mybldc2.m

一个无刷电机仿真的模型

function [sys,x0,str,ts] = bldc(t,x,u,flag,N,R,L,M,BM,Rl,Rr,DF,J,P,F0,Fs)
% BLDC An example M-file S-function for defining a system of

% The expected input vector is:
% (1):  I_U: The U phase instantaneous current
%(2):   I_V: The V phase instantaneous current
%(3):   I_W:The W phase instantaneous current
%(4):   wn:  The current angular velocity 
%(5):   Theta: The current angle (INTEGRAL OF wn)


%OUTPUT VECTOR GENERATED BY THE SYSTEM:
   
%(1):  EMF_u
%(2):  EMF_v
%(3):  EMF_w
%(4):  Torque Phase U
%(5):  Torque Phase V
%(6):  Torque Phase W
%(7):  Friction generated
%(8): angular position of rotor (Normalised by 2*pi)


% Dispatch the flag.

switch flag,
  case 0,
    [sys,x0,str,ts]=mdlInitializeSizes(N,R,L,M,BM,Rl,Rr,DF,J,P,F0,Fs); % Initialization
  case 1,
    sys = mdlDerivatives(t,x,u,N,R,L,M,BM,Rl,Rr,DF,J,P,F0,Fs); % Calculate derivatives
   case 2,                                                                                                    %model update
   sys = mdlUpdate(t,x,u,N,R,L,M,BM,Rl,Rr,DF,J,P,F0,Fs); % update the model
    case 3,
    sys = mdlOutputs(t,x,u,N,R,L,M,BM,Rl,Rr,DF,J,P,F0,Fs); % Calculate outputs
    case 4, % Unused flags
    sys = [];
    case 'reset'
        name = 'mybldc_mdl2/mybldc/my state-space';
    LocalResetController(name);
    case 9,
    sys=mdlTerminate(t,x,u);
    

  %%%%%%%%%%%%%%%%%%%%
  % Unexpected flags %
  %%%%%%%%%%%%%%%%%%%%
  otherwise
    error(['Unhandled flag = ',num2str(flag)]);

end

% End of csfunc.
%==============================================================
% mdlInitializeSizes
% Return the sizes, initial conditions, and sample times for the 
% S-function.
%==============================================================
%
function [sys,x0,str,ts] = mdlInitializeSizes(N,R,L,M,BM,Rl,Rr,DF,J,P,F0,Fs)
%
% Call simsizes for a sizes structure, fill it in and convert it 
% to a sizes array.
%


sizes = simsizes;
sizes.NumContStates  = 0;
sizes.NumDiscStates  = 0;
sizes.NumOutputs     = 8;
sizes.NumInputs      = 5;
sizes.DirFeedthrough = 8;     % Matrix D is nonempty. 
sizes.NumSampleTimes = 1;
sys = simsizes(sizes);
%
% Initialize the initial conditions.
%
x0 = [];
%
% str is an empty matrix.
%
str = [];
%
% Initialize the array of sample times; in this example the sample 
% time is continuous, so set ts to 0 and its offset to 0.
%
ts = [0 0];
% End of mdlInitializeSizes.
%


%==============================================================
% mdlDerivatives
% Return the derivatives for the continuous states.
% Nothing needs to be done here.
%==============================================================
function sys = mdlDerivatives(t,x,u,N,R,L,M,BM,Rl,Rr,DF,J,P,F0,Fs)
sys=[];




%==============================================================
% mdlUpdate
% Update the model parameters.
% Nothing needs to be done here
%==============================================================
 function sys = mdlUpdate(t,x,u,N,R,L,M,BM,Rl,Rr,DF,J,P,F0,Fs); % update the model
 sys=[];

 
%==============================================================
% mdlOutput
% calculate the model outputs and update other blocks ( Adaptive coefficients)
%==============================================================
function sys = mdlOutputs(t,x,u,N,R,L,M,BM,Rl,Rr,DF,J,P,F0,Fs)
theta = rem (u(5),2*pi);                % make theta betweeen 2*pi and -2*pi

sys(8)=theta;                               %output normalised angular position

if  (theta>=0 & theta<pi/6)
     LA= 6*theta/pi;
    LB=-1;
    LC=1;
    
    sys(1)= LA*N*BM*Rl*Rr*u(4);     % Back emf for phase U
    sys(2)=LB*N*BM*Rl*Rr*u(4);      %Back emf for phase V
    sys(3)=LC*N*BM*Rl*Rr*u(4); %Back emf for phase W
    
    sys(4)=BM*Rl*Rr*N*LA*u(1);      % Phase Torque U
    sys(5)=BM*Rl*Rr*N*LB*u(2);      %Phase Torque V
    sys(6)=BM*Rl*Rr*N*LC*u(3);      %Phase Torque W
    
end;

    
if (theta>=pi/6 & theta<pi/3)
   LA=1;
    LB=-1;
    LC=-6*(theta-(2*pi/6))/pi;
    
    sys(1)= LA*N*BM*Rl*Rr*u(4);     % Back emf for phase U
    sys(2)=LB*N*BM*Rl*Rr*u(4);      %Back emf for phase V
    sys(3)=LC*N*BM*Rl*Rr*u(4); %Back emf for phase W
    
    sys(4)=BM*Rl*Rr*N*LA*u(1);      % Phase Torque U
    sys(5)=BM*Rl*Rr*N*LB*u(2);      %Phase Torque V
    sys(6)=BM*Rl*Rr*N*LC*u(3);      %Phase Torque W
    
end;

