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Removed diode handling.
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It is not correct to ignore them completely, but because we are not
involving the inductance of the coils while calculating the coil voltage
we are able to ignore this fact too without disturbing the overall
behaviour of the simulator.
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@esden
esden committed Mar 26, 2012
1 parent d56c481 commit 93d7cf5
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Showing 3 changed files with 42 additions and 140 deletions.
2 changes: 1 addition & 1 deletion control.py
View file
Expand Up @@ -27,7 +27,7 @@

PWM_freq = 200000
PWM_cycle_time = (1./200000)
PWM_duty = .75
PWM_duty = 1.
PWM_duty_time = PWM_cycle_time * PWM_duty

debug = False
Expand Down
155 changes: 39 additions & 116 deletions dyn_model.py
View file
Expand Up @@ -86,13 +86,7 @@
iv_hv = 3
iv_lw = 4
iv_hw = 5
iv_dhu = 6
iv_dlu = 7
iv_dhv = 8
iv_dlv = 9
iv_dhw = 10
iv_dlw = 11
iv_size = 12
iv_size = 6


# Components of the perturbation vector
Expand Down Expand Up @@ -127,20 +121,6 @@
dv_ph_star = 6
dv_size = 7

# All diodes conduction vector
adc_uh = 0
adc_ul = 1
adc_vh = 2
adc_vl = 3
adc_wh = 4
adc_wl = 5
adc_size = 6

# Diode conduction vector
dc_h = 0
dc_l = 1
dc_size = 2

#
# Calculate backemf at a given omega offset from the current rotor position
#
Expand Down Expand Up @@ -168,44 +148,6 @@ def backemf(X,thetae_offset):

return bemf

def diode(h, l, i, e, star):
dh = 0
dl = 0

if ((h == 0) and (l == 0)):
if (i < -0.01) or ((e + star) > ((VDC/2) + dvf)):
dh = 1
dl = 0
elif (i > 0.01) or ((e + star) < ((-(VDC/2) - dvf))):
dh = 0
dl = 1
else:
dh = 0
dl = 0
else:
dh = 0
dl = 0

D = [dh, dl]

return D

def diodes(X, Xdebug, U):

DU = diode(U[iv_hu], U[iv_lu], X[sv_iu], Xdebug[dv_eu], Xdebug[dv_ph_star])
DV = diode(U[iv_hv], U[iv_lv], X[sv_iv], Xdebug[dv_ev], Xdebug[dv_ph_star])
DW = diode(U[iv_hw], U[iv_lw], X[sv_iw], Xdebug[dv_ew], Xdebug[dv_ph_star])

Ds = [DU[dc_h],
DU[dc_l],
DV[dc_h],
DV[dc_l],
DW[dc_h],
DW[dc_l]
]

return Ds

#
# Calculate phase voltages
# Returns a vector of phase voltages in reference to the star point
Expand All @@ -217,19 +159,13 @@ def voltages(X, U):

# Check which phases are excited
pux = (U[iv_hu] == 1) or \
(U[iv_lu] == 1) or \
(U[iv_dlu] == 1) or \
(U[iv_dhu] == 1)
(U[iv_lu] == 1)

pvx = (U[iv_hv] == 1) or \
(U[iv_lv] == 1) or \
(U[iv_dlv] == 1) or \
(U[iv_dhv] == 1)
(U[iv_lv] == 1)

pwx = (U[iv_hw] == 1) or \
(U[iv_lw] == 1) or \
(U[iv_dlw] == 1) or \
(U[iv_dhw] == 1)
(U[iv_lw] == 1)

vu = 0.
vv = 0.
Expand All @@ -239,116 +175,107 @@ def voltages(X, U):
if pux and pvx and pwx:
if (U[iv_hu] == 1):
vu = VDC/2.
elif (U[iv_dhu] == 1):
vu = VDC/2. + dvf
elif (U[iv_dlu] == 1):
vu = -(VDC/2. + dvf)
else:
vu = -VDC/2.

