Update simulink to include LPF, PLL, and observer #140

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noguchi-takahiro wants to merge 30 commits into add-enc-anirudh from user/noguchi-takahiro/update-simulink

source/getting-started/control-with-amdc/encoder-fb/resources/pll_encoder.slx

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source/getting-started/control-with-amdc/encoder-fb/resources/pll_test.m

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source/getting-started/control-with-amdc/encoder-fb/resources/pll_test_sim.slx

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source/getting-started/control-with-amdc/encoder-fb/simulink/.gitignore

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+    ##########
+    # MATLAB #
+    ##########
+    # Windows default autosave extension
+    *.asv
+    # OSX / *nix default autosave extension
+    *.m~
+    # Compiled MEX binaries (all platforms)
+    *.mex*
+    # Packaged app and toolbox files
+    *.mlappinstall
+    *.mltbx
+    # Generated helpsearch folders
+    helpsearch*/
+    # Simulink code generation folders
+    slprj/
+    sccprj/
+    # Matlab code generation folders
+    codegen/
+    # Simulink autosave extension
+    *.autosave
+    # Simulink cache files
+    *.slxc

source/getting-started/control-with-amdc/encoder-fb/simulink/lowPassFilter.slx

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source/getting-started/control-with-amdc/encoder-fb/simulink/observer.slx

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source/getting-started/control-with-amdc/encoder-fb/simulink/pllEncoder.slx

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source/getting-started/control-with-amdc/encoder-fb/simulink/setup.m

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+    clear
+    close all
+    Ts = 1e-4;
+    Tsim = 1e-5;
+    %% Switch winding that you develop
+    load_system('speedControlSimulation') % load Simulink model
+    % The input of this function should be 'lowPassFilter', 'pllEncoder', 'observer'
+    switch_speed_calculation('observer')
+    Tend = 0.2;
+    p = 1;  % number of pole
+    speed_cmd = 3000;  % rotational speed (r/min)
+    % Parameters for plant
+    J_z = 29.54e-6;
+    b = 4.28e-6;
+    % Parameters for low pass filter
+    f_lpf = 100;  % low pass fileter cut-off frequency (Hz)
+    omega_lpf = 2*pi*f_lpf;  % low pass fileter cut-off frequency (rad/s)
+    % Parameters for PLL
+    pole_1_Hz = -10;
+    pole_2_Hz = -100;
+    w1 = 2*pi*pole_1_Hz;
+    w2 = 2*pi*pole_2_Hz;
+    f_sf = 10;  % motion state fileter cut-off frequency (Hz)
+    wb_sf = 2*pi*f_sf;
+    b_o_sf = wb_sf*J_z;
+    K_io_sf = wb_sf*b;
+    % Parameters for chirp signal
+    f_init = 0.1; % initial frequency of chirp [Hz]
+    f_target = 1000; % chirp frequency at target time [Hz]
+    % Parameters for speed control
+    fb_speed = 100;
+    omega_b_speed = 2*pi*fb_speed;
+    Kp_speed = omega_b_speed*J_z;
+    Ki_speed = omega_b_speed*b;
+    %% Run simulation
+    % set_param('compute_speed/Speed Controller LPF', 'Commented', 'off');
+    % set_param('compute_speed/Speed Controller PLL', 'Commented', 'on');
+    % set_param('compute_speed/Speed Control Observer', 'Commented', 'on');
+    sim('speedControlSimulation.slx');
+    run1 = Simulink.sdi.Run.getLatest;
+    % set_param('compute_speed/Speed Controller LPF', 'Commented', 'on');
+    % set_param('compute_speed/Speed Controller PLL', 'Commented', 'off');
+    % set_param('compute_speed/Speed Control Observer', 'Commented', 'on');
+    % sim('compute_speed.slx');
+    % run2 = Simulink.sdi.Run.getLatest;
+    %
+    % set_param('compute_speed/Speed Controller LPF', 'Commented', 'on');
+    % set_param('compute_speed/Speed Controller PLL', 'Commented', 'on');
+    % set_param('compute_speed/Speed Control Observer', 'Commented', 'off');
+    % sim('compute_speed.slx');
+    % run3 = Simulink.sdi.Run.getLatest;
+    %% Post processing
+    % List of variables to extract
+    % obj2ext = {'time', 'omega_raw', 'omega_lpf', 'omega_pll', 'omega_sf'};
+    obj2ext = {'time', 'omega'};
+    % runs = {run1, run2, run3};
+    runs = {run1};
+    for r = 1:1
+        runObj = runs{r};
+        for i = 1:length(obj2ext)
+            sigID = getSignalIDsByName(runObj, obj2ext{i});
+            if ~isempty(sigID)
+                sig_obj{r}.(obj2ext{i}) = Simulink.sdi.getSignal(sigID);
+                sig_val{r}.(obj2ext{i}) = sig_obj{r}.(obj2ext{i}).Values.Data;
+                time{r} = sig_obj{r}.(obj2ext{i}).Values.Time;
+            end
+        end
+    end
+    %% Plot figure
+    width = 2*5.43;
+    height = 1.2*3*4.38/3/2;
+    set(0,'units','inches');
+    Inch_SS = get(0,'screensize');
+    lw = 1;  % line width
+    figure1 = figure;
+    % Plot omega
+    hold on;
+    % plot(time{3}, squeeze(sig_val{3}.omega_raw), 'Color', 'k', 'LineWidth', lw);
+    plot(time{1}, squeeze(sig_val{1}.omega), 'Color', 'r', 'LineWidth', lw);
+    % plot(time{2}, squeeze(sig_val{2}.omega_pll), 'Color', 'b', 'LineWidth', lw);
+    % plot(time{3}, squeeze(sig_val{3}.omega_sf), '--', 'Color', 'g', 'LineWidth', lw);
+    xlabel('Time [s]','Interpreter','latex');
+    ylabel('$\Omega$ (rad/s)','Interpreter','latex');
+    xlim([0 Tend]);
+    % ylim([0 400]);
+    % legend('$\Omega_{\mathrm{raw}}$','$\Omega_{\mathrm{lpf}}$', '$\Omega_{\mathrm{pll}}$', '$\Omega_{\mathrm{sf}}$', 'Interpreter','latex','Location','east');
+    set(findall(gcf, '-property', 'FontName'), 'FontName', 'Times New Roman');
+    set(figure1,'Units','inches','Position',[(Inch_SS(3)-width)/2 (Inch_SS(4)-height)/2 width height]);
+    print(figure1, '-dsvg','-noui','plot_results');
+    print(figure1, '-dpng','-r300','plot_results');
+    function switch_speed_calculation(speed_calculation_type)
+        % Define maps for speed calculation models
+        speed_calculation_models = containers.Map( ...
+            {'lowPassFilter', 'pllEncoder', 'observer'}, ...
+            {'lowPassFilter', 'pllEncoder', 'observer'} ...
+        );
+        if ~isKey(speed_calculation_models, speed_calculation_type)
+            error('Unknown speed calculation type: %s. Choose from: %s', speed_calculation_type, strjoin(keys(speed_calculation_models), ', '));
+        end
+        speed_calculation_name = speed_calculation_models(speed_calculation_type);
+        % Load the referenced models
+        load_system(speed_calculation_name);
+        % Update the reference blocks
+        set_param('speedControlSimulation', 'ModelName', speed_calculation_name);
+        fprintf('Speed calculation block has been switched to referenced model of %s and %s\n', controller_name);
+    end

source/getting-started/control-with-amdc/encoder-fb/simulink/speedControlSimulation.slx

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