 2.3025851F
#define RT_LOG10E 0.43429448190325182765
#define RT_LOG10EF 0.43429449F
#define RT_E 2.7182818284590452354
#define RT_EF 2.7182817F
/*
* UNUSED_PARAMETER(x)
* Used to specify that a function parameter (argument) is required but not
* accessed by the function body.
*/
#ifndef UNUSED_PARAMETER
# if defined(__LCC__)
# define UNUSED_PARAMETER(x) /* do nothing */
# else
/*
* This is the semi-ANSI standard way of indicating that an
* unused function parameter is required.
*/
# define UNUSED_PARAMETER(x) (void) (x)
# endif
#endif
/* Output and update for atomic system: '<Root>/mixer' */
void mixer_k(int16_T rtu_speed, int16_T rtu_steer, int16_T rtu_speed_coef,
int16_T rtu_steer_coef, int16_T *rty_speedR, int16_T *rty_speedL)
{
int16_T rtb_Divide1;
int16_T rtb_Divide2;
int32_T tmp;
/* Product: '<S1>/Divide1' */
rtb_Divide1 = (int16_T)((rtu_speed * rtu_speed_coef) >> 14);
/* Product: '<S1>/Divide2' */
rtb_Divide2 = (int16_T)((rtu_steer * rtu_steer_coef) >> 14);
/* Sum: '<S1>/Sum1' */
tmp = rtb_Divide1 - rtb_Divide2;
if (tmp > 32767) {
tmp = 32767;
} else {
if (tmp < -32768) {
tmp = -32768;
}
}
/* DataTypeConversion: '<S1>/Data Type Conversion2' incorporates:
* Sum: '<S1>/Sum1'
*/
*rty_speedR = (int16_T)(tmp >> 4);
/* Sum: '<S1>/Sum2' */
tmp = rtb_Divide1 + rtb_Divide2;
if (tmp > 32767) {
tmp = 32767;
} else {
if (tmp < -32768) {
tmp = -32768;
}
}
/* DataTypeConversion: '<S1>/Data Type Conversion3' incorporates:
* Sum: '<S1>/Sum2'
*/
*rty_speedL = (int16_T)(tmp >> 4);
}
/* Model step function */
void mixer_step(RT_MODEL *const rtM)
{
ExtU *rtU = (ExtU *) rtM->inputs;
ExtY *rtY = (ExtY *) rtM->outputs;
/* Outputs for Atomic SubSystem: '<Root>/mixer' */
/* Inport: '<Root>/speed' incorporates:
* Inport: '<Root>/speed_coef'
* Inport: '<Root>/steer'
* Inport: '<Root>/steer_coef'
* Outport: '<Root>/speedL'
* Outport: '<Root>/speedR'
*/
mixer_k(rtU->speed, rtU->steer, rtU->speed_coef, rtU->steer_coef, &rtY->speedR,
&rtY->speedL);
/* End of Outputs for SubSystem: '<Root>/mixer' */
}
/* Model initialize function */
void mixer_initialize(RT_MODEL *const rtM)
{
/* (no initialization code required) */
UNUSED_PARAMETER(rtM);
}
/*
* File trailer for generated code.
*
* [EOF]
*/

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01_Matlab/99_RecycleBin/Mixer_fixdt/mixer.h
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/*
* File: mixer.h
*
* Code generated for Simulink model 'mixer'.
*
* Model version : 1.1173
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Wed Oct 16 19:40:02 2019
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex
* Emulation hardware selection:
* Differs from embedded hardware (MATLAB Host)
* Code generation objectives:
* 1. Execution efficiency
* 2. RAM efficiency
* Validation result: Not run
*/
#ifndef RTW_HEADER_mixer_h_
#define RTW_HEADER_mixer_h_
#ifndef mixer_COMMON_INCLUDES_
# define mixer_COMMON_INCLUDES_
#include "rtwtypes.h"
#endif /* mixer_COMMON_INCLUDES_ */
/* Macros for accessing real-time model data structure */
/* Forward declaration for rtModel */
typedef struct tag_RTM RT_MODEL;
/* External inputs (root inport signals with auto storage) */
typedef struct {
int16_T speed; /* '<Root>/speed' */
int16_T steer; /* '<Root>/steer' */
int16_T speed_coef; /* '<Root>/speed_coef' */
int16_T steer_coef; /* '<Root>/steer_coef' */
} ExtU;
/* External outputs (root outports fed by signals with auto storage) */
typedef struct {
int16_T speedR; /* '<Root>/speedR' */
int16_T speedL; /* '<Root>/speedL' */
} ExtY;
/* Real-time Model Data Structure */
struct tag_RTM {
ExtU *inputs;
ExtY *outputs;
};
/* Model entry point functions */
extern void mixer_initialize(RT_MODEL *const rtM);
extern void mixer_step(RT_MODEL *const rtM);
/*-
* These blocks were eliminated from the model due to optimizations:
*
* Block '<S1>/Data Type Conversion4' : Unused code path elimination
* Block '<S1>/Display' : Unused code path elimination
* Block '<S1>/Display1' : Unused code path elimination
* Block '<S1>/Display3' : Unused code path elimination
*/
/*-
* The generated code includes comments that allow you to trace directly
* back to the appropriate location in the model. The basic format
* is <system>/block_name, where system is the system number (uniquely
* assigned by Simulink) and block_name is the name of the block.
*
* Note that this particular code originates from a subsystem build,
* and has its own system numbers different from the parent model.
* Refer to the system hierarchy for this subsystem below, and use the
* MATLAB hilite_system command to trace the generated code back
* to the parent model. For example,
*
* hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/mixer') - opens subsystem BLDCmotorControl_FOC_R2017b_fixdt/mixer
* hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/mixer/Kp') - opens and selects block Kp
*
* Here is the system hierarchy for this model
*
* '<Root>' : 'BLDCmotorControl_FOC_R2017b_fixdt'
* '<S1>' : 'BLDCmotorControl_FOC_R2017b_fixdt/mixer'
*/
#endif /* RTW_HEADER_mixer_h_ */
/*
* File trailer for generated code.
*
* [EOF]
*/

