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testbench_motor_mod.c
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testbench_motor_mod.c
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#include <pthread.h>
#include <signal.h>
#include <stdio.h>
#include <stdlib.h>
#include <stdint.h>
#include <pthreadUtils.h>
#include <Pipes.h>
#include <pipeHandler.h>
#ifndef SW
#include "vhdlCStubs.h"
#include <time.h>
#endif
void vector_control_daemon();
#ifdef SW
DEFINE_THREAD(vector_control_daemon)
#endif
int main(int argc, char* argv[])
{
#ifdef SW
init_pipe_handler_with_log("pipelog.txt");
PTHREAD_DECL(vector_control_daemon); // declare the Daemon thread.
PTHREAD_CREATE(vector_control_daemon); // start the Daemon..
#endif
double *iq,
*iq_prev,
*id,
*id_prev,
*flq,
*flq_prev,
*fld,
*fld_prev,
*spd,
*spd_prev,
vd,
vq,
torque,
load_torque,
*time = 0;
double speed_ref
int i=0;
int no_of_cycles = 4000 ; // 100u/25n (Ideal time necessary for conputation for FPGA/Motor_iteration_step)
while(1)
{
for(i = 0; i< no_of_cycles; i++){
im_zep(&iq,&iq_prev,&id,&id_prev,&flq,&flq_prev,&fld,&fld_prev,&spd_prev,vd,vq,&torque,load_torque,&time)
}
write_float32("in_data",*id);
write_float32("in_data",*iq);
write_float32("in_data",speed_ref);
vd = read_float32("out_data");
vq = read_float32("out_data");
}
#ifdef SW
close_pipe_handler();
PTHREAD_CANCEL(vector_control_daemon);
#endif
return(0);
}
void im_zep(&iq,&iq_prev,&id,&id_prev,&flq,&flq_prev,&fld,&fld_prev,&spd_prev,double vd,double vq,&torque,double load_torque,&time)
{
double alpha,
beta,
sigma,
mu,
gamma,
omega,
inertia = 0.013,
rs = 4.9,
rr = 8.1,
lls = 0.03215,
llr = 0.03215,
ls,
lr,
lm = 0.8096,
poles = 4,
cont,
time_period = 0.000000025;
double k1,k2,k3,k4;
double l1,l2,l3,l4;
double m1,m2,m3,m4;
double n1,n2,n3,n4;
double o1,o2,o3,o4;
ls = lm + lls;
lr = lm + llr;
alpha = rr/lr;
sigma = ls - lm*lm/lr;
beta = lm/(sigma*lr);
mu = (3/2)*(poles/2)*(lm/(inertia*lr));
gamma = lm*lm*rr/(sigma*lr*lr)+rs/sigma;
cont = (3*poles*lm/(4*lr));
if ( 0.0 == *time ) {
*iq_prev = 0.0;
*id_prev = 0.0;
*flq_prev = 0.0;
*fld_prev = 0.0;
*spd_prev = 0.0;
*iq = 0.0;
*id = 0.0;
*flq = 0.0;
*fld = 0.0;
*spd = 0.0;
*torque = 0.0;
}
else {
delta = time_period;
k1 = -gamma*(*iq_prev) - omega*(*id_prev) + aplha*beta*(*flq_prev) - beta*(*spd_prev)*(*fld_prev) + (vq)/sigma;
l1 = omega*(*iq_prev) - gamma*(*id_prev) + beta*(*spd_prev)*(*flq_prev) + alpha*beta*(*fld_prev) + (vd)/sigma;
m1 = alpha*m*(*iq_prev) - alpha*(*flq_prev) - (omega-(*spd_prev))*(*fld_prev);
n1 = alpha*m*(*id_prev) + (omega-(*spd_prev))*(*flq_prev) - alpha*(*fld_prev);
o1 = ((cont*((*fld_prev)*(*iq_prev) - (*flq_prev)*(*id_prev)))-load_torque)/inertia;
