ACMSimC: AC Machine Simulation Framework in C

免责声明：做好将来你的拥有100台dSpace的合作者问你要Simuliink仿真结果你却没有的心理准备，然后我们开始吧。

下文须配合视频食用：哔哩哔哩传送门（右键新标签页打开）。
Please watch the video (in Chinese, however) in the link above.

Table of Content

• Table of Content
• 1. Prerequisite
• 2. Machine Models
  • 2.1. Model of Induction Machine
  • 2.2. Model of Permanent Magnet Synchronous Machine
  • 2.3. Model of Bearingless Induction Machine*
• 3. Block Diagram for the Codes
• Future Topics (Brainstorming)

1. Prerequisite

1. Compiler
   • MinGW (gcc)
   • Anaconda3 (python)

      D:\Users\horyc\Anaconda3\pkgs\openssl-1.1.1b-he774522_1\Library\bin
      D:\Users\horyc\Anaconda3\Lib
      D:\Users\horyc\Anaconda3\Library\bin
      D:\Users\horyc\Anaconda3\Scripts
      D:\Users\horyc\Anaconda3
     

2. Editor
   • Sublime Text 3: the shell command is as follows:

       {
       "working_dir": "$file_path",
       "cmd": "gcc -Wall $file_name -o $file_base_name",
       "file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
       "selector": "source.c",
       "variants": 
           [
               {   
       "name": "Run",
       "shell_cmd": "gcc $file controller.c observer.c -o $file_base_name && start cmd /c \"${file_path}/${file_base_name}\""
               }
           ]
       }
     

3. Utility
   • AutoHotkey (to close all figures at once)

      #NoEnv
      #Warn
      SendMode Input  
      SetWorkingDir %A_ScriptDir%  
      SetTitleMatchMode 2
      #q:: closePythonPlot() 
      closePythonPlot()
      {
       isExist = 1
       while isExist
       {
           PostMessage, 0x112, 0xF060,,, Figure
           IfWinNotExist, Figure
           {
               isExist = 0
           }
       }
      }
     

   • MS Visual Studio Code (to properly read this readme.md file)
   • Hyper (good-looking terminal)
   • Windows Subsystem for Linux, a.k.a. WSL (for being cool?)
   • Git in WSL or in DOS Cmd (for version control)

2. Machine Models

2.1. Model of Induction Machine

\[\begin{array}{l} {L_\sigma }p{i_s} = {u_s} - \left( {{r_s} + {r_{req}}} \right){i_s} + \left( {\alpha I - \omega J} \right){\psi _\mu }\\ p{\psi _\mu } = {r_{req}}{i_s} - \left( {aI - \omega J} \right){\psi _\mu } \end{array}\]

2.2. Model of Permanent Magnet Synchronous Machine

\[\begin{array}{l} {L_d}p{i_d} = - r{i_d} + \omega {L_q}{i_q} + {u_d}\\ {L_q}p{i_q} = - r{i_q} - \omega {L_d}{i_d} + {u_q} - \omega {\psi _{{\mathrm{PM}}}} \end{array}\]

2.3. Model of Bearingless Induction Machine*

3. Block Diagram for the Codes

Simulation procedure is as follows:

for loop begins{

    time

    machine_simulation(); // machine_dynamics, numeric_integration

    measurement(); // speed, current

    observation(); // observer 

    control(); // speed_control, current_control

    inverter_model(); // 
}

Future Topics (Brainstorming)

• C语言电机仿真架构 / framework in C language (done)
• 永磁电机的仿真
• 电机设计的电路参数拟合
• 变步长数值积分（DoPri54）
• 电机参数自整定
• 电流环系数设计
• 转速环系数设计
• 转动惯量辩识
• 自抗扰控制
• 基于带宽指标的自抗扰控制系数设计
• 全局稳定转速自适应观测器设计
• 逆变器非线性建模 / inverter nonlinearity
• SPWM建模
• SVPWM建模
• 饱和建模 / modeling of saturation
• 非理想电流测量环节建模
• 母线电容建模和无轴承电机的仿佛有UPS控制
• 无轴承感应电机建模
• 基于扩展反电势模型的无传感器控制
• 基于 Active Flux 模型的无传感器控制
• 三维模型的绘制技巧