17
01_Matlab/99_RecycleBin/Motor_Control_Model_Package/Model_1_Initialization.m
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%% Copyright 2018 The MathWorks, Inc.%%
clear all;
bdclose all;
clc;
%% PMSM parameters
Ld = 1.7e-3;
Lq = 3.2e-3;
Rs = 0.02;
Lambda_m = 0.2205;
Polepairs = 4;
%% Controller parameters
Iq_reference = 100;
Id_reference = -50;
Gain_P = 1;
Gain_I = 1;

BIN
01_Matlab/99_RecycleBin/Motor_Control_Model_Package/Model_1_PI_Gain_TestBench.slx
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21
01_Matlab/99_RecycleBin/Motor_Control_Model_Package/Model_2_Initialization.m
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%% Copyright 2018 The MathWorks, Inc.%%
clear all;
bdclose all;
clc;
%% PMSM parameters
Ld = 1.7e-3;
Lq = 3.2e-3;
Rs = 0.02;
Lambda_m = 0.2205;
Polepairs = 4;
%% Current Loop PI Controller parameters
Gain_P = 7.74;
Gain_I = 26.84;
%% Speed Loop PI Controller Parameters
Speed_Gain_P = 0.1;
Speed_Gain_I = 0.1;

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01_Matlab/99_RecycleBin/Motor_Control_Model_Package/Model_2_SpeedClosedLoop.slx
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01_Matlab/99_RecycleBin/Motor_Control_Model_Package/Model_3_Flux_Weakening_Control.slx
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26
01_Matlab/99_RecycleBin/Motor_Control_Model_Package/Model_3_Initialization.m
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4
01_Matlab/99_RecycleBin/Motor_Control_Model_Package/ReadMe.txt
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@ -1,4 +0,0 @@
1. All models are built in MATLAB R2018b. Prior releases cannot open them.
2. Before running the model, please first run the corresponding initialization file.
3. The initial PI Gain set for model_1 is not satisfactory. We are going to use SDO to tune the gains.
4. Copyright 2018 The MathWorks, Inc.

26
01_Matlab/99_RecycleBin/Motor_Control_Model_Package/license.txt
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@ -1,26 +0,0 @@
Copyright (c) 2018, The MathWorks, Inc.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* In all cases, the software is, and all modifications and derivatives of the
software shall be, licensed to you solely for use in conjunction with
MathWorks products and service offerings.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

