Skip to content

Commit

Permalink
Adding in Simulink model for validating open loop control
Browse files Browse the repository at this point in the history
  • Loading branch information
@nwdepatie
nwdepatie committed Apr 7, 2024
1 parent d0d217f commit 3ef66b3
Show file tree
Hide file tree
Showing 24 changed files with 3,580 additions and 0 deletions.
31 changes: 31 additions & 0 deletions Test/simulink/.gitignore
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,31 @@
# Windows default autosave extension
*.asv

# OSX / *nix default autosave extension
*.m~

# Compiled MEX binaries (all platforms)
*.mex*

# Packaged app and toolbox files
*.mlappinstall
*.mltbx

# Generated helpsearch folders
helpsearch*/

# Simulink code generation folders
slprj/
sccprj/

# Matlab code generation folders
codegen/

# Simulink autosave extension
*.autosave

# Simulink cache files
*.slxc

# Octave session info
octave-workspace
161 changes: 161 additions & 0 deletions Test/simulink/FOCQepExample.m
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,161 @@
%% Field-Oriented Control of PMSM Using Quadrature Encoder
%
% This example implements the field-oriented control (FOC) technique to control
% the speed of a three-phase permanent magnet synchronous motor (PMSM). The FOC algorithm requires rotor position feedback, which is obtained by a quadrature encoder sensor.
% For details about FOC, see <docid:mcb_gs#mw_2d6dd8ca-938f-44d3-8334-f5e42bf4b73b
% Field-Oriented Control (FOC)>.
%
% This example uses the quadrature encoder sensor to measure the rotor position. The quadrature encoder sensor consists of a disk with two tracks or channels that are coded 90 electrical degrees out of phase. This creates two pulses (A and B) that have a phase difference of 90 degrees and an index pulse (I). Therefore, the controller uses the phase relationship between A and B channels and the transition of channel states to determine the direction of rotation of the motor.
%
% <<../mcb_quad_enc.png>>
%

% Copyright 2020 The MathWorks, Inc.

