runme1st.m

电机的PID控制

% Parametrierung der Simulation
clear all;
clc;

% Parameter der Leistungselektronik
par_endstufe_tau=0.0001;            % [s]

% Parameter der Synchronmaschine
par_SM_kE1=46;                      % [N/A]
par_SM_kF3=138;                     % [V/m/s]
par_SM_R=1.51;                      % [Ohm]

% Parameter der Mechanik
par_primary_numberguides=4;             % [-]
par_primary_primarteil=44.5;            % [kg]
par_primary_schlitten=101.1;            % [kg]
par_primary_fuhrungswagen=1.1;          % [kg]
par_primary_masse=par_primary_primarteil+par_primary_schlitten+par_primary_numberguides*par_primary_fuhrungswagen;

par_primary_Fc=17.5;                    % [N]
par_primary_Fv=50;                      % [Ns/m]
par_primary_Fh=10;                      % [N]
par_primary_beta=66;                    % [s/m]

% Parameter der Messtechnik
par_position_signalperiode=0.000016;    % [T]
par_position_interpolation=10;          % [-]
par_position_diskret=par_position_signalperiode/par_position_interpolation;
par_time_diskret=0.0000001;             % [s]

% Parameter des Stromreglers
Kp_I = 0.09; % S-0-0106 Stromregler Propotionalverstaerkung
         % Einheit: [V/A]
Tn_I = 10^(-5); % S-0-0107 Stromregler Nachstellzeit
         % Einheit: [s]
int_regi = 0; % Startwert des Regler-Integrators       

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% Parameter fuer Drehmomentregelung
I_max = 65.5; % P-0-4046 Wirksamer Spitzenstrom
             % Einheit: [A]
Tg_I = 0.0005; % P-0-0004 Glaettungszeitkonstante
                   % Einheit: [s]
Tg_I_M = 0.002;% S-0-0084 Messwertglaettung
Vg_I = 1;
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%                   
% Parameter fuer Geschwindigkeitsregelung
V_max = 203/60; % S-0-0091 Geschwindigkeitsgrenzwert
         % Einheit: [m/s]
Tg_v = 0.0005; % P-0-0004 Glaettungszeitkonstante
               % Einheit: [s]
Kp_v = 0.000000063; % S-0-0100 Geschwindigkeitsregler Propotionalverstaerkung
            % Einheit: [As/m]
Tn_v = 1e-8; % S-0-0101 Geschwindigkeitsregler Nachstellzeit
            % Einheit: [s]
Vg_v = 1;
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