Removal of master-slave words

ACMConfig.h

@@ -0,0 +1,40 @@
+
+#ifndef ACMCONFIG_H
+#define ACMCONFIG_H
+
+#define NULL_D_AXIS_CURRENT_CONTROL -1
+#define MTPA -2 // not supported
+
+#define NUMBER_OF_STEPS 150000
+#define DOWN_SAMPLE 1
+#define CONTROL_STRATEGY NULL_D_AXIS_CURRENT_CONTROL
+#define SENSORLESS_CONTROL False
+#define VOLTAGE_CURRENT_DECOUPLING_CIRCUIT False
+#define SATURATED_MAGNETIC_CIRCUIT False
+#define INVERTER_NONLINEARITY False
+#define TS 0.00025
+#define TS_INVERSE 4000
+#define TS_UPSAMPLING_FREQ_EXE 0.5
+#define TS_UPSAMPLING_FREQ_EXE_INVERSE 2
+#define PMSM_NUMBER_OF_POLE_PAIRS 2
+#define PMSM_RESISTANCE 0.45
+#define PMSM_D_AXIS_INDUCTANCE 0.00415
+#define PMSM_Q_AXIS_INDUCTANCE 0.01674
+#define PMSM_PERMANENT_MAGNET_FLUX_LINKAGE 0.504
+#define PMSM_SHAFT_INERTIA 0.06
+#define SPEED_LOOP_PID_PROPORTIONAL_GAIN 0.5
+#define SPEED_LOOP_PID_INTEGRAL_TIME_CONSTANT 1.05
+#define SPEED_LOOP_PID_DIREVATIVE_TIME_CONSTANT 0
+#define SPEED_LOOP_LIMIT_NEWTON_METER 8
+#define SPEED_LOOP_CEILING 40
+#define CURRENT_LOOP_PID_PROPORTIONAL_GAIN 15
+#define CURRENT_LOOP_PID_INTEGRAL_TIME_CONSTANT 0.08
+#define CURRENT_LOOP_PID_DIREVATIVE_TIME_CONSTANT 0
+#define CURRENT_LOOP_LIMIT_VOLTS 400
+#define DATA_FILE_NAME "pmsm_eemf.dat"
+#define PC_SIMULATION True
+
+#define MACHINE_TS         (TS*TS_UPSAMPLING_FREQ_EXE) //1.25e-4 
+#define MACHINE_TS_INVERSE (TS_INVERSE*TS_UPSAMPLING_FREQ_EXE_INVERSE) // 8000
+
+#endif

ACMConfig.json

@@ -0,0 +1,182 @@
+{
+    "#01 ACMSIMC PMSM EEMF": {
+        "NUMBER_OF_STEPS": 150000,
+        "DOWN_SAMPLE": 1,
+        "CONTROL_STRATEGY": "NULL_D_AXIS_CURRENT_CONTROL",
+        "SENSORLESS_CONTROL": false,
+        "VOLTAGE_CURRENT_DECOUPLING_CIRCUIT": false,
+        "SATURATED_MAGNETIC_CIRCUIT": false,
+        "INVERTER_NONLINEARITY": false,
+        "TS": 0.00025,
+        "TS_INVERSE": 4000,
+        "TS_UPSAMPLING_FREQ_EXE": 0.5,
+        "TS_UPSAMPLING_FREQ_EXE_INVERSE": 2,
+        "PMSM_NUMBER_OF_POLE_PAIRS": 2,
+        "PMSM_RESISTANCE": 0.45,
+        "PMSM_D_AXIS_INDUCTANCE": 0.00415,
+        "PMSM_Q_AXIS_INDUCTANCE": 0.01674,
+        "PMSM_PERMANENT_MAGNET_FLUX_LINKAGE": 0.504,
+        "PMSM_SHAFT_INERTIA": 0.06,
+        "SPEED_LOOP_PID_PROPORTIONAL_GAIN": 0.5,
+        "SPEED_LOOP_PID_INTEGRAL_TIME_CONSTANT": 1.05,
+        "SPEED_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+        "SPEED_LOOP_LIMIT_NEWTON_METER": 8,
+        "SPEED_LOOP_CEILING": 40,
+        "CURRENT_LOOP_PID_PROPORTIONAL_GAIN": 15,
+        "CURRENT_LOOP_PID_INTEGRAL_TIME_CONSTANT": 0.08,
+        "CURRENT_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+        "CURRENT_LOOP_LIMIT_VOLTS": 400,
+        "DATA_FILE_NAME": "\"pmsm_eemf.dat\"",
+        "PC_SIMULATION": true
+    },
+    "#01 ACMSIMC PMSM EEMF - Variant Speed P 000": {
+        "NUMBER_OF_STEPS": 150000,
+        "DOWN_SAMPLE": 1,
+        "CONTROL_STRATEGY": "NULL_D_AXIS_CURRENT_CONTROL",
+        "SENSORLESS_CONTROL": false,
+        "VOLTAGE_CURRENT_DECOUPLING_CIRCUIT": false,