191
01_Matlab/99_RecycleBin/RateLimiter_fixdt/rateLimiter.c
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/*
* File: rateLimiter.c
*
* Code generated for Simulink model 'rateLimiter'.
*
* Model version : 1.1186
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Sun Oct 27 16:29:07 2019
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex
* Emulation hardware selection:
* Differs from embedded hardware (MATLAB Host)
* Code generation objectives:
* 1. Execution efficiency
* 2. RAM efficiency
* Validation result: Not run
*/
#include "rateLimiter.h"
#ifndef UCHAR_MAX
#include <limits.h>
#endif
#if ( UCHAR_MAX != (0xFFU) ) || ( SCHAR_MAX != (0x7F) )
#error Code was generated for compiler with different sized uchar/char. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if ( USHRT_MAX != (0xFFFFU) ) || ( SHRT_MAX != (0x7FFF) )
#error Code was generated for compiler with different sized ushort/short. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if ( UINT_MAX != (0xFFFFFFFFU) ) || ( INT_MAX != (0x7FFFFFFF) )
#error Code was generated for compiler with different sized uint/int. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if ( ULONG_MAX != (0xFFFFFFFFU) ) || ( LONG_MAX != (0x7FFFFFFF) )
#error Code was generated for compiler with different sized ulong/long. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#if 0
/* Skip this size verification because of preprocessor limitation */
#if ( ULLONG_MAX != (0xFFFFFFFFFFFFFFFFULL) ) || ( LLONG_MAX != (0x7FFFFFFFFFFFFFFFLL) )
#error Code was generated for compiler with different sized ulong_long/long_long. \
Consider adjusting Test hardware word size settings on the \
Hardware Implementation pane to match your compiler word sizes as \
defined in limits.h of the compiler. Alternatively, you can \
select the Test hardware is the same as production hardware option and \
select the Enable portable word sizes option on the Code Generation > \
Verification pane for ERT based targets, which will disable the \
preprocessor word size checks.
#endif
#endif
extern int16_T rateLimiter_j(int16_T rtu_u, int16_T rtu_rate, DW_rateLimiter
*localDW);
/*===========*
* Constants *
*===========*/
#define RT_PI 3.14159265358979323846
#define RT_PIF 3.1415927F
#define RT_LN_10 2.30258509299404568402
#define RT_LN_10F 2.3025851F
#define RT_LOG10E 0.43429448190325182765
#define RT_LOG10EF 0.43429449F
#define RT_E 2.7182818284590452354
#define RT_EF 2.7182817F
/*
* UNUSED_PARAMETER(x)
* Used to specify that a function parameter (argument) is required but not
* accessed by the function body.
*/
#ifndef UNUSED_PARAMETER
# if defined(__LCC__)
# define UNUSED_PARAMETER(x) /* do nothing */
# else
/*
* This is the semi-ANSI standard way of indicating that an
* unused function parameter is required.
*/
# define UNUSED_PARAMETER(x) (void) (x)
# endif
#endif
/* Output and update for atomic system: '<Root>/rateLimiter' */
int16_T rateLimiter_j(int16_T rtu_u, int16_T rtu_rate, DW_rateLimiter *localDW)
{
int16_T rtb_UnitDelay;
int16_T rtb_Sum1;
int16_T rtb_Gain;
int16_T rty_y_0;
/* UnitDelay: '<S2>/UnitDelay' */
rtb_UnitDelay = localDW->UnitDelay_DSTATE;
/* Sum: '<S2>/Sum1' incorporates:
* DataTypeConversion: '<S1>/Data Type Conversion1'
*/
rtb_Sum1 = (int16_T)((int16_T)(rtu_u << 4) - rtb_UnitDelay);
/* Switch: '<S3>/Switch2' incorporates:
* RelationalOperator: '<S3>/LowerRelop1'
*/
if (rtb_Sum1 > rtu_rate) {
rtb_Sum1 = rtu_rate;
} else {
/* Gain: '<S1>/Gain' */
rtb_Gain = (int16_T)-rtu_rate;
/* Switch: '<S3>/Switch' incorporates:
* RelationalOperator: '<S3>/UpperRelop'
*/
if (rtb_Sum1 < rtb_Gain) {
rtb_Sum1 = rtb_Gain;
}
/* End of Switch: '<S3>/Switch' */
}
/* End of Switch: '<S3>/Switch2' */
/* Sum: '<S2>/Sum2' */
rty_y_0 = (int16_T)(rtb_Sum1 + rtb_UnitDelay);
/* Update for UnitDelay: '<S2>/UnitDelay' */
localDW->UnitDelay_DSTATE = rty_y_0;
return rty_y_0;
}
/* Model step function */
void rateLimiter_step(RT_MODEL *const rtM)
{
DW *rtDW = ((DW *) rtM->dwork);
ExtU *rtU = (ExtU *) rtM->inputs;
ExtY *rtY = (ExtY *) rtM->outputs;
/* Outputs for Atomic SubSystem: '<Root>/rateLimiter' */
/* Outport: '<Root>/y' incorporates:
* Inport: '<Root>/rate'
* Inport: '<Root>/u'
*/
rtY->y = (int16_T) rateLimiter_j(rtU->u, rtU->rate, &rtDW->rateLimiter_j0);
/* End of Outputs for SubSystem: '<Root>/rateLimiter' */
}
/* Model initialize function */
void rateLimiter_initialize(RT_MODEL *const rtM)
{
/* (no initialization code required) */
UNUSED_PARAMETER(rtM);
}
/*
* File trailer for generated code.
*
* [EOF]
*/

99
01_Matlab/99_RecycleBin/RateLimiter_fixdt/rateLimiter.h
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@ -1,99 +0,0 @@
/*
* File: rateLimiter.h
*
* Code generated for Simulink model 'rateLimiter'.
*
* Model version : 1.1186
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Sun Oct 27 16:29:07 2019
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex
* Emulation hardware selection:
* Differs from embedded hardware (MATLAB Host)
* Code generation objectives:
* 1. Execution efficiency
* 2. RAM efficiency
* Validation result: Not run
*/
#ifndef RTW_HEADER_rateLimiter_h_
#define RTW_HEADER_rateLimiter_h_
#ifndef rateLimiter_COMMON_INCLUDES_
# define rateLimiter_COMMON_INCLUDES_
#include "rtwtypes.h"
#endif /* rateLimiter_COMMON_INCLUDES_ */
/* Macros for accessing real-time model data structure */
/* Forward declaration for rtModel */
typedef struct tag_RTM RT_MODEL;
/* Block signals and states (auto storage) for system '<Root>/rateLimiter' */
typedef struct {
int16_T UnitDelay_DSTATE; /* '<S2>/UnitDelay' */
} DW_rateLimiter;
/* Block signals and states (auto storage) for system '<Root>' */
typedef struct {
DW_rateLimiter rateLimiter_j0; /* '<Root>/rateLimiter' */
} DW;
/* External inputs (root inport signals with auto storage) */
typedef struct {
int16_T u; /* '<Root>/u' */
int16_T rate; /* '<Root>/rate' */
} ExtU;
/* External outputs (root outports fed by signals with auto storage) */
typedef struct {
int16_T y; /* '<Root>/y' */
} ExtY;
/* Real-time Model Data Structure */
struct tag_RTM {
ExtU *inputs;
ExtY *outputs;
DW *dwork;
};
/* Model entry point functions */
extern void rateLimiter_initialize(RT_MODEL *const rtM);
extern void rateLimiter_step(RT_MODEL *const rtM);
/*-
* These blocks were eliminated from the model due to optimizations:
*
* Block '<S3>/Data Type Duplicate' : Unused code path elimination
* Block '<S3>/Data Type Propagation' : Unused code path elimination
*/
/*-
* The generated code includes comments that allow you to trace directly
* back to the appropriate location in the model. The basic format
* is <system>/block_name, where system is the system number (uniquely
* assigned by Simulink) and block_name is the name of the block.
*
* Note that this particular code originates from a subsystem build,
* and has its own system numbers different from the parent model.
* Refer to the system hierarchy for this subsystem below, and use the
* MATLAB hilite_system command to trace the generated code back
* to the parent model. For example,
*
* hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/rateLimiter') - opens subsystem BLDCmotorControl_FOC_R2017b_fixdt/rateLimiter
* hilite_system('BLDCmotorControl_FOC_R2017b_fixdt/rateLimiter/Kp') - opens and selects block Kp
*
* Here is the system hierarchy for this model
*
* '<Root>' : 'BLDCmotorControl_FOC_R2017b_fixdt'
* '<S1>' : 'BLDCmotorControl_FOC_R2017b_fixdt/rateLimiter'
* '<S2>' : 'BLDCmotorControl_FOC_R2017b_fixdt/rateLimiter/Rate_Limiter'
* '<S3>' : 'BLDCmotorControl_FOC_R2017b_fixdt/rateLimiter/Rate_Limiter/Saturation Dynamic'
*/
#endif /* RTW_HEADER_rateLimiter_h_ */
/*
* File trailer for generated code.
*
* [EOF]
*/

