bdfm.m

spwm逆变器供电的无刷反馈电机调速系统的m文件编的算法

function [sys,x0,str,ts] = BDFM(t,x,u,flag)
%SIMOM Example state-space M-file S-function with internal A,B,C,D matrices
%   This S-function implements a system described by state-space equations:
%   
%           dx/dt = A*x + B*u
%               y = C*x + D*u
%   
%   where x is the state vector, u is vector of inputs, and y is the vector
%   of outputs. The matrices, A,B,C,D are embedded into the M-file.
%   
%   See sfuntmpl.m for a general S-function template.
%
%   See also SFUNTMPL.
    
%电机的数学模型为
%  [iqp' idp' icp' idc' iqr' idr']'=-inv(L)*[R+G]*[iqp idp icp idc iqr idr]'+inv(L)*[uqp udp uqc udc uqr  udr]';
%   uqr=0，  udr=0
%  R=[Rp 0 0 0 0 0;
%     0 Rp 0 0 0 0;
%     0 0 Rc 0 0 0;
%     0 0 0 Rc 0 0;
%     0 0 0 0 Rr 0;
%     0 0 0 0 0 Rr]
%  G=[        0       Pp*Lsp*w    0       0        0     Pp*Mp*w;
%        -Pp*Lsp*w        0       0       0    -Pp*Mp*w     0     ;
%             0           0       0   Pc*Lsc*w     0     Pc*Mc*w  ;
%             0           0   -Pc*Lsc*w   0     Pc*Mc*w     0]    ;
%             0           0       0       0        0        0     ;
%             0           0       0       0        0        0       ]
%  L=[ Lsp   0    0    0     Mp   0 ;
%       0   Lsp   0    0     0    Mp;
%       0    0   Lsc   0    -Mc   0 ;
%       0    0    0   Lsc    0    Mc;
%       Mp   0   -Mc   0     Lr   0 ;
%       0    Mp   0    Mc    0    Lr  ]
J=0.03;
Rp=0.81;
Rc=0.81;
Lsp=80e-3;
Lsc=630e-3;
Mp=0.89e-3;
Mc=4.3e-3;
Pp=3;
Pc=1;
Lr=0.04e-3;
Rr=1.57e-3;
TL=15;

switch flag,

  %%%%%%%%%%%%%%%%%%
  % Initialization %
  %%%%%%%%%%%%%%%%%%
  case 0     
    [sys,x0,str,ts] = mdlInitializeSizes;                                

  %%%%%%%%%%%%%%%
  % Derivatives %
  %%%%%%%%%%%%%%%
  case 1,
    sys = mdlDerivatives(t,x,u);

  %%%%%%%%%%%
  % Outputs %
  %%%%%%%%%%%
  case 3,
    sys = mdlOutputs(t,x,u);
 
  %%%%%%%%%%%%%
  % Terminate %
  %%%%%%%%%%%%%
case{2,4,9} 
sys=[]; % Unused flags 
otherwise 
error(['Unhandled flag=',num2str(flag)]); % Error handling 
end 
%end simom

%
%=============================================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the S-function.
%=============================================================================
%
function [sys,x0,str,ts] = mdlInitializeSizes

sizes = simsizes;

sizes.NumContStates  = 7;  % 有iqp， idp， icp ，idc ，iqr， idr,w
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 2;  %输出有Te，w
sizes.NumInputs      = 4;  % 输入有uqp ，udp， uqc， udc 
sizes.DirFeedthrough = 0;
sizes.NumSampleTimes = 1;
sys = simsizes(sizes);
x0  = [0,0 ,0 ,0, 0 ,0, 0]; 
str = [ ];
ts  = [0 0];

% end mdlInitializeSizes
%
%=============================================================================
% mdlDerivatives
% Return the derivatives for the continuous states.
%=============================================================================
%
function sys = mdlDerivatives(t,x,u)
J=0.03;
Rp=0.81;
Rc=0.81;
Lsp=80e-3;
Lsc=630e-3;
Mp=0.89e-3;
Mc=4.3e-3;
Pp=3;
Pc=1;
Lr=0.04e-3;
Rr=1.57e-3;
TL=15;
  R=[Rp 0 0 0 0 0;
    0 Rp 0 0 0 0;
    0 0 Rc 0 0 0;
    0 0 0 Rc 0 0;
    0 0 0 0 Rr 0;
    0 0 0 0 0 Rr]; 

  
  G=[ 0        Pp*Lsp*x(7)    0          0      0       Pp*Mp*x(7) ;
  -Pp*Lsp*x(7)      0         0          0  -Pp*Mp*x(7)       0     ;
      0             0         0    Pc*Lsc*x(7)  0       Pc*Mc*x(7);
      0             0  -Pc*Lsc*x(7)      0  Pc*Mc*x(7)       0;
      0             0         0          0      0             0;
      0             0         0          0      0             0   ];
  L=[ Lsp   0    0    0     Mp   0 ;
       0   Lsp   0    0     0    Mp;
       0    0   Lsc   0    -Mc   0 ;
       0    0    0   Lsc    0    Mc;
       Mp   0   -Mc   0     Lr   0 ;
       0    Mp   0    Mc    0    Lr  ];
   
   U=[u(1);u(2);u(3);u(4);0;0]
   X=[x(1);x(2);x(3);x(4);x(5);x(6)]
   A=R+G;
   dI=-1*inv(L)*A*X+inv(L)*U;
   Te=Pp*Mp*[x(1)*x(6)-x(2)*x(5)]+Pc*Mc*[x(3)*x(6)+x(4)*x(5)];
  % w=x(7);
   dw=(Te-TL)/J;
   sys=[dI ;dw];


% end mdlDerivatives
%
%=============================================================================
% mdlOutputs
% Return the output vector for the S-function
%=============================================================================
%
function sys = mdlOutputs(t,x,u)
J=0.03;
Rp=0.81;
Rc=0.81;
Lsp=80e-3;
Lsc=630e-3;
Mp=0.89e-3;
Mc=4.3e-3;
Pp=3;
Pc=1;
Lr=0.04e-3;
Rr=1.57e-3;
TL=15;


Te=Pp*Mp*[x(1)*x(6)-x(2)*x(5)]+Pc*Mc*[x(3)*x(6)+x(4)*x(5)];
w=x(7);
sys=[ Te;w ];

% end mdlOutputs