+        "SATURATED_MAGNETIC_CIRCUIT": false,
+        "INVERTER_NONLINEARITY": false,
+        "TS": 0.00025,
+        "TS_INVERSE": 4000,
+        "TS_UPSAMPLING_FREQ_EXE": 0.5,
+        "TS_UPSAMPLING_FREQ_EXE_INVERSE": 2,
+        "PMSM_NUMBER_OF_POLE_PAIRS": 2,
+        "PMSM_RESISTANCE": 0.45,
+        "PMSM_D_AXIS_INDUCTANCE": 0.00415,
+        "PMSM_Q_AXIS_INDUCTANCE": 0.01674,
+        "PMSM_PERMANENT_MAGNET_FLUX_LINKAGE": 0.504,
+        "PMSM_SHAFT_INERTIA": 0.06,
+        "SPEED_LOOP_PID_PROPORTIONAL_GAIN": 0.5,
+        "SPEED_LOOP_PID_INTEGRAL_TIME_CONSTANT": 1.05,
+        "SPEED_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+        "SPEED_LOOP_LIMIT_NEWTON_METER": 8,
+        "SPEED_LOOP_CEILING": 40,
+        "CURRENT_LOOP_PID_PROPORTIONAL_GAIN": 15,
+        "CURRENT_LOOP_PID_INTEGRAL_TIME_CONSTANT": 0.08,
+        "CURRENT_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+        "CURRENT_LOOP_LIMIT_VOLTS": 400,
+        "DATA_FILE_NAME": "\"pmsm_eemf_VSP000.dat\"",
+        "PC_SIMULATION": true
+    },
+    "#01 ACMSIMC PMSM EEMF - Variant Speed P 001": {
+        "NUMBER_OF_STEPS": 150000,
+        "DOWN_SAMPLE": 1,
+        "CONTROL_STRATEGY": "NULL_D_AXIS_CURRENT_CONTROL",
+        "SENSORLESS_CONTROL": false,
+        "VOLTAGE_CURRENT_DECOUPLING_CIRCUIT": false,
+        "SATURATED_MAGNETIC_CIRCUIT": false,
+        "INVERTER_NONLINEARITY": false,
+        "TS": 0.00025,
+        "TS_INVERSE": 4000,
+        "TS_UPSAMPLING_FREQ_EXE": 0.5,
+        "TS_UPSAMPLING_FREQ_EXE_INVERSE": 2,
+        "PMSM_NUMBER_OF_POLE_PAIRS": 2,
+        "PMSM_RESISTANCE": 0.45,
+        "PMSM_D_AXIS_INDUCTANCE": 0.00415,
+        "PMSM_Q_AXIS_INDUCTANCE": 0.01674,
+        "PMSM_PERMANENT_MAGNET_FLUX_LINKAGE": 0.504,
+        "PMSM_SHAFT_INERTIA": 0.06,
+        "SPEED_LOOP_PID_PROPORTIONAL_GAIN": 1.5,
+        "SPEED_LOOP_PID_INTEGRAL_TIME_CONSTANT": 1.05,
+        "SPEED_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+        "SPEED_LOOP_LIMIT_NEWTON_METER": 8,
+        "SPEED_LOOP_CEILING": 40,
+        "CURRENT_LOOP_PID_PROPORTIONAL_GAIN": 15,
+        "CURRENT_LOOP_PID_INTEGRAL_TIME_CONSTANT": 0.08,
+        "CURRENT_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+        "CURRENT_LOOP_LIMIT_VOLTS": 400,
+        "DATA_FILE_NAME": "\"pmsm_eemf_VSP001.dat\"",
+        "PC_SIMULATION": true
+    },
+    "#01 ACMSIMC PMSM EEMF - Variant Speed P 002": {
+        "NUMBER_OF_STEPS": 150000,
+        "DOWN_SAMPLE": 1,
+        "CONTROL_STRATEGY": "NULL_D_AXIS_CURRENT_CONTROL",
+        "SENSORLESS_CONTROL": false,
+        "VOLTAGE_CURRENT_DECOUPLING_CIRCUIT": false,
+        "SATURATED_MAGNETIC_CIRCUIT": false,
+        "INVERTER_NONLINEARITY": false,
+        "TS": 0.00025,
+        "TS_INVERSE": 4000,
+        "TS_UPSAMPLING_FREQ_EXE": 0.5,
+        "TS_UPSAMPLING_FREQ_EXE_INVERSE": 2,
+        "PMSM_NUMBER_OF_POLE_PAIRS": 2,
+        "PMSM_RESISTANCE": 0.45,
+        "PMSM_D_AXIS_INDUCTANCE": 0.00415,
+        "PMSM_Q_AXIS_INDUCTANCE": 0.01674,