244
01_Matlab/99_RecycleBin/init_model_Ffwd.m
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@ -1,244 +0,0 @@
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% This file is part of the hoverboard-new-firmware-hack project
% Compared to previouse commutation method, this project implements
% FOC (Field Oriented Control) for BLDC motors with Hall sensors.
% The new control methods offers superior performanace
% compared to previous method featuring:
% >> reduced noise and vibrations
% >> smooth torque output
% >> improved motor efficiency -> lower energy consumption
%
% Author: Emanuel FERU
% Copyright © 2019 Emanuel FERU <aerdronix@gmail.com>
%
% This program is free software: you can redistribute it and/or modify
% it under the terms of the GNU General Public License as published by
% the Free Software Foundation, either version 3 of the License, or
% (at your option) any later version.
%
% This program is distributed in the hope that it will be useful,
% but WITHOUT ANY WARRANTY; without even the implied warranty of
% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
% GNU General Public License for more details.
%
% You should have received a copy of the GNU General Public License
% along with this program. If not, see <http://www.gnu.org/licenses/>.
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Clear workspace
close all
clear
clc
% Load model parameters
load BLDCmotorControl_data;
Ts = 5e-6; % [s] Model sampling time (200 kHz)
Ts_ctrl = 6e-5; % [s] Controller sampling time (~16 kHz)
f_ctrl = 16e3; % [Hz] Controller frequency = 1/Ts_ctrl (16 kHz)
% Ts_ctrl = 12e-5; % [s] Controller sampling time (~8 kHz)
% Motor parameters
n_polePairs = 15; % [-] Number of pole pairs
a_elecPeriod = 360; % [deg] Electrical angle period
a_elecAngle = 60; % [deg] Electrical angle between two Hall sensor changing events
a_mechAngle = a_elecAngle / n_polePairs; % [deg] Mechanical angle
r_whl = 6.5 * 2.54 * 1e-2 / 2; % [m] Wheel radius. Diameter = 6.5 inch (1 inch = 2.54 cm): Speed[kph] = rpm*(pi/30)*r_whl*3.6
i_sca = 50; % [-] [not tunable] Scalling factor A to int16 (50 = 1/0.02)
%% Control Manager
% Control type selection
CTRL_COM = 0; % [-] Commutation Control
CTRL_FOC = 1; % [-] Field Oriented Control (FOC)
z_ctrlTypSel = 1; % [-] Control Type Selection
% Control model request
OPEN_MODE = 0; % [-] Open mode
VLT_MODE = 1; % [-] Voltage mode
SPD_MODE = 2; % [-] Speed mode
TRQ_MODE = 3; % [-] Torque mode
z_ctrlModReq = 1; % [-] Control Mode Request
%% F01_Estimations
% Position Estimation Parameters
% Hall = 4*hA + 2*hB + hC
% Hall = [0 1 2 3 4 5 6 7]
vec_hallToPos = [0 2 0 1 4 3 5 0]; % [-] Mapping Hall signal to position
% Speed Calculation Parameters
cf_speedCoef = round(f_ctrl * a_mechAngle * (pi/180) * (30/pi)); % [-] Speed calculation coefficient (factors are due to conversions rpm <-> rad/s)
z_maxCntRst = 2000; % [-] Maximum counter value for reset (works also as time-out to detect standing still)
n_commDeacvHi = 30; % [rpm] Commutation method deactivation speed high
n_commAcvLo = 15; % [rpm] Commutation method activation speed low
dz_cntTrnsDetHi = 40; % [-] Counter gradient High for transient behavior detection (used for speed estimation)
dz_cntTrnsDetLo = 20; % [-] Counter gradient Low for steady state detection (used for speed estimation)
n_stdStillDet = 3; % [rpm] Speed threshold for Stand still detection
cf_currFilt = 0.02; % [%] Current filter coefficient [0, 1]. Lower values mean softer filter
cf_speedFilt = 0.20; % [%] Speed filter coefficient [0, 1]. Lower values mean softer filter
%% F02_Diagnostics
b_diagEna = 1; % [-] Diagnostics enable flag: 0 = Disabled, 1 = Enabled
t_errQual = 0.8 * f_ctrl; % [s] Error qualification time
t_errDequal = 2 * f_ctrl; % [s] Error dequalification time
i_errThres = 40 * i_sca; % [A] Maximum current threshold for phase current error detection
%% F04_Field_Oriented_Control
b_FfwdEna = 1; % [-] Feedforward enable flag: 0 = Disabled, 1 = Enabled
mot_Lq = 0; % [uH] Motor Q axis inductance
mot_Ld = 0; % [uH] Motor D axis inductance
mot_lambda = 0; % [mWb] Motor flux linkage
b_selPhaABCurrMeas = 1; % [-] Measured phase currents selection: {iA,iB} = 1; {iB,iC} = 0
i_thresOutlier = 200; % [-] Threshold for outlier detection in the current measurement
b_DCLinkCurrAvail = 0; % [-] Flag for DC Link current measurement availability
dV_openRate = 1000 * Ts_ctrl; % [V/s] Rate for voltage cut-off in Open Mode (Sample Time included in the rate)
% Field Weakening
b_fieldWeakEna = 0; % [-] Field weakening enable parameter: 0 = disable (default), 1 = enable
% id_fieldWeak_M1 = [ 0 0 0.25 0.5 1 2 3 4 4.5 4.8 5 5] * i_sca; % [-] Field weakening current map
% n_fieldWeak_XA = [200 250 300 350 400 450 500 550 600 650 700 750]; % [rpm] Motor speed grid
id_fieldWeak_M1 = [ 0 0 0.05 0.25 1 2 3 4 4.5 4.8 5 5] * i_sca; % [-] Field weakening current map
