%% 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);