+        "PMSM_PERMANENT_MAGNET_FLUX_LINKAGE": 0.504,
+        "PMSM_SHAFT_INERTIA": 0.06,
+        "SPEED_LOOP_PID_PROPORTIONAL_GAIN": 2.5,
+        "SPEED_LOOP_PID_INTEGRAL_TIME_CONSTANT": 1.05,
+        "SPEED_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+        "SPEED_LOOP_LIMIT_NEWTON_METER": 8,
+        "SPEED_LOOP_CEILING": 40,
+        "CURRENT_LOOP_PID_PROPORTIONAL_GAIN": 15,
+        "CURRENT_LOOP_PID_INTEGRAL_TIME_CONSTANT": 0.08,
+        "CURRENT_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+        "CURRENT_LOOP_LIMIT_VOLTS": 400,
+        "DATA_FILE_NAME": "\"pmsm_eemf_VSP002.dat\"",
+        "PC_SIMULATION": true
+    },
+    "#01 ACMSIMC PMSM EEMF - Variant Speed P 003": {
+        "NUMBER_OF_STEPS": 150000,
+        "DOWN_SAMPLE": 1,
+        "CONTROL_STRATEGY": "NULL_D_AXIS_CURRENT_CONTROL",
+        "SENSORLESS_CONTROL": false,
+        "VOLTAGE_CURRENT_DECOUPLING_CIRCUIT": false,
+        "SATURATED_MAGNETIC_CIRCUIT": false,
+        "INVERTER_NONLINEARITY": false,
+        "TS": 0.00025,
+        "TS_INVERSE": 4000,
+        "TS_UPSAMPLING_FREQ_EXE": 0.5,
+        "TS_UPSAMPLING_FREQ_EXE_INVERSE": 2,
+        "PMSM_NUMBER_OF_POLE_PAIRS": 2,
+        "PMSM_RESISTANCE": 0.45,
+        "PMSM_D_AXIS_INDUCTANCE": 0.00415,
+        "PMSM_Q_AXIS_INDUCTANCE": 0.01674,
+        "PMSM_PERMANENT_MAGNET_FLUX_LINKAGE": 0.504,
+        "PMSM_SHAFT_INERTIA": 0.06,
+        "SPEED_LOOP_PID_PROPORTIONAL_GAIN": 3.5,
+        "SPEED_LOOP_PID_INTEGRAL_TIME_CONSTANT": 1.05,
+        "SPEED_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+        "SPEED_LOOP_LIMIT_NEWTON_METER": 8,
+        "SPEED_LOOP_CEILING": 40,
+        "CURRENT_LOOP_PID_PROPORTIONAL_GAIN": 15,
+        "CURRENT_LOOP_PID_INTEGRAL_TIME_CONSTANT": 0.08,
+        "CURRENT_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+        "CURRENT_LOOP_LIMIT_VOLTS": 400,
+        "DATA_FILE_NAME": "\"pmsm_eemf_VSP003.dat\"",
+        "PC_SIMULATION": true
+    },
+    "#01 ACMSIMC PMSM EEMF - Variant Speed P 004": {
+        "NUMBER_OF_STEPS": 150000,
+        "DOWN_SAMPLE": 1,
+        "CONTROL_STRATEGY": "NULL_D_AXIS_CURRENT_CONTROL",
+        "SENSORLESS_CONTROL": false,
+        "VOLTAGE_CURRENT_DECOUPLING_CIRCUIT": false,
+        "SATURATED_MAGNETIC_CIRCUIT": false,
+        "INVERTER_NONLINEARITY": false,
+        "TS": 0.00025,
+        "TS_INVERSE": 4000,
+        "TS_UPSAMPLING_FREQ_EXE": 0.5,
+        "TS_UPSAMPLING_FREQ_EXE_INVERSE": 2,
+        "PMSM_NUMBER_OF_POLE_PAIRS": 2,
+        "PMSM_RESISTANCE": 0.45,
+        "PMSM_D_AXIS_INDUCTANCE": 0.00415,
+        "PMSM_Q_AXIS_INDUCTANCE": 0.01674,
+        "PMSM_PERMANENT_MAGNET_FLUX_LINKAGE": 0.504,
+        "PMSM_SHAFT_INERTIA": 0.06,
+        "SPEED_LOOP_PID_PROPORTIONAL_GAIN": 4.5,
+        "SPEED_LOOP_PID_INTEGRAL_TIME_CONSTANT": 1.05,
+        "SPEED_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+        "SPEED_LOOP_LIMIT_NEWTON_METER": 8,
+        "SPEED_LOOP_CEILING": 40,
+        "CURRENT_LOOP_PID_PROPORTIONAL_GAIN": 15,