if (U[iv_hv] == 1):
vv = VDC/2.
elif (U[iv_dhv] == 1):
vv = VDC/2. + dvf
elif (U[iv_dlv] == 1):
vv = -(VDC/2. + dvf)
else:
vv = -VDC/2.

if (U[iv_hw] == 1):
vw = VDC/2.
elif (U[iv_dhw] == 1):
vw = VDC/2. + dvf
elif (U[iv_dlw] == 1):
vw = -(VDC/2. + dvf)
else:
vw = -VDC/2.

vm = (vu + vv + vw - eu - ev - ew) / 3.

elif pux and pvx:

# calculate excited phase voltages
if (U[iv_hu] == 1):
vu = VDC/2.
elif (U[iv_dhu] == 1):
vu = VDC/2. + dvf
elif (U[iv_dlu] == 1):
vu = -(VDC/2. + dvf)
else:
vu = -VDC/2.

if (U[iv_hv] == 1):
vv = VDC/2.
elif (U[iv_dhv] == 1):
vv = VDC/2. + dvf
elif (U[iv_dlv] == 1):
vv = -(VDC/2. + dvf)
else:
vv = -VDC/2.

# calculate star voltage
vm = (vu + vv - eu - ev) / 2.

# calculate remaining phase voltage
vw = ew + vm

# clip the voltage to freewheeling diodes
#if (vw > ((VDC/2) + dvf)):
# vw = (VDC/2) + dvf;
# vm = (vu + vv + vw - eu - ev - ew) / 3.
#elif (vw < (-(VDC/2) - dvf)):
# vw = -(VDC/2) - dvf;
# vm = (vu + vv + vw - eu - ev - ew) / 3.

elif pux and pwx:
if (U[iv_hu] == 1):
vu = VDC/2.
elif (U[iv_dhu] == 1):
vu = VDC/2. + dvf
elif (U[iv_dlu] == 1):
vu = -(VDC/2. + dvf)
else:
vu = -VDC/2.

if (U[iv_hw] == 1):
vw = VDC/2.
elif (U[iv_dhw] == 1):
vw = VDC/2. + dvf
elif (U[iv_dlw] == 1):
vw = -(VDC/2. + dvf)
else:
vw = -VDC/2.

vm = (vu + vw - eu - ew) / 2.
vv = ev + vm

# clip the voltage to freewheeling diodes
#if (vv > ((VDC/2) + dvf)):
# vv = (VDC/2) + dvf;
# vm = (vu + vv + vw - eu - ev - ew) / 3.
#elif (vv < (-(VDC/2) - dvf)):
# vv = -(VDC/2) - dvf;
# vm = (vu + vv + vw - eu - ev - ew) / 3.

elif pvx and pwx:
if (U[iv_hv] == 1):
vv = VDC/2.
elif (U[iv_dhv] == 1):
vv = VDC/2. + dvf
elif (U[iv_dlv] == 1):
vv = -(VDC/2. + dvf)
else:
vv = -VDC/2.

if (U[iv_hw] == 1):
vw = VDC/2.
elif (U[iv_dhw] == 1):
vw = VDC/2. + dvf
elif (U[iv_dlw] == 1):
vw = -(VDC/2. + dvf)
else:
vw = -VDC/2.

vm = (vv + vw - ev - ew) / 2.
vu = eu + vm

# clip the voltage to freewheeling diodes
#if (vu > ((VDC/2) + dvf)):
# vu = (VDC/2) + dvf;
# vm = (vu + vv + vw - eu - ev - ew) / 3.
#elif (vu < (-(VDC/2) - dvf)):
# vu = -(VDC/2) - dvf;
# vm = (vu + vv + vw - eu - ev - ew) / 3.

elif pux:
if (U[iv_hu] == 1):
vu = VDC/2
elif (U[iv_dhu] == 1):
vu = VDC/2 + dvf
elif (U[iv_dlu] == 1):
vu = -(VDC/2 + dvf)
else:
vu = -VDC/2.

vm = (vu - eu)
vv = ev + vm
vw = ew + vm

# if we want to handle diodes properly how to do that here?

elif pvx:
if (U[iv_hv] == 1):
vv = VDC/2
elif (U[iv_dhv] == 1):
vv = VDC/2 + dvf
elif (U[iv_dlv] == 1):
vv = -(VDC/2 + dvf)
else:
vv = -VDC/2.