n_fieldWeak_XA = [400 420 440 460 480 500 520 540 560 580 600 620]; % [rpm] Motor speed grid
% figure
% plot(n_fieldWeak_XA, id_fieldWeak_M1, '.-'); hold on
% grid
% Sine wave look-up table
res_elecAngle = 2;
a_elecAngle_XA = 0:res_elecAngle:360; % [deg] Electrical angle grid
r_sin_M1 = sin((a_elecAngle_XA + 30)*(pi/180)); % Note: 30 deg shift is to allign it with the Hall sensors position
r_cos_M1 = cos((a_elecAngle_XA + 30)*(pi/180));
% figure
% stairs(a_elecAngle_XA, r_sin_M1); hold on
% stairs(a_elecAngle_XA, r_cos_M1);
% legend('sin','cos');
% Voltage Limitations
V_margin = 100; % [-] Voltage margin to make sure that there is a sufficiently wide pulse for a good phase current measurement
Vd_max = 1000 - V_margin;
Vq_max_XA = 0:20:Vd_max;
Vq_max_M1 = sqrt(Vd_max^2 - Vq_max_XA.^2); % Circle limitations look-up table
% figure
% stairs(Vq_max_XA, Vq_max_M1); legend('V_{max}');
% Current Limitations
iq_KpLimProt = 4; % [-] Current limit protection gain
iq_KiLimProt = 3 * Ts_ctrl; % [-] Current limit protection integral gain (only used in SPEED_MODE)
i_max = 15; % [A] Maximum allowed motor current (continuous)
i_max = i_max * i_sca;
iq_max_XA = 0:15:i_max;
iq_max_M1 = sqrt(i_max^2 - iq_max_XA.^2); % Circle limitations look-up table
% figure
% stairs(iq_max_XA, iq_max_M1); legend('i_{max}');
% Speed limitations
n_KpLimProt = 5; % [-] Speed limit protection gain
n_max = 800; % [rpm] Maximum motor speed
% PI control gains
n_Kp = 1;%5;
n_Ki = 10 * Ts_ctrl;%50 * Ts_ctrl; % Ts_ctrl embedded in Ki to avoid one multipilication in the controller
n_Kb = 1000 * Ts_ctrl;
iq_Kp = 0.5;
iq_Ki = 100 * Ts_ctrl;
iq_Kb = 1000 * Ts_ctrl;
id_Kp = 0.5;
id_Ki = 80 * Ts_ctrl;
id_Kb = 1000 * Ts_ctrl;
%% F05_Control_Type_Management
% Commutation method
z_commutMap_M1 = [-1 -1 0 1 1 0; % Phase A
1 0 -1 -1 0 1; % Phase B
0 1 1 0 -1 -1]; % Phase C [-] Commutation method map
% ***********************************************************************************
disp('---- BLDC_controller: Initialization OK ----');
%% Plot control methods
show_fig = 0;
sca_factor = 1000; % [-] scalling factor (to avoid truncation approximations on integer data type)
% Trapezoidal method
a_trapElecAngle_XA = [0 60 120 180 240 300 360]; % [deg] Electrical angle grid
r_trapPhaA_M1 = sca_factor*[ 1 1 1 -1 -1 -1 1];
r_trapPhaB_M1 = sca_factor*[-1 -1 1 1 1 -1 -1];
r_trapPhaC_M1 = sca_factor*[ 1 -1 -1 -1 1 1 1];
% Sinusoidal method
a_sinElecAngle_XA = 0:10:360;
omega = a_sinElecAngle_XA*(pi/180);
pha_adv = 30; % [deg] Phase advance to mach commands with the Hall position
r_sinPhaA_M1 = -sca_factor*sin(omega + pha_adv*(pi/180));
r_sinPhaB_M1 = -sca_factor*sin(omega - 120*(pi/180) + pha_adv*(pi/180));
r_sinPhaC_M1 = -sca_factor*sin(omega + 120*(pi/180) + pha_adv*(pi/180));
% SVM (Space Vector Modulation) calculation
SVM_vec = [r_sinPhaA_M1; r_sinPhaB_M1; r_sinPhaC_M1];
SVM_min = min(SVM_vec);
SVM_max = max(SVM_vec);
SVM_sum = SVM_min + SVM_max;
SVM_vec = SVM_vec - 0.5*SVM_sum;
SVM_vec = (2/sqrt(3))*SVM_vec;
if show_fig
hall_A = [0 0 0 1 1 1 1] + 4;
hall_B = [1 1 0 0 0 1 1] + 2;
hall_C = [0 1 1 1 0 0 0];
color = ['m' 'g' 'b'];
lw = 1.5;
figure
s1 = subplot(221); hold on
stairs(a_trapElecAngle_XA, hall_A, color(1), 'Linewidth', lw);
stairs(a_trapElecAngle_XA, hall_B, color(2), 'Linewidth', lw);
stairs(a_trapElecAngle_XA, hall_C, color(3), 'Linewidth', lw);
xticks(a_trapElecAngle_XA);
grid
yticks(0:5);
yticklabels({'0','1','0','1','0','1'});
title('Hall sensors');
legend('Phase A','Phase B','Phase C','Location','NorthEast');
s2 = subplot(222); hold on
stairs(a_trapElecAngle_XA, hall_A, color(1), 'Linewidth', lw);
stairs(a_trapElecAngle_XA, hall_B, color(2), 'Linewidth', lw);
stairs(a_trapElecAngle_XA, hall_C, color(3), 'Linewidth', lw);
xticks(a_trapElecAngle_XA);
grid
yticks(0:5);
yticklabels({'0','1','0','1','0','1'});
title('Hall sensors');
legend('Phase A','Phase B','Phase C','Location','NorthEast');
s3 = subplot(223); hold on
stairs(a_trapElecAngle_XA, sca_factor*[z_commutMap_M1(1,:) z_commutMap_M1(1,1)] + 6000, color(1), 'Linewidth', lw);
stairs(a_trapElecAngle_XA, sca_factor*[z_commutMap_M1(2,:) z_commutMap_M1(2,1)] + 3000, color(2), 'Linewidth', lw);
stairs(a_trapElecAngle_XA, sca_factor*[z_commutMap_M1(3,:) z_commutMap_M1(3,1)], color(3), 'Linewidth', lw);
xticks(a_trapElecAngle_XA);
yticks(-1000:1000:7000);
yticklabels({'-1000','0','1000','-1000','0','1000','-1000','0','1000'});
ylim([-1000 7000]);
grid
title('Commutation method [0]');
xlabel('Electrical angle [deg]');
s4 = subplot(224); hold on
plot(a_sinElecAngle_XA, SVM_vec(1,:), color(1), 'Linewidth', lw);
plot(a_sinElecAngle_XA, SVM_vec(2,:), color(2), 'Linewidth', lw);
plot(a_sinElecAngle_XA, SVM_vec(3,:), color(3), 'Linewidth', lw);
xticks(a_trapElecAngle_XA);
ylim([-1000 1000])
grid
title('FOC method [1]');
xlabel('Electrical angle [deg]');
linkaxes([s1 s2 s3 s4],'x');
xlim([0 360]);
end

