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main.c
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#include "ACMSim.h"
#if MACHINE_TYPE == INDUCTION_MACHINE
struct InductionMachineSimulated ACM;
void Machine_init(){
int i;
for(i=0;i<5;++i){
ACM.x[i] = 0.0;
}
ACM.rpm = 0.0;
ACM.rpm_cmd = 0.0;
ACM.rpm_deriv_cmd = 0.0;
ACM.Tload = 0.0;
ACM.Tem = 0.0;
ACM.Lmu = 0.4482;
ACM.Lsigma = 0.0126;
ACM.rreq = 1.69;
ACM.rs = 3.04;
ACM.alpha = ACM.rreq / (ACM.Lmu);
ACM.Lmu_inv= 1.0/ACM.Lmu;
ACM.Js = 0.0636; // Awaya92 using im.omg
ACM.npp = 2;
ACM.mu_m = ACM.npp/ACM.Js;
ACM.Ts = MACHINE_TS;
ACM.ial = 0.0;
ACM.ibe = 0.0;
ACM.ual = 0.0;
ACM.ube = 0.0;
}
#elif MACHINE_TYPE == SYNCHRONOUS_MACHINE
struct SynchronousMachineSimulated ACM;
void Machine_init(){
int i;
for(i=0;i<5;++i){
ACM.x[i] = 0.0;
}
ACM.rpm = 0.0;
ACM.rpm_cmd = 0.0;
ACM.rpm_deriv_cmd = 0.0;
ACM.Tload = 0.0;
ACM.Tem = 0.0;
ACM.R = 0.45;
ACM.Ld = 4.15*1e-3;
ACM.Lq = 16.74*1e-3;
ACM.KE = 0.504; // Vs/rad
ACM.L0 = 0.5*(ACM.Ld + ACM.Lq);
ACM.L1 = 0.5*(ACM.Ld - ACM.Lq);
ACM.Js = 0.06; // Awaya92 using ACM.omg
ACM.npp = 2;
ACM.mu_m = ACM.npp/ACM.Js;
ACM.Ts = MACHINE_TS;
ACM.id = 0.0;
ACM.iq = 0.0;
ACM.ial = 0.0;
ACM.ibe = 0.0;
ACM.ud = 0.0;
ACM.uq = 0.0;
ACM.ual = 0.0;
ACM.ube = 0.0;
ACM.theta_d = 0.0;
}
#endif
void rK5_dynamics(double t, double *x, double *fx){
#if MACHINE_TYPE == INDUCTION_MACHINE
// electromagnetic model
fx[2] = ACM.rreq*x[0] - ACM.alpha*x[2] - x[4]*x[3]; // flux-alpha
fx[3] = ACM.rreq*x[1] - ACM.alpha*x[3] + x[4]*x[2]; // flux-beta
fx[0] = (ACM.ual - ACM.rs*x[0] - fx[2])/ACM.Lsigma; // current-alpha
fx[1] = (ACM.ube - ACM.rs*x[1] - fx[3])/ACM.Lsigma; // current-beta
// mechanical model
ACM.Tem = ACM.npp*(x[1]*x[2]-x[0]*x[3]);
fx[4] = (ACM.Tem - ACM.Tload)*ACM.mu_m; // elec. angular rotor speed
fx[5] = x[4]; // elec. angular rotor position
#elif MACHINE_TYPE == SYNCHRONOUS_MACHINE
// electromagnetic model
fx[0] = (ACM.ud - ACM.R * x[0] + x[2]*ACM.Lq*x[1]) / ACM.Ld; // current-d
fx[1] = (ACM.uq - ACM.R * x[1] - x[2]*ACM.Ld*x[0] - x[2]*ACM.KE) / ACM.Lq; // current-q
// mechanical model
ACM.Tem = ACM.npp*(x[1]*ACM.KE + (ACM.Ld - ACM.Lq)*x[0]*x[1]);
fx[2] = (ACM.Tem - ACM.Tload)*ACM.mu_m; // elec. angular rotor speed
fx[3] = x[2]; // elec. angular rotor position
#endif
}
void rK555_Lin(double t, double *x, double hs){
#if MACHINE_TYPE == INDUCTION_MACHINE
#define NUMBER_OF_STATES 6
#elif MACHINE_TYPE == SYNCHRONOUS_MACHINE
#define NUMBER_OF_STATES 4
#endif
#define NS NUMBER_OF_STATES
double k1[NS], k2[NS], k3[NS], k4[NS], xk[NS];
double fx[NS];
int i;
rK5_dynamics(t, x, fx); // timer.t,
for(i=0;i<NS;++i){
k1[i] = fx[i] * hs;
xk[i] = x[i] + k1[i]*0.5;
}
rK5_dynamics(t, xk, fx); // timer.t+hs/2.,
for(i=0;i<NS;++i){
k2[i] = fx[i] * hs;
xk[i] = x[i] + k2[i]*0.5;
}
rK5_dynamics(t, xk, fx); // timer.t+hs/2.,
for(i=0;i<NS;++i){
k3[i] = fx[i] * hs;
xk[i] = x[i] + k3[i];
