基于EKF的三相PMSM无传感器矢量控制

function [sys,x0,str,ts] =EKF(t,x,u,flag) % The following outlines the general structure of an S-function. switch flag, %%%%%%%%%%%%%%%%%% % Initialization % %%%%%%%%%%%%%%%%%% case 0, [sys,x0,str,ts]=mdlInitializeSizes; %%%%%%%%%%%%%%% % Derivatives % %%%%%%%%%%%%%%% %%%%%%%%%% % Update % %%%%%%%%%% case 2, sys=mdlUpdate(t,x,u); %%%%%%%%%%% % Outputs % %%%%%%%%%%% case 3, sys=mdlOutputs(t,x,u); %%%%%%%%%%%%%%%%%%%%%%% % GetTimeOfNextVarHit % %%%%%%%%%%%%%%%%%%%%%%% case {1,4,9} sys=[]; %%%%%%%%%%%%% % Terminate % %%%%%%%%%%%%% %%%%%%%%%%%%%%%%%%%% % Unexpected flags % %%%%%%%%%%%%%%%%%%%% otherwise error(['Unhandled flag = ',num2str(flag)]); end % end sfuntmpl %============================================================================= % mdlInitializeSizes % Return the sizes, initial conditions, and sample times for the S-function. %============================================================================= % function [sys,x0,str,ts]=mdlInitializeSizes global P0; sizes = simsizes; sizes.NumContStates = 0; sizes.NumDiscStates = 4; sizes.NumOutputs = 4; sizes.NumInputs = 4; sizes.DirFeedthrough = 0; sizes.NumSampleTimes = 1; sys = simsizes(sizes); % initialize the initial conditions x0 = [0 0 0 0]; P0 = diag([0.1 0.1 0 0]);%P估计初值 % str is always an empty matrix str = []; ts = 1e-6; % end mdlInitializeSizes %======================================================================= % mdlDerivatives % Return the derivatives for the continuous states. %======================================================================= function sys = mdlUpdate(t,x,u) global P0; Rs = 2.875;%电阻 Ls = 0.0085;%电感 np = 2;%极对数 J = 0.008;%转动惯量 flux = 0.3;%磁链 B1 = 0;%阻尼系数 Q = diag([0.1 0.1 1 0.01]); R = diag([0.2 0.2]); T = 1e-6; vs_ab = [u(1) u(2)]'; is_ab = [u(3) u(4)]'; H = [1 0 0 0; 0 1 0 0]; B = [1/Ls 0 0 0; 0 1/Ls 0 0]'; F = [-Rs/Ls 0 flux/Ls*sin(x(4)) flux/Ls*x(3)*cos(x(4));0 -Rs/Ls -... flux/Ls*cos(x(4)) flux/Ls*x(3)*sin(x(4)); 0 0 0 0; 0 0 1 0];%雅克比矩阵 %非线性系统矩阵函数3/2*np^2*flux/J*(x(2)*cos(x(4))-x(1)*sin(x(4)))-B1*x(3)/J f1 = [-Rs/Ls*x(1)+flux/Ls*x(3)*sin(x(4));-Rs/Ls*x(2)-flux/Ls*x(3)*cos(x(4)); 0; x(3)]; f2 = diag([1 1 1 1])+T*F;%系统转移矩阵 X_pred = x+T*(f1+B*vs_ab);%系统转移矩阵 Y_pred = H*X_pred;%测量预测值 Y = is_ab; P_pred = f2*P0*f2'+Q;%预测值 K = P_pred*H'*inv(H*P_pred*H'+R);%增益 sys = X_pred+K*(Y-Y_pred); P0 = P_pred-K*H*P_pred;%估计值 %============================================================================= % mdlOutputs % Return the block outputs. %============================================================================= % function sys=mdlOutputs(t,x,u) sys=x;