资源简介
clear all
%%Set motor parameter
ls = 0.0085;
rs = 2.875;
rated_flux = 0.175;
Pole_pair = 4;
%%Run PMSM control model
SampingTime = 0.000001;
sim('pmsm_ideal/pmsm_ideal.slx');
DataLength = length(V);
%%Sliding Mode Observer Parameter
I_hat=[0;0];
I_Gradient_hat=[0;0];
k = 200;
%%Log Data
BackEMFCommandLog(1:DataLength,1:2) = 0;
BackEMFAfterLPFLog(1:DataLength,1:2) = 0;
EstimateTheata(1:DataLength) = 0;
EstimateW(1:DataLength) = 0;
EstimateWAfterLPF(1:DataLength) = 0;
EstimateTheataAfterCompensate(1:DataLength) = 0;
RealAngle(1:DataLength) = 0;
for i=1:DataLength
%%Sliding Mode Obsevvation
I_hat = I_hat SampingTime * I_Gradient_hat;
%k*sign(I_hat-I(i,:)') >= Max(ea,eb)
u = k*sign(I_hat-I(i,:)');
I_Gradient_hat = V(i,:)' / ls - I_hat * (rs/ls) - u /ls; %%u=Bemf
BackEMFCommandLog(i,1:2) = u;
if (i == 1)
continue;
end
%%Get Back-EMF on Clarke axis
%First order butterworth filter, cut-off Freq=50hz
BackEMFAfterLPFLog(i,:) = 0.00015705*BackEMFCommandLog(i,:)' 0.00015705*BackEMFCommandLog(i-1,:)' 0.99968*BackEMFAfterLPFLog(i-1,:)';
%%Get Estimate Electrical Angle
EstimateTheata(i) = atan2(-BackEMFAfterLPFLog(i,1),BackEMFAfterLPFLog(i,2));
%Shift(-pi to pi)
if(EstimateTheata(i) < 0)
EstimateTheata(i) = 2*pi EstimateTheata(i);
end
%%Get Estimate Electrical Speed
EstimateW(i) = (EstimateTheata(i) - EstimateTheata(i-1));
%Compensate phase change
if( EstimateW(i) > pi)
EstimateW(i) = 2*pi-EstimateW(i);
elseif ( EstimateW(i) < -pi)
EstimateW(i) = 2*pi EstimateW(i);
end
EstimateW(i) = EstimateW(i) / SampingTime;
%First order butterworth filter, cut-off Freq=50hz
EstimateWAfterLPF(i) = 0.00015705*EstimateW(i) 0.00015705*EstimateW(i-1) 0.99968*EstimateWAfterLPF(i-1);
%%Compensate Estimate Electrical Angle phse shift
EstimateTheataAfterCompensate(i) = EstimateTheata(i) atan(EstimateWAfterLPF(i)/(100*pi));
if(EstimateTheataAfterCompensate(i) > 2*pi)
EstimateTheataAfterCompensate(i) = EstimateTheataAfterCompensate(i) - 2 * pi;
end
%%Get Real Electrical Angle
RealAngle(i) = atan2(sin(theata(i)),cos(theata(i)));
%Shift(-pi to pi)
if(RealAngle(i) < 0)
RealAngle(i) = 2*pi RealAngle(i);
end
end
T = [0:SampingTime:SampingTime*(DataLength-1)];
%%Plot Estimate Angle and Speed
figure('Name','SMO Data');
subplot(2,1,1);
plot(T,EstimateTheata);
title('SMO Estimate Electrical Theata');
xlabel('time')
ylabel('£c');
subplot(2,1,2);
plot(T,EstimateWAfterLPF)
title('SMO Estimate Electrical Speed');
ylabel('W');
xlabel('time')
%%Real Angle and SMO Angle
figure('Name','Real Angle and SMO Angle');
plot(T,RealAngle);
hold on
plot(T,EstimateTheataAfterCompensate,'--');
hold off
xlabel('time')
ylabel('£c');
legend('RealAngle','Senserless Angle')
%%Set motor parameter
ls = 0.0085;
rs = 2.875;
rated_flux = 0.175;
Pole_pair = 4;
%%Run PMSM control model
SampingTime = 0.000001;
sim('pmsm_ideal/pmsm_ideal.slx');
DataLength = length(V);
%%Sliding Mode Observer Parameter
I_hat=[0;0];
I_Gradient_hat=[0;0];
k = 200;
%%Log Data
BackEMFCommandLog(1:DataLength,1:2) = 0;
BackEMFAfterLPFLog(1:DataLength,1:2) = 0;
EstimateTheata(1:DataLength) = 0;
EstimateW(1:DataLength) = 0;
EstimateWAfterLPF(1:DataLength) = 0;