+        "CURRENT_LOOP_PID_INTEGRAL_TIME_CONSTANT": 0.08,
+        "CURRENT_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+        "CURRENT_LOOP_LIMIT_VOLTS": 400,
+        "DATA_FILE_NAME": "\"pmsm_eemf_VSP004.dat\"",
+        "PC_SIMULATION": true
+    }
+}

ACMConfig.py

@@ -0,0 +1,121 @@
+import json
+def load_json(fname='ACMConfig.json', bool_print_out=True):
+    # In case there are comments in your json file, option 1 is to try https://pypi.org/project/jsmin/, option 2 is to remove it with GetJsonFromFileWithComments
+    # def GetJsonFromFileWithComments(filePath):
+    #     # https://stackoverflow.com/questions/29959191/how-to-parse-json-file-with-c-style-comments
+    #     contents = ""
+    #     fh = open(filePath)
+    #     for line in fh:
+    #         cleanedLine = line.split("//", 1)[0]
+    #         if len(cleanedLine) > 0 and line.endswith("\n") and "\n" not in cleanedLine:
+    #             cleanedLine += "\n"
+    #         contents += cleanedLine
+    #     fh.close
+    #     while "/*" in contents:
+    #         preComment, postComment = contents.split("/*", 1)
+    #         contents = preComment + postComment.split("*/", 1)[1]
+    #     return contents
+
+    with open(fname, 'r') as f:
+        raw_config_dicts = json.load(f)
+
+    def decode_raw_fea_configs(raw_config_dicts):
+        for key, val in raw_config_dicts.items():
+            print('\n', key)
+            for ke, va in val.items():
+                print('\t', ke+':', va)
+    if bool_print_out:
+        decode_raw_fea_configs(raw_config_dicts)
+    return raw_config_dicts
+
+def write_to_ACMConfig_header_file(config_pairs):
+    str_c_defines = ''
+    for key, val in config_pairs.items():
+        str_c_defines += f'#define {key} {val}\n'
+
+    bare_template = f'''
+#ifndef ACMCONFIG_H
+#define ACMCONFIG_H
+
+#define NULL_D_AXIS_CURRENT_CONTROL -1
+#define MTPA -2 // not supported
+
+{str_c_defines}
+#define MACHINE_TS         (TS*TS_UPSAMPLING_FREQ_EXE) //1.25e-4 
+#define MACHINE_TS_INVERSE (TS_INVERSE*TS_UPSAMPLING_FREQ_EXE_INVERSE) // 8000
+
+#endif
+'''
+
+    with open('ACMConfig.h', 'w') as f:
+        f.write(bare_template)
+
+
+if __name__ == '__main__':
+
+    raw_config_dicts = load_json(bool_print_out=False)
+    config_pairs = raw_config_dicts['#01 ACMSIMC PMSM EEMF']
+    write_to_ACMConfig_header_file(config_pairs)
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+readme = '''
+"#01 ACMSIMC PMSM EEMF"
+
+"NUMBER_OF_STEPS": 150000,                          <--- How many steps to simulate. NUMBER_OF_STEPS * MACHINE_TS = simulation time
+"DOWN_SAMPLE": 1,                                   <--- For plot. Sometimes you may want to reduce the waveform sampling step to make the codes run faster.
+
+"CONTROL_STRATEGY": "NULL_D_AXIS_CURRENT_CONTROL",  <--- Control method.
+
+"SENSORLESS_CONTROL": false,                        <--- Use reconstructed speed and position for feedback control.
+"VOLTAGE_CURRENT_DECOUPLING_CIRCUIT": false,        <--- Decouple between d-axis and q-axis current loops.