%% Models
%
% The example includes these models:
%
% * <matlab:openExample('mcb/FOCQepExample','supportingFile','mcb_pmsm_foc_qep_f28069m.slx') mcb_pmsm_foc_qep_f28069m>
%
% * <matlab:openExample('mcb/FOCQepExample','supportingFile','mcb_pmsm_foc_qep_f28069LaunchPad.slx') mcb_pmsm_foc_qep_f28069LaunchPad>
%
% * <matlab:openExample('mcb/FOCQepExample','supportingFile','mcb_pmsm_foc_system.slx') mcb_pmsm_foc_system>
%
% * <matlab:openExample('mcb/FOCQepExample','supportingFile','mcb_pmsm_foc_qep_f28379d.slx') mcb_pmsm_foc_qep_f28379d>
%
% You can use these models for both simulation and code generation.
%%
open_system('mcb_pmsm_foc_qep_f28069m.slx');
%%
%
% For the model names that you can use for different hardware configurations, see the Required Hardware topic in the Generate Code and Deploy Model to Target Hardware section.
%
%% Required MathWorks Products
%
% *To simulate model:*
%
% *1.* For the models: *mcb_pmsm_foc_qep_f28069m*, *mcb_pmsm_foc_qep_f28069LaunchPad*, and *mcb_pmsm_foc_system*
%
% * Motor Control Blockset(TM)
% * Fixed-Point Designer(TM)
%
% *2.* For the model *mcb_pmsm_foc_qep_f28379d*
%
% * Motor Control Blockset(TM)
%
% *To generate code and deploy model:*
%
% *1.* For the models: *mcb_pmsm_foc_qep_f28069m*, *mcb_pmsm_foc_qep_f28069LaunchPad*, and *mcb_pmsm_foc_system*
%
% * Motor Control Blockset(TM)
% * Embedded Coder(R)
% * C2000(TM) Microcontroller Blockset
% * Fixed-Point Designer(TM)
%
% *2.* For the model *mcb_pmsm_foc_qep_f28379d*
%
% * Motor Control Blockset(TM)
% * Embedded Coder(R)
% * C2000(TM) Microcontroller Blockset
% * Fixed-Point Designer(TM) (only needed for optimized code generation)
%
%% Prerequisites
%
% *1.* Obtain the motor parameters.
% We provide default motor parameters with the Simulink(R) model that you can replace with the values from either the motor datasheet or other sources.
%
% However, if you have the motor control hardware, you can estimate the parameters for the motor that you want to use, by using the Motor Control Blockset parameter estimation tool. For instructions, see
% <docid:mcb_gs#mw_5020c0a3-3cde-4f36-bebc-21090973f8f5 Estimate Motor Parameters by Using Motor Control Blockset Parameter Estimation Tool>.
%
% The parameter estimation tool updates the _motorParam_ variable (in the MATLAB(R) workspace) with the estimated motor parameters.
%
% *2.* If you obtain the motor parameters from the datasheet or other sources, update the motor parameters and inverter parameters in the model initialization script
% associated with the Simulink(R) models. For instructions, see
% <docid:mcb_gs#mw_dd32d1fd-68d8-4cfd-8dea-ef7f7ed008c0 Estimate Control Gains from Motor Parameters>.
%
% If you use the parameter estimation tool, you can update the inverter parameters, but do not update the motor parameters in the model initialization script. The script automatically extracts motor parameters from the updated _motorParam_ workspace variable.
%
%% Simulate Model
%
% This example supports simulation. Follow these steps to simulate the
% model.
%
% *1.* Open a model included with this example.
%
% *2.* Click *Run* on the *Simulation* tab to simulate the model.
%
% *3.* Click *Data Inspector* on the *Simulation* tab to view and analyze the simulation
% results.
%
%% Generate Code and Deploy Model to Target Hardware
% This section instructs you to generate code and run the FOC algorithm on
% the target hardware.
%
% This example uses a host and a target model. The host model is a user interface to the controller hardware board. You can run the host model on the host computer. The prerequisite to use the host model is to deploy the target model to the controller hardware board. The host model uses serial communication to command the target Simulink(R) model and run the motor in a closed-loop control.
%
% *Required Hardware*
%
% This example supports these hardware configurations. You can also use the target model name to open the model for the corresponding hardware configuration, from the MATLAB(R) command prompt.
%
% * F28069M control card + DRV8312-69M-KIT inverter: <matlab:openExample('mcb/FOCQepExample','supportingFile','mcb_pmsm_foc_qep_f28069m.slx') mcb_pmsm_foc_qep_f28069m>
%
% For connections related to the preceding hardware configuration, see <docid:mcb_gs#mw_5f4d03ef-ffbd-4718-a6c2-499733b1529e Hardware Connections for DRV8312-69M-KIT board>.
%
% * LAUNCHXL-F28069M controller + BOOSTXL-DRV8305 inverter:
% <matlab:openExample('mcb/FOCQepExample','supportingFile','mcb_pmsm_foc_qep_f28069LaunchPad.slx') mcb_pmsm_foc_qep_f28069LaunchPad> and <matlab:openExample('mcb/FOCQepExample','supportingFile','mcb_pmsm_foc_system.slx') mcb_pmsm_foc_system>