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01_Matlab/99_RecycleBin/pe_electric_engine_dyno.slx
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%% Parameters for Electric Engine Dyno Example
% This example shows how to model an electric vehicle dynamometer test.
% The test environment contains an asynchronous machine (ASM) and an
% interior permanent magnet synchronous machine (IPMSM) connected back-
% to-back through a mechanical shaft. Both machines are fed by high-
% voltage batteries through controlled three-phase converters. The 164 kW
% ASM produces the load torque. The 35 kW IPMSM is the electric machine
% under test. The Control Machine Under Test (IPMSM) subsystem controls the
% torque of the IPMSM. The controller includes a multi-rate PI-based
% control structure. The rate of the open-loop torque control is slower
% than the rate of the closed-loop current control. The task scheduling
% for the controller is implemented as a Stateflow(TM) state machine. The
% Control Load Machine (ASM) subsystem uses a single rate to control the
% speed of the ASM. The Visualization subsystem contains scopes that
% allow you to see the simulation results.
% Copyright 2016-2017 The MathWorks, Inc.
%% Machine Parameters
Pmax = 35000; % Maximum power [W]
Tmax = 205; % Maximum torque [N*m]
Ld = 0.00024368; % Stator d-axis inductance [H]
Lq = 0.00029758; % Stator q-axis inductance [H]
L0 = 0.00012184; % Stator zero-sequence inductance [H]
Rs = 0.010087; % Stator resistance per phase [Ohm]
psim = 0.04366; % Permanent magnet flux linkage [Wb]
p = 8; % Number of pole pairs
%% High-Voltage Battery Parameters
Cdc = 0.001; % DC-link capacitor [F]
Vnom = 325; % Nominal DC voltage[V]
V1 = 300; % Voltage V1(< Vnom)[V]
%% PMSM Control Parameters
Ts = 1e-5; % Fundamental sample time [s]
fsw = 10e3; % PMSM drive switching frequency [Hz]
Tsi = 1e-4; % Sample time for current control loops [s]
Kp_id = 0.8779; % Proportional gain id controller
Ki_id = 710.3004; % Integrator gain id controller
Kp_iq = 1.0744; % Proportional gain iq controller
Ki_iq = 1.0615e+03; % Integrator gain iq controller
%% Zero-Cancellation Transfer Functions
numd_id = Tsi/(Kp_id/Ki_id);
dend_id = [1 (Tsi-(Kp_id/Ki_id))/(Kp_id/Ki_id)];
numd_iq = Tsi/(Kp_iq/Ki_iq);
dend_iq = [1 (Tsi-(Kp_iq/Ki_iq))/(Kp_iq/Ki_iq)];
%% Current References
load pe_ipmsm_35kW_ref_idq;
%% ASM Parameters
Pn = 164e3; % Nominal power [W]
Vn = 550; % rms phase-to-phase rated voltage [V]
fn = 60; % Rated frequency [Hz]
Rs2 = 0.0139; % Stator resistance [pu]
Lls = 0.0672; % Stator leakage inductance [pu]
Rr = 0.0112; % Rotor resistance, referred to the stator side [pu]
Llr = 0.0672; % Rotor leakage inductance, referred to the stator side [pu]
Lm = 2.717; % Magnetizing inductance [pu]
Lr = Llr+Lm; % Rotor inductance [pu]
Ls = Lls+Lm; % Stator inductance [pu]
p2 = 2; % Number of pole pairs [pu]
Vbase = Vn/sqrt(3)*sqrt(2); % Base voltage, peak, line-to-neutral [V]
Ibase = Pn/(1.5*Vbase); % Base current, peak [A]
Zbase = Vbase/Ibase; % Base resistance [Ohm]
wbase = 2*pi*fn; % Base electrical radial frequency [rad/s]
Tbase = Pn/(wbase/p2); % Base torque [N*m]
Rss = Rs2*Zbase; % Stator resistance [Ohm]
Xls = Lls*Zbase; % Stator leakage reactance [Ohm]
Rrr = Rr*Zbase; % Rotor resistance, referred to the stator side [Ohm]
Xlr = Llr*Zbase; % Rotor leakage reactance, referred to the stator side[Ohm]
Xm = Lm*Zbase; % Magnetizing reactance [Ohm]
%% ASM Control Parameters
fsw2 = 2e3; % ASM drive switching frequency [Hz]
Tsc = 1/(fsw2*5); % ASM control sample time [s]
% ASM PI parameters
Kp_ids = 1.08;
Ki_ids = 207.58;
Kp_imr = 52.22;
Ki_imr = 2790.51;
Kp_iqs = 1.08;
Ki_iqs = 210.02;
Kp_wr = 10;
Ki_wr = 100;
%% Coupling Parameters
Jm = 0.1234; % Inertia [Kg*m^2]
ce = 25; % Damping coefficient [N*m/(rad/s)]