}
rK5_dynamics(t, xk, fx); // timer.t+hs,
for(i=0;i<NS;++i){
k4[i] = fx[i] * hs;
x[i] = x[i] + (k1[i] + 2*(k2[i] + k3[i]) + k4[i])/6.0;
}
}
int machine_simulation(){
rK555_Lin(CTRL.timebase, ACM.x, ACM.Ts);
// API for explicit access
#if MACHINE_TYPE == INDUCTION_MACHINE
ACM.ial = ACM.x[0];
ACM.ibe = ACM.x[1];
ACM.psi_al = ACM.x[2];
ACM.psi_be = ACM.x[3];
ACM.rpm = ACM.x[4] * 60 / (2 * M_PI * ACM.npp);
#elif MACHINE_TYPE == SYNCHRONOUS_MACHINE
ACM.theta_d = ACM.x[3];
if(ACM.theta_d > M_PI){
ACM.theta_d -= 2*M_PI;
}else if(ACM.theta_d < -M_PI){
ACM.theta_d += 2*M_PI; // 反转！
}
ACM.x[3] = ACM.theta_d;
ACM.id = ACM.x[0];
ACM.iq = ACM.x[1];
ACM.ial = MT2A(ACM.id, ACM.iq, cos(ACM.theta_d), sin(ACM.theta_d));
ACM.ibe = MT2B(ACM.id, ACM.iq, cos(ACM.theta_d), sin(ACM.theta_d));
ACM.rpm = ACM.x[2] * 60 / (2 * M_PI * ACM.npp);
#endif
if(isNumber(ACM.rpm)){
return false;
}else{
printf("ACM.rpm is %g\n", ACM.rpm);
return true;
}
}
void measurement(){
US_C(0) = CTRL.ual;
US_C(1) = CTRL.ube;
US_P(0) = US_C(0);
US_P(1) = US_C(1);
#if MACHINE_TYPE == INDUCTION_MACHINE
IS_C(0) = ACM.ial;
IS_C(1) = ACM.ibe;
im.omg = ACM.x[4];
im.theta_r = ACM.x[5];
#elif MACHINE_TYPE == SYNCHRONOUS_MACHINE
IS_C(0) = ACM.ial;
IS_C(1) = ACM.ibe;
sm.omg = ACM.x[2];
sm.theta_d = ACM.x[3];
sm.theta_r = sm.theta_d;
#endif
}
void inverter_model(){
#if MACHINE_TYPE == INDUCTION_MACHINE
ACM.ual = CTRL.ual;
ACM.ube = CTRL.ube;
#elif MACHINE_TYPE == SYNCHRONOUS_MACHINE
ACM.ual = CTRL.ual;
ACM.ube = CTRL.ube;
ACM.ud = AB2M(ACM.ual, ACM.ube, cos(ACM.theta_d), sin(ACM.theta_d));
ACM.uq = AB2T(ACM.ual, ACM.ube, cos(ACM.theta_d), sin(ACM.theta_d));
#endif
}
int main(){
printf("NUMBER_OF_LINES: %d\n\n", NUMBER_OF_LINES);
/* Initialization */
Machine_init();
CTRL_init();
acm_init();
ob_init();
FILE *fw;
fw = fopen("algorithm.dat", "w");
write_header_to_file(fw);
/* MAIN LOOP */
clock_t begin, end;
begin = clock();
int _; // _ for the outer iteration
int dfe=0; // dfe for down frequency execution
for(_=0;_<NUMBER_OF_LINES;++_){
/* Command and Load Torque */
// ACM.Tload = 0;
cmd_fast_speed_reversal(CTRL.timebase, 5, 5, 1500); // timebase, instant, interval, rpm_cmd
// if(CTRL.timebase>10){
// ACM.rpm_cmd = -250;
// }else if(CTRL.timebase>5){
// ACM.Tload = 5;
// }else{
// ACM.rpm_cmd = -50;
// ACM.Tload = 1;
// }
/* Simulated ACM */
if(machine_simulation()){
printf("Break the loop.\n");
break;
}
if(++dfe==DOWN_FREQ_EXE){
dfe = 0;
/* Time */
CTRL.timebase += TS;
measurement();
observation();
write_data_to_file(fw);
control(ACM.rpm_cmd, 0);
}
inverter_model();
}
end = clock(); printf("The simulation in C costs %g sec.\n", (double)(end - begin)/CLOCKS_PER_SEC);
fclose(fw);
/* Fade out */
system("python ./ACMPlot.py");
// getch();
// system("pause");
// system("exit");
return 0;
}
/* Utility */
void write_header_to_file(FILE *fw){
#if MACHINE_TYPE == INDUCTION_MACHINE
// no space is allowed!