if (theta>=pi/3 & theta<pi/2)
    LA=1;
    LB=-1;
    LC=-6*(theta-(2*pi/6))/pi;
    sys(1)= LA*N*BM*Rl*Rr*u(4);     % Back emf for phase U
    sys(2)=LB*N*BM*Rl*Rr*u(4);      %Back emf for phase V
    sys(3)=LC*N*BM*Rl*Rr*u(4); %Back emf for phase W
    
    sys(4)=BM*Rl*Rr*N*LA*u(1);      % Phase Torque U
    sys(5)=BM*Rl*Rr*N*LB*u(2);      %Phase Torque V
    sys(6)=BM*Rl*Rr*N*LC*u(3);      %Phase Torque W
    
end;

if (theta>=pi/2 & theta<2*pi/3)
     LA=1;
    LB=(  theta-(4*pi/6) )*6/pi;
    LC=-1;
    sys(1)= LA*N*BM*Rl*Rr*u(4);     % Back emf for phase U
    sys(2)=LB*N*BM*Rl*Rr*u(4);      %Back emf for phase V
    sys(3)=LC*N*BM*Rl*Rr*u(4); %Back emf for phase W
    
    sys(4)=BM*Rl*Rr*N*LA*u(1);      % Phase Torque U
    sys(5)=BM*Rl*Rr*N*LB*u(2);      %Phase Torque V
    sys(6)=BM*Rl*Rr*N*LC*u(3);      %Phase Torque W
end;

if(theta>=2*pi/3 & theta<5*pi/6)
   LA=1;
    LB=(  theta-(2*pi/3) )*6/pi;
    LC=-1;
    sys(1)= LA*N*BM*Rl*Rr*u(4);     % Back emf for phase U
    sys(2)=LB*N*BM*Rl*Rr*u(4);      %Back emf for phase V
    sys(3)=LC*N*BM*Rl*Rr*u(4); %Back emf for phase W
    
    sys(4)=BM*Rl*Rr*N*LA*u(1);      % Phase Torque U
    sys(5)=BM*Rl*Rr*N*LB*u(2);      %Phase Torque V
    sys(6)=BM*Rl*Rr*N*LC*u(3);      %Phase Torque W
end;

if (theta>=5*pi/6 & theta<pi)
    LA=(pi-theta)*6/pi;
    LB=1;
    LC=-1;
    sys(1)= LA*N*BM*Rl*Rr*u(4);     % Back emf for phase U
    sys(2)=LB*N*BM*Rl*Rr*u(4);      %Back emf for phase V
    sys(3)=LC*N*BM*Rl*Rr*u(4); %Back emf for phase W
    
    sys(4)=BM*Rl*Rr*N*LA*u(1);      % Phase Torque U
    sys(5)=BM*Rl*Rr*N*LB*u(2);      %Phase Torque V
    sys(6)=BM*Rl*Rr*N*LC*u(3);      %Phase Torque W
    
end;

if(theta>=pi & theta<7*pi/6)
     LA=(pi-theta)*6/pi;
    LB=1;
    LC=-1;
    sys(1)= LA*N*BM*Rl*Rr*u(4);     % Back emf for phase U
    sys(2)=LB*N*BM*Rl*Rr*u(4);      %Back emf for phase V
    sys(3)=LC*N*BM*Rl*Rr*u(4); %Back emf for phase W
    
    sys(4)=BM*Rl*Rr*N*LA*u(1);      % Phase Torque U
    sys(5)=BM*Rl*Rr*N*LB*u(2);      %Phase Torque V
    sys(6)=BM*Rl*Rr*N*LC*u(3);      %Phase Torque W
    
end;

if(theta>=7*pi/6 & theta<4*pi/3)
    LA= -1;
    LB=1;
    LC=( theta-(4*pi/3))*6/pi;
    sys(1)= LA*N*BM*Rl*Rr*u(4);     % Back emf for phase U
    sys(2)=LB*N*BM*Rl*Rr*u(4);      %Back emf for phase V
    sys(3)=LC*N*BM*Rl*Rr*u(4); %Back emf for phase W
    
    sys(4)=BM*Rl*Rr*N*LA*u(1);      % Phase Torque U
    sys(5)=BM*Rl*Rr*N*LB*u(2);      %Phase Torque V
    sys(6)=BM*Rl*Rr*N*LC*u(3);      %Phase Torque W
    
end;

if (theta>=4*pi/3 & theta<3*pi/2)
   LA= -1;
   LB=1;
   LC=( theta -(4*pi/3))*6/pi; 
    sys(1)= LA*N*BM*Rl*Rr*u(4);     % Back emf for phase U
    sys(2)=LB*N*BM*Rl*Rr*u(4);      %Back emf for phase V
    sys(3)=LC*N*BM*Rl*Rr*u(4); %Back emf for phase W
    
    sys(4)=BM*Rl*Rr*N*LA*u(1);      % Phase Torque U
    sys(5)=BM*Rl*Rr*N*LB*u(2);      %Phase Torque V
    sys(6)=BM*Rl*Rr*N*LC*u(3);      %Phase Torque W
    
end;

if(theta>=3*pi/2 & theta<5*pi/3)
    LA= -1;
    LB=((5*pi/3)-theta)*6/pi;
    LC=1;
    sys(1)= LA*N*BM*Rl*Rr*u(4);     % Back emf for phase U
    sys(2)=LB*N*BM*Rl*Rr*u(4);      %Back emf for phase V
    sys(3)=LC*N*BM*Rl*Rr*u(4); %Back emf for phase W