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Permission is hereby granted to copy and distribute this license without
modification. This license may not be modified without the express written
permission of its copyright owner.

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8
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/ar/common.js
View File

@ -1,8 +0,0 @@
define(
"dijit/nls/ar/common", ({
buttonOk: "حسنا",
buttonCancel: "الغاء",
buttonSave: "حفظ",
itemClose: "اغلاق"
})
);

6
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/ar/loading.js
View File

@ -1,6 +0,0 @@
define(
"dijit/nls/ar/loading", ({
loadingState: "جاري التحميل...",
errorState: "عفوا، حدث خطأ"
})
);

8
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/az/common.js
View File

@ -1,8 +0,0 @@
define(
"dijit/nls/az/common", ({
"buttonOk" : "Ok",
"buttonCancel" : "Ləğv et",
"buttonSave" : "Saxla",
"itemClose" : "Bağla"
})
);

6
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/az/loading.js
View File

@ -1,6 +0,0 @@
define(
"dijit/nls/az/loading", ({
"loadingState" : "Yüklənir...",
"errorState" : "Problem yarandı"
})
);

8
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/bg/common.js
View File

@ -1,8 +0,0 @@
define(
"dijit/nls/bg/common", ({
buttonOk: "ОК",
buttonCancel: "Отмени",
buttonSave: "Запази",
itemClose: "Затвори"
})
);

6
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/bg/loading.js
View File

@ -1,6 +0,0 @@
define(
"dijit/nls/bg/loading", ({
loadingState: "Зареждане...",
errorState: "Съжаляваме, възникна грешка"
})
);

9
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/bs/common.js
View File

@ -1,9 +0,0 @@
define("dijit/nls/bs/common", {
//begin v1.x content
buttonOk: "OK",
buttonCancel: "Odustani",
buttonSave: "Spremi",
itemClose: "Zatvori"
//end v1.x content
});

7
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/bs/loading.js
View File

@ -1,7 +0,0 @@
define("dijit/nls/bs/loading", {
//begin v1.x content
loadingState: "Učitavanje...",
errorState: "Izvinite, došlo je do greške"
//end v1.x content
});

8
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/ca/common.js
View File

@ -1,8 +0,0 @@
define(
"dijit/nls/ca/common", ({
buttonOk: "D'acord",
buttonCancel: "Cancel·la",
buttonSave: "Desa",
itemClose: "Tanca"
})
);

6
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/ca/loading.js
View File

@ -1,6 +0,0 @@
define(
"dijit/nls/ca/loading", ({
loadingState: "S'està carregant...",
errorState: "Ens sap greu. S'ha produït un error."
})
);

49
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/common.js
View File

@ -1,49 +0,0 @@
define("dijit/nls/common", { root:
//begin v1.x content
({
buttonOk: "OK",
buttonCancel: "Cancel",
buttonSave: "Save",
itemClose: "Close"
})
//end v1.x content
,
"bs": true,
"mk": true,
"sr": true,
"zh": true,
"zh-tw": true,
"uk": true,
"tr": true,
"th": true,
"sv": true,
"sl": true,
"sk": true,
"ru": true,
"ro": true,
"pt": true,
"pt-pt": true,
"pl": true,
"nl": true,
"nb": true,
"ko": true,
"kk": true,
"ja": true,
"it": true,
"id": true,
"hu": true,
"hr": true,
"he": true,
"fr": true,
"fi": true,
"eu": true,
"es": true,
"el": true,
"de": true,
"da": true,
"cs": true,
"ca": true,
"bg": true,
"az": true,
"ar": true
});

8
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/cs/common.js
View File

@ -1,8 +0,0 @@
define(
"dijit/nls/cs/common", ({
buttonOk: "OK",
buttonCancel: "Storno",
buttonSave: "Uložit",
itemClose: "Zavřít"
})
);