// fprintf(fw, "x0,x1,x2,x3,rpm,uMs_cmd,uTs_cmd,iMs_cmd,iMs,iTs_cmd,iTs,psi_mu_al,tajima_rpm\n");
// fprintf(fw, "$x_0$,$x_1$,$x_2$,$x_3$,Speed [rpm],$u_{Ms}^*$,$u_{Ts}^*$,$i_{Ms}^*$,$i_{Ms}$,$i_{Ts}^*$,$i_{Ts}$,$\\psi_{\\alpha\\mu}$,tajima_rpm\n");
fprintf(fw, "ACM.x[0],ACM.x[1],ACM.x[2],ACM.x[3],ACM.Tem,CTRL.uMs_cmd,CTRL.uTs_cmd,CTRL.iMs_cmd,CTRL.iMs,CTRL.iTs_cmd,CTRL.iTs,ob.psi_mu_al,ob.tajima.omg*RAD_PER_SEC_2_RPM,ACM.rpm\n");
#elif MACHINE_TYPE == SYNCHRONOUS_MACHINE
// no space is allowed!
fprintf(fw, "x0,x1,x2,x3,uMs_cmd,uTs_cmd,iMs_cmd,iMs,iTs_cmd,iTs\n");
#endif
{
FILE *fw2;
fw2 = fopen("info.dat", "w");
fprintf(fw2, "TS,DOWN_SAMPLE\n");
fprintf(fw2, "%g, %d\n", TS, DOWN_SAMPLE);
fclose(fw2);
}
}
void write_data_to_file(FILE *fw){
static int bool_animate_on = false;
static int j=0,jj=0; // j,jj for down sampling
// if(CTRL.timebase>20)
{
if(++j == DOWN_SAMPLE)
{
j=0;
#if MACHINE_TYPE == INDUCTION_MACHINE
// 数目必须对上，否则ACMAnimate会失效，但是不会影响ACMPlot
fprintf(fw, "%g,%g,%g,%g,%g,%g,%g,%g,%g,%g,%g,%g,%g,%g\n",
ACM.x[0], ACM.x[1], ACM.x[2], ACM.x[3], ACM.Tem,
CTRL.uMs_cmd, CTRL.uTs_cmd, CTRL.iMs_cmd, CTRL.iMs, CTRL.iTs_cmd, CTRL.iTs,
ob.psi_mu_al, ob.tajima.omg*RAD_PER_SEC_2_RPM, ACM.rpm
);
#elif MACHINE_TYPE == SYNCHRONOUS_MACHINE
fprintf(fw, "%g,%g,%g,%g,%g,%g,%g,%g,%g,%g\n",
ACM.x[0], ACM.x[1], ACM.x[2], ACM.x[3],
CTRL.uMs_cmd, CTRL.uTs_cmd, CTRL.iMs_cmd, CTRL.iMs, CTRL.iTs_cmd, CTRL.iTs
);
#endif
}
}
// if(bool_animate_on==false){
// bool_animate_on = true;
// printf("Start ACMAnimate\n");
// system("start python ./ACMAnimate.py");
// }
}
int isNumber(double x){
// This looks like it should always be true,
// but it's false if x is a NaN (1.#QNAN0).
return (x == x);
// see https://www.johndcook.com/blog/IEEE_exceptions_in_cpp/ cb: https://stackoverflow.com/questions/347920/what-do-1-inf00-1-ind00-and-1-ind-mean
}