%
% * LAUNCHXL-F28379D controller + (BOOSTXL-DRV8305 or BOOSTXL-3PHGANINV) inverter: <matlab:openExample('mcb/FOCQepExample','supportingFile','mcb_pmsm_foc_qep_f28379d.slx') mcb_pmsm_foc_qep_f28379d>
%
% *NOTE:* When using BOOSTXL-3PHGANINV inverter, ensure that proper insulation is available between bottom layer of BOOSTXL-3PHGANINV and the LAUNCHXL board.
%
% For connections related to the preceding hardware configurations, see <docid:mcb_gs#mw_8a869325-5b0d-4631-afd5-05a23622cc5c Hardware Connections for LAUNCHXL board>.
%
% *Generate Code and Run Model on Target Hardware*
%
% *1.* Simulate the target model and observe the simulation results.
%
% *2.* Complete the hardware connections.
%
% *3.* The model automatically computes the ADC (or current) offset values. To disable this functionality (enabled by default), update the value 0 to the variable inverter.ADCOffsetCalibEnable in the model initialization script.
%
% Alternatively, you can compute the ADC offset values and update it manually in the model initialization scripts. For instructions, see <docid:mcb_gs#mw_2d4f6f28-855c-4e0c-b977-bf5b93a09227 Run 3-Phase AC Motors in Open-Loop Control and Calibrate ADC Offset>.
%
% *4.* Compute the quadrature encoder index offset value and update it in
% the model initialization scripts associated with the target model. For
% instructions, see <docid:mcb_gs#mw_52571b8e-639e-4a24-a8bf-b644eb78edc1
% Quadrature Encoder Offset Calibration for PMSM Motor>.
%
% *NOTE:* Verify the number of slits available in the quadrature encoder sensor
% attached to your motor. Check and update the variable |pmsm.QEPSlits| available in
% the model initialization script. This variable corresponds to the *Encoder slits*
% parameter of the quadrature encoder block. For more details about the *Encoder slits* and *Encoder counts per slit* parameters, see
% <docid:mcb_ref#mw_7eb96849-6b42-4571-9c33-e71df0dca95e Quadrature Decoder>.
%
% *5.* Open the target model for the hardware configuration that you want to use. If you want to change the default hardware configuration settings for the model, see <docid:mcb_gs#mw_3286e9a5-4b65-4b84-9133-a92130b252bc Model Configuration
% Parameters for Sensors>.
%
% *6.* Load a sample program to CPU2 of LAUNCHXL-F28379D, for example,
% program that operates the CPU2 blue LED by using GPIO31 (c28379D_cpu2_blink.slx), to ensure that CPU2 is not mistakenly configured to use the board peripherals intended for CPU1. For more information about the sample program or model, see the Task 2 - Create, Configure and Run the Model for TI Delfino F28379D LaunchPad (Dual Core) section in <docid:c2b_ug#mw_4dc3a55d-e3bc-4773-a16c-67d60b5331bb Getting Started with Texas Instruments C2000 Microcontroller Blockset>.
%
% *7.* Click *Build, Deploy & Start* on the *Hardware* tab to deploy the target model to the hardware.
%
% *8.* Click the <matlab:openExample('mcb/FOCQepExample','supportingFile','mcb_host_model_f28069m.slx') host model> hyperlink in the target model to open the associated host model.
%%
open_system('mcb_host_model_f28069m.slx');
%%
% For details about the serial communication between the host and target
% models, see <docid:mcb_gs#mw_7d703f4b-0b29-4ec7-a42b-0b300f580ccc Communication between Host and Target>.
%
% *9.* In the model initialization script associated with the target model, specify the communication port using the variable _target.comport_. The example uses this variable to update the Port parameter of the Host Serial Setup, Host Serial Receive, and Host Serial Transmit blocks available in the host model.
%
% *10.* Update the Reference Speed value in the host model.
%
% *11.* Click *Run* on the *Simulation* tab to run the host model.
%
% *12.* Change the position of the Start / Stop Motor switch to On, to start running the motor.
%
% *13.* Observe the debug signals from the RX subsystem, in the Time Scope of host model.
%
% *Note*: If you are using a F28379D based controller, you can also select the debug signals that you want to monitor.
%
3 changes: 3 additions & 0 deletions Test/simulink/controls/README.md
View file
Original file line number Diff line number Diff line change
@@ -0,0 +1,3 @@
# Note
All of these files are copied from here with minimal modification
https://dev.ti.com/tirex/explore/node?node=A__AEIJm0rwIeU.2P1OBWwlaA__motor_control_c2000ware_sdk_software_package__0.jXikd__LATEST
Loading

0 comments on commit 3ef66b3

Please sign in to comment.