k2 = -gamma*((*iq_prev) + delta/2*k1) - omega*((*id_prev)+delta/2*l1) + aplha*beta*((*flq_prev)+delta/2*m1) - beta*((*spd_prev)+delta/2*o1)*((*fld_prev)+delta/2*n1) + (vq)/sigma;
l2 = omega*((*iq_prev) + delta/2*k1) - gamma*((*id_prev) + delta/2*l1) + beta*((*spd_prev) + delta/2*o1)*((*flq_prev) + delta/2*m1) + alpha*beta*((*fld_prev) + delta/2*n1) + (vd)/sigma;
m2 = alpha*m*((*iq_prev) + delta/2*k1) - alpha*((*flq_prev) + delta/2*m1) - (omega-((*spd_prev) + delta/2*o1))*((*fld_prev) + delta/2*n1);
n2 = alpha*m*((*id_prev) + delta/2*l1) + (omega-((*spd_prev) + delta/2*o1))*((*flq_prev) + delta/2*m1) - alpha*((*fld_prev) + delta/2*n1);
o2 = ((cont*(((*fld_prev) + delta/2*n1)*((*iq_prev) + delta/2*k1) - ((*flq_prev) + delta/2*m1)*((*id_prev) + delta/2*l1)))-load_torque)/inertia;
k3 = -gamma*((*iq_prev) + delta/2*k2) - omega*((*id_prev)+delta/2*l2) + aplha*beta*((*flq_prev)+delta/2*m2) - beta*((*spd_prev)+delta/2*o2)*((*fld_prev)+delta/2*n2) + (vq)/sigma;
l3 = omega*((*iq_prev) + delta/2*k2) - gamma*((*id_prev) + delta/2*l2) + beta*((*spd_prev) + delta/2*o2)*((*flq_prev) + delta/2*m2) + alpha*beta*((*fld_prev) + delta/2*n2) + (vd)/sigma;
m3 = alpha*m*((*iq_prev) + delta/2*k2) - alpha*((*flq_prev) + delta/2*m2) - (omega-((*spd_prev) + delta/2*o2))*((*fld_prev) + delta/2*n2);
n3 = alpha*m*((*id_prev) + delta/2*l2) + (omega-((*spd_prev) + delta/2*o2))*((*flq_prev) + delta/2*m2) - alpha*((*fld_prev) + delta/2*n2);
o3 = ((cont*(((*fld_prev) + delta/2*n2)*((*iq_prev) + delta/2*k2) - ((*flq_prev) + delta/2*m2)*((*id_prev) + delta/2*l2)))-load_torque)/inertia;
k4 = -gamma*((*iq_prev) + delta*k3) - omega*((*id_prev)+delta*l3) + aplha*beta*((*flq_prev)+delta*m3) - beta*((*spd_prev)+delta*o3)*((*fld_prev)+delta*n3) + (vq)/sigma;
l4 = omega*((*iq_prev) + delta*k3) - gamma*((*id_prev) + delta*l3) + beta*((*spd_prev) + delta*o3)*((*flq_prev) + delta*m3) + alpha*beta*((*fld_prev) + delta*n3) + (vd)/sigma;
m4 = alpha*m*((*iq_prev) + delta*k3) - alpha*((*flq_prev) + delta*m3) - (omega-((*spd_prev) + delta*o3))*((*fld_prev) + delta*n3);
n4 = alpha*m*((*id_prev) + delta*l3) + (omega-((*spd_prev) + delta*o3))*((*flq_prev) + delta*m3) - alpha*((*fld_prev) + delta*n3);
o4 = ((cont*(((*fld_prev) + delta*n3)*((*iq_prev) + delta*k3) - ((*flq_prev) + delta*m3)*((*id_prev) + delta*l3)))-load_torque)/inertia;
*iq = (*iq_prev) + delta(k1 + 2*k2 + 2*k3 + k4)/6;
*id = (*id_prev) + delta(l1 + 2*l2 + 2*l3 + l4)/6;
*flq = (*flq_prev) + delta(m1 + 2*m2 + 2*m3 + m4)/6;
*fld = (*fld_prev) + delta(n1 + 2*n2 + 2*n3 + n4)/6;
*spd = (*spd_prev) + delta(o1 + 2*o2 + 2*o3 + o4)/6;
torque = cont*((*iq)*(*fld) - (*id)*(*flq));
*time = *time + delta;
}
}