6
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/cs/loading.js
View File

@ -1,6 +0,0 @@
define(
"dijit/nls/cs/loading", ({
loadingState: "Probíhá načítání...",
errorState: "Omlouváme se, došlo k chybě"
})
);

8
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/da/common.js
View File

@ -1,8 +0,0 @@
define(
"dijit/nls/da/common", ({
buttonOk: "OK",
buttonCancel: "Annullér",
buttonSave: "Gem",
itemClose: "Luk"
})
);

6
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/da/loading.js
View File

@ -1,6 +0,0 @@
define(
"dijit/nls/da/loading", ({
loadingState: "Indlæser...",
errorState: "Der er opstået en fejl"
})
);

8
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/de/common.js
View File

@ -1,8 +0,0 @@
define(
"dijit/nls/de/common", ({
buttonOk: "OK",
buttonCancel: "Abbrechen",
buttonSave: "Speichern",
itemClose: "Schließen"
})
);

6
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/de/loading.js
View File

@ -1,6 +0,0 @@
define(
"dijit/nls/de/loading", ({
loadingState: "Wird geladen...",
errorState: "Es ist ein Fehler aufgetreten."
})
);

8
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/el/common.js
View File

@ -1,8 +0,0 @@
define(
"dijit/nls/el/common", ({
buttonOk: "ΟΚ",
buttonCancel: "Ακύρωση",
buttonSave: "Αποθήκευση",
itemClose: "Κλείσιμο"
})
);

6
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/el/loading.js
View File

@ -1,6 +0,0 @@
define(
"dijit/nls/el/loading", ({
loadingState: "Φόρτωση...",
errorState: "Σας ζητούμε συγνώμη, παρουσιάστηκε σφάλμα"
})
);

8
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/es/common.js
View File

@ -1,8 +0,0 @@
define(
"dijit/nls/es/common", ({
buttonOk: "Aceptar",
buttonCancel: "Cancelar",
buttonSave: "Guardar",
itemClose: "Cerrar"
})
);

6
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/es/loading.js
View File

@ -1,6 +0,0 @@
define(
"dijit/nls/es/loading", ({
loadingState: "Cargando...",
errorState: "Lo siento, se ha producido un error"
})
);

9
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/eu/common.js
View File

@ -1,9 +0,0 @@
define("dijit/nls/eu/common", {
//begin v1.x content
buttonOk: "Ados",
buttonCancel: "Utzi",
buttonSave: "Gorde",
itemClose: "Itxi"
//end v1.x content
});

7
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/eu/loading.js
View File

@ -1,7 +0,0 @@
define("dijit/nls/eu/loading", {
//begin v1.x content
loadingState: "Kargatzen...",
errorState: "Barkatu, errorea gertatu da"
//end v1.x content
});

8
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/fi/common.js
View File

@ -1,8 +0,0 @@
define(
"dijit/nls/fi/common", ({
buttonOk: "OK",
buttonCancel: "Peruuta",
buttonSave: "Tallenna",
itemClose: "Sulje"
})
);

6
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/fi/loading.js
View File

@ -1,6 +0,0 @@
define(
"dijit/nls/fi/loading", ({
loadingState: "Lataus on meneillään...",
errorState: "On ilmennyt virhe."
})
);

8
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/fr/common.js
View File

@ -1,8 +0,0 @@
define(
"dijit/nls/fr/common", ({
buttonOk: "OK",
buttonCancel: "Annuler",
buttonSave: "Enregistrer",
itemClose: "Fermer"
})
);

6
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/fr/loading.js
View File

@ -1,6 +0,0 @@
define(
"dijit/nls/fr/loading", ({
loadingState: "Chargement...",
errorState: "Une erreur est survenue"
})
);

8
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/he/common.js
View File

@ -1,8 +0,0 @@
define(
"dijit/nls/he/common", ({
buttonOk: "אישור",
buttonCancel: "ביטול",
buttonSave: "שמירה",
itemClose: "סגירה"
})
);

6
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/he/loading.js
View File

@ -1,6 +0,0 @@
define(
"dijit/nls/he/loading", ({
loadingState: "טעינה...‏",
errorState: "אירעה שגיאה"
})
);

8
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/hr/common.js
View File

@ -1,8 +0,0 @@
define(
"dijit/nls/hr/common", ({
buttonOk: "OK",
buttonCancel: "Opoziv",
buttonSave: "Spremi",
itemClose: "Zatvori"
})
);

6
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/hr/loading.js
View File

@ -1,6 +0,0 @@
define(
"dijit/nls/hr/loading", ({
loadingState: "Učitavanje...",
errorState: "Žao nam je, došlo je do greške"
})
);

8
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/hu/common.js
View File

@ -1,8 +0,0 @@
define(
"dijit/nls/hu/common", ({
buttonOk: "OK",
buttonCancel: "Mégse",
buttonSave: "Mentés",
itemClose: "Bezárás"
})
);

6
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/hu/loading.js
View File

@ -1,6 +0,0 @@
define(
"dijit/nls/hu/loading", ({
loadingState: "Betöltés...",
errorState: "Sajnálom, hiba történt"
})
);

9
01_Matlab/BLDC_controller_ert_rtw/html/webview/support/lib/dijit/nls/id/common.js
View File

@ -1,9 +0,0 @@
define(
"dijit/nls/id/common", ({
buttonOk: "OK",
buttonCancel: "Batal",
buttonSave: "Simpan",
itemClose: "Tutup"
})
);

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