+"SATURATED_MAGNETIC_CIRCUIT": false,                <--- Saturation.
+"INVERTER_NONLINEARITY": false,                     <--- Inverter nonlinearity.
+
+"TS": 2.5e-4,                                       <--- Sampling time in DSP or controller. Make sure this TS matches your actual control codes execution frequency, e.g., PWM having a carrier frequency of 4 kHz (Additionally, if it interupts at both 波峰 and 波谷, you can have a interupt freuquency of 8 kHz).
+"TS_INVERSE": 4000,                                 <--- TS * TS_INVERSE = 1
+"TS_UPSAMPLING_FREQ_EXE": 0.5,                      <--- Up-sampling TS by a factor of this number to obtain MACHINE_TS. That is, the machine dynamics are executed in a higher frequency than your controller, to imitate a continuous time system
+"TS_UPSAMPLING_FREQ_EXE_INVERSE": 2,                <--- 1/TS_UPSAMPLING_FREQ_EXE
+
+"PMSM_NUMBER_OF_POLE_PAIRS": 2,
+"PMSM_RESISTANCE": 0.45,
+"PMSM_D_AXIS_INDUCTANCE": 0.00415,
+"PMSM_Q_AXIS_INDUCTANCE": 0.01674,
+"PMSM_PERMANENT_MAGNET_FLUX_LINKAGE": 0.504,
+"PMSM_SHAFT_INERTIA": 0.06,
+
+"SPEED_LOOP_PID_PROPORTIONAL_GAIN": 0.5,
+"SPEED_LOOP_PID_INTEGRAL_TIME_CONSTANT": 1.05,
+"SPEED_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+"SPEED_LOOP_LIMIT_NEWTON_METER": 8,
+
+"SPEED_LOOP_CEILING": 40,                           <--- velocity control loop execution frequency is 40 times slower than current control loop execution frequency
+
+"CURRENT_LOOP_PID_PROPORTIONAL_GAIN": 15,
+"CURRENT_LOOP_PID_INTEGRAL_TIME_CONSTANT": 0.08,
+"CURRENT_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+"CURRENT_LOOP_LIMIT_VOLTS": 8,
+
+"PC_SIMULATION": true
+'''
+# print(readme)
+

ACMConfig_backup.json

@@ -0,0 +1,42 @@
+{
+    "#01 ACMSIMC PMSM EEMF": {
+
+        "NUMBER_OF_STEPS": 150000,
+        "DOWN_SAMPLE": 1,
+
+        "CONTROL_STRATEGY": "NULL_D_AXIS_CURRENT_CONTROL",
+
+        "SENSORLESS_CONTROL": false,
+        "VOLTAGE_CURRENT_DECOUPLING_CIRCUIT": false,
+        "SATURATED_MAGNETIC_CIRCUIT": false,
+        "INVERTER_NONLINEARITY": false,
+
+        "TS": 2.5e-4,
+        "TS_INVERSE": 4000,
+        "TS_UPSAMPLING_FREQ_EXE": 0.5,
+        "TS_UPSAMPLING_FREQ_EXE_INVERSE": 2,
+
+        "PMSM_NUMBER_OF_POLE_PAIRS": 2,
+        "PMSM_RESISTANCE": 0.45,
+        "PMSM_D_AXIS_INDUCTANCE": 0.00415,
+        "PMSM_Q_AXIS_INDUCTANCE": 0.01674,
+        "PMSM_PERMANENT_MAGNET_FLUX_LINKAGE": 0.504,
+        "PMSM_SHAFT_INERTIA": 0.06,
+
+        "SPEED_LOOP_PID_PROPORTIONAL_GAIN": 0.5,
+        "SPEED_LOOP_PID_INTEGRAL_TIME_CONSTANT": 1.05,
+        "SPEED_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+        "SPEED_LOOP_LIMIT_NEWTON_METER": 8,
+
+        "SPEED_LOOP_CEILING": 40,
+
+        "CURRENT_LOOP_PID_PROPORTIONAL_GAIN": 15,
+        "CURRENT_LOOP_PID_INTEGRAL_TIME_CONSTANT": 0.08,
+        "CURRENT_LOOP_PID_DIREVATIVE_TIME_CONSTANT": 0,
+        "CURRENT_LOOP_LIMIT_VOLTS": 400,
+
+        "DATA_FILE_NAME": "\"pmsm_eemf.dat\"",
+
+        "PC_SIMULATION": true
+    }
+}