EstimateTheataAfterCompensate(1:DataLength) = 0;
RealAngle(1:DataLength) = 0;
for i=1:DataLength
%%Sliding Mode Obsevvation
I_hat = I_hat SampingTime * I_Gradient_hat;
%k*sign(I_hat-I(i,:)') >= Max(ea,eb)
u = k*sign(I_hat-I(i,:)');
I_Gradient_hat = V(i,:)' / ls - I_hat * (rs/ls) - u /ls; %%u=Bemf
BackEMFCommandLog(i,1:2) = u;
if (i == 1)
continue;
end
%%Get Back-EMF on Clarke axis
%First order butterworth filter, cut-off Freq=50hz
BackEMFAfterLPFLog(i,:) = 0.00015705*BackEMFCommandLog(i,:)' 0.00015705*BackEMFCommandLog(i-1,:)' 0.99968*BackEMFAfterLPFLog(i-1,:)';
%%Get Estimate Electrical Angle
EstimateTheata(i) = atan2(-BackEMFAfterLPFLog(i,1),BackEMFAfterLPFLog(i,2));
%Shift(-pi to pi)
if(EstimateTheata(i) < 0)
EstimateTheata(i) = 2*pi EstimateTheata(i);
end
%%Get Estimate Electrical Speed
EstimateW(i) = (EstimateTheata(i) - EstimateTheata(i-1));
%Compensate phase change
if( EstimateW(i) > pi)
EstimateW(i) = 2*pi-EstimateW(i);
elseif ( EstimateW(i) < -pi)
EstimateW(i) = 2*pi EstimateW(i);
end
EstimateW(i) = EstimateW(i) / SampingTime;
%First order butterworth filter, cut-off Freq=50hz
EstimateWAfterLPF(i) = 0.00015705*EstimateW(i) 0.00015705*EstimateW(i-1) 0.99968*EstimateWAfterLPF(i-1);
%%Compensate Estimate Electrical Angle phse shift
EstimateTheataAfterCompensate(i) = EstimateTheata(i) atan(EstimateWAfterLPF(i)/(100*pi));
if(EstimateTheataAfterCompensate(i) > 2*pi)
EstimateTheataAfterCompensate(i) = EstimateTheataAfterCompensate(i) - 2 * pi;
end
%%Get Real Electrical Angle
RealAngle(i) = atan2(sin(theata(i)),cos(theata(i)));
%Shift(-pi to pi)
if(RealAngle(i) < 0)
RealAngle(i) = 2*pi RealAngle(i);
end
end
T = [0:SampingTime:SampingTime*(DataLength-1)];
%%Plot Estimate Angle and Speed
figure('Name','SMO Data');
subplot(2,1,1);
plot(T,EstimateTheata);
title('SMO Estimate Electrical Theata');
xlabel('time')
ylabel('£c');
subplot(2,1,2);
plot(T,EstimateWAfterLPF)
title('SMO Estimate Electrical Speed');
ylabel('W');
xlabel('time')
%%Real Angle and SMO Angle
figure('Name','Real Angle and SMO Angle');
plot(T,RealAngle);
hold on
plot(T,EstimateTheataAfterCompensate,'--');
hold off
xlabel('time')
ylabel('£c');
legend('RealAngle','Senserless Angle')
代码片段和文件信息
clear all
%%Set motor parameter
ls = 0.0085;
rs = 2.875;
rated_flux = 0.175;
Pole_pair = 4;
%%Run PMSM control model
SampingTime = 0.000001;
sim（‘pmsm_ideal/pmsm_ideal.slx‘）;
DataLength = length（V）;
%%Sliding Mode Observer Parameter
I_hat=[0;0];
I_Gradient_hat=[0;0];
k = 200;
%%Log Data
BackEMFCommandLog（1:DataLength1:2） = 0;
BackEMFAfterLPFLog（1:DataLength1:2） = 0;
EstimateTheata（1:DataLength） = 0;
EstimateW（1:DataLength） = 0;
EstimateWAfterLPF（1:DataLength） = 0;
EstimateTheataAfterCompensate（1:DataLength） = 0;
RealAngle（1:DataLength） = 0;
for i=1:DataLength
%%Sliding Mode Obsevvation
I_hat = I_hat + SampingTime * I_Gradient_hat;
%k*sign（I_hat-I（i:）‘） >= Max（eaeb）
u = k*sign（I_hat-I（i:）‘）;
I_Gradient_hat = V（i:）‘ / ls - I_hat * （rs/ls） - u /ls; %%u=Bemf
BackEMFCommandLog（i1:2） = u;
if （i == 1）
continue;
end
%%Get Back-EMF on Clarke axis
%First order butterworth filter cut-off Freq=50h相关资源
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