115 lines
4.5 KiB
C++
115 lines
4.5 KiB
C++
/*******************************************************************************
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* Copyright (C) 2018 MINRES Technologies GmbH
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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*******************************************************************************/
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#include "sysc/top/dcmotor.h"
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#include "scc/utilities.h"
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#include <future>
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namespace sysc {
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using namespace sc_core;
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auto get_config = []() -> BLDC::Config {
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BLDC::Config config{};
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config.Ke = 1. / 4000., // 0.01; // V/rad/s, = 1/Kv
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config.R = 0.5; // Ohm
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config.Ke