Expand All @@ -358,10 +285,6 @@ def voltages(X, U):
elif pwx:
if (U[iv_hw] == 1):
vw = VDC/2
elif (U[iv_dhw] == 1):
vw = VDC/2 + dvf
elif (U[iv_dlu] == 1):
vw = -(VDC/2 + dvf)
else:
vw = -VDC/2.

Expand Down
25 changes: 2 additions & 23 deletions sim_1.py
View file
Expand Up @@ -58,20 +58,6 @@ def print_simulation_progress(count, steps):
if (sim_perc_last != sim_perc):
print "{}%".format(sim_perc)

def copy_diodes(U, D):
Uout = np.zeros(dm.iv_size)

Uout[:] = U[:]

Uout[dm.iv_dhu] = D[dm.adc_uh]
Uout[dm.iv_dlu] = D[dm.adc_ul]
Uout[dm.iv_dhv] = D[dm.adc_vh]
Uout[dm.iv_dlv] = D[dm.adc_vl]
Uout[dm.iv_dhw] = D[dm.adc_wh]
Uout[dm.iv_dlw] = D[dm.adc_wl]

return Uout

def drop_it(a, factor):
new = []
for n, x in enumerate(a):
Expand All @@ -88,16 +74,15 @@ def main():
# mp.plot_output(t_psim, Y_psim, '.')

freq_sim = 1e5 # simulation frequency
compress_factor = 1
time = pl.arange(0.0, 0.016, 1./freq_sim) # create time slice vector
compress_factor = 3
time = pl.arange(0.0, 0.1, 1./freq_sim) # create time slice vector
X = np.zeros((time.size, dm.sv_size)) # allocate state vector
Xdebug = np.zeros((time.size, dm.dv_size)) # allocate debug data vector
Y = np.zeros((time.size, dm.ov_size)) # allocate output vector
U = np.zeros((time.size, dm.iv_size)) # allocate input vector
X0 = [0, mu.rad_of_deg(0.1), 0, 0, 0] #
X[0,:] = X0
W = [0]
D = np.zeros((time.size, dm.adc_size)) # allocate diode conduction vector
for i in range(1,time.size):

if i==1:
Expand All @@ -107,8 +92,6 @@ def main():

Y[i-1,:] = dm.output(X[i-1,:], Uim2) # get the output for the last step
U[i-1,:] = ctl.run(0, Y[i-1,:], time[i-1]) # run the controller for the last step
D[i-1,:] = dm.diodes(X[i-1,:], Xdebug[i-1], U[i-1,:]) # calculate the diode states based on the last step
U[i-1,:] = copy_diodes(U[i-1,:], D[i-1,:]) # copy diode conduction states to the input vector
tmp = integrate.odeint(dm.dyn, X[i-1,:], [time[i-1], time[i]], args=(U[i-1,:], W)) # integrate
X[i,:] = tmp[1,:] # copy integration output to the current step
X[i, dm.sv_theta] = mu.norm_angle( X[i, dm.sv_theta]) # normalize the angle in the state
Expand All @@ -124,7 +107,6 @@ def main():
X = compress(X, compress_factor)
U = compress(U, compress_factor)
Xdebug = compress(Xdebug, compress_factor)
D = compress(D, compress_factor)

mp.plot_output(time, Y, '-')
# pl.show()
Expand All @@ -134,9 +116,6 @@ def main():
plt.figure(figsize=(10.24, 5.12))
mp.plot_debug(time, Xdebug)

plt.figure(figsize=(10.24, 5.12))
mp.plot_diodes(time, D)

pl.show()

if __name__ == "__main__":
Expand Down

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