使用simulink实现永磁同步电机无感控制代码自动生成（IF强拖启动）

%% Model initialization callback for the model the following models: % % Model : Closed Loop Control of 3-phase motors % Description : Set Parameters for Closed Loop Control of 3-phase motors % File name : stm32_pmsm_foc_data.m % Model name : mcb_pmsm_foc_sensorless_nucleo_f401re.slx % Copyright 2021 The MathWorks, Inc. %% Set PWM Switching frequency PWM_frequency = 20e3; %Hz // converter s/w freq T_pwm = 1/PWM_frequency; %s // PWM switching time period %% Set Sample Times Ts = T_pwm; %sec // Sample time step for controller Ts_simulink = T_pwm/2; %sec // Simulation time step for model simulation Ts_motor = T_pwm/2; %Sec // Simulation sample time Ts_inverter = T_pwm/2; %sec // Simulation time step for average value inverter Ts_speed = 10*Ts; %Sec // Sample time for speed controller %% Set data type for controller & code-gen dataType = 'single'; % Floating point code-generation %% System Parameters // Hardware parameters % Set Target Parameters target.CPU_frequency = 170e6; %Hz // Clock frequency target.PWM_frequency = PWM_frequency; %Hz // PWM frequency target.PWM_Counter_Period = round(target.CPU_frequency/target.PWM_frequency/2); % //PWM timer counts for up-down counter target.ADC_Vref = 3.3; %V // ADC voltage reference for LAUNCHXL-F28379D target.ADC_MaxCount = 4095; % // Max count for 12 bit ADC pmsm = mcb_SetPMSMMotorParameters('BLY172S'); %% pmsm=pt; pmsm.Rs=0.34; pmsm.Ld=0.13e-3; pmsm.Lq=0.13e-3; pmsm.Ke=5.32; pmsm.p=2; %pmsm.FluxPM=30*sqrt(2)*pmsm.Ke/pmsm.p/3.14/1000/2; pmsm.FluxPM=sqrt(2)*30*pmsm.Ke/pmsm.p/3.14/1000/sqrt(3); pmsm.Kt=1.5*pmsm.p/2*pmsm.FluxPM; pmsm.N_max=3000; pmsm.PositionOffset = 0.1917; % Sensorless not required pmsm.J=14.01e-6; pmsm.B=23.35e-6; % Set inverter details inverter.model = 'X-NUCLEO-IHM07M1'; % // Manufacturer Model Number inverter.sn = 'INV_XXXX'; % // Manufacturer Serial Number inverter.V_dc = 24; %V // DC Link Voltage of the Inverter (Required for motor) inverter.I_trip = 3.55; %Amps // Max current for trip inverter.Rds_on = 2e-3; %Ohms // Rds ON for X-NUCLEO-IHM07M1 (From motor driver chip) inverter.Rshunt = 0.33; %Ohms // Rshunt for X-NUCLEO-IHM07M1 inverter.CtSensAOffset = 1950; %Counts // ADC Offset for phase-A inverter.CtSensBOffset = 1949; %Counts // ADC Offset for phase-B inverter.ADCGain = 1; % // ADC Gain factor scaled by SPI (On board amplification is not possible) inverter.EnableLogic = 1; % // Active high for X-NUCLEO-IHM07M1 enable pin (EN_GATE) inverter.invertingAmp = -1; % // Non inverting current measurement amplifier % // With respect to modelling conventions, current is positive % // when current is measured flowing out of motor terminal and % // amplified with inverting amplifier. In STM board, current % // amplified with non-inverting amplifier. Hence considerd -1. inverter.ISenseVref = 3.3; %V // Voltage ref of inverter current sense circuit inverter.ISenseVoltPerAmp = 0.505; %V/Amps // Current sense voltage output per 1 A current (Rshunt * iSense op-amp gain) inverter.ISenseMax = inverter.ISenseVref/(2*inverter.ISenseVoltPerAmp); %Amps // Maximum Peak-Neutral current that can be measured by inverter current sense inverter.R_board = inverter.Rds_on + inverter.Rshunt/3; %Ohms inverter.ADCOffsetCalibEnable = false; %% Derive Characteristics pmsm.N_base = mcb_getBaseSpeed(pmsm,inverter); %rpm // Base speed of motor at given Vdc %pmsm.N_base=5000; % mcb_getCharacteristics(pmsm,inverter); %% PU System details // Set base values for pu conversion PU_System = mcb_SetPUSystem(pmsm,inverter); %% Set Acceleration acceleration = 20000/PU_System.N_base; % P.U/Sec // Maximum allowable acceleraton %% Open loop reference values T_Ref_openLoop = 1; % Sec // Time for open-loop start-up Speed_openLoop_PU = 0.1; % PU // Per-Unit speed referene for open-loop start-up Vd_Ref_openLoop_PU = Speed_openLoop_PU*2; % Use 1.2x for Dyno setup and 2x for others %% Controller design // Get ballpark values! PI_params = mcb.internal.SetControllerParameters(pmsm,inverter,PU_System,T_pwm,2*Ts,Ts_speed); % Set SMO parameters %smo = mcb_ComputeSMOParameters(pmsm,Ts,PU_System); % Values are derived from SMO block after pressing compute default % parameters button. smo.BackEmfObsGain = 0.9; smo.CurrentObsGain = 0.14127;% 0.55327; % for 10kHz % 0.14127; % for 20kHz %smo.CutoffFreq = 976.4;% for 10kHz % 600; % for 20kHz smo.CutoffFreq = 600; %Updating delays for simulation PI_params.delay_Currents = int32(Ts/Ts_simulink); PI_params.delay_Position = int32(Ts/Ts_simulink); PI_params.delay_Speed = int32(Ts_speed/Ts_simulink); PI_params.delay_Speed1 = (PI_params.delay_IIR + 0.5*Ts)/Ts_speed; PI_params.Ki_speed=1.1547; % mcb_getControlAnalysis(pmsm,inverter,PU_System,PI_params,Ts,Ts_speed); motor = pmsm; motor.polePairs = pmsm.p; motor.base_speed = 3000; motor.base_freq = motor.base_speed*motor.polePairs/60; % Convert all parameters of datatype double to single %% Displaying model variables disp(pmsm); disp(inverter); disp(target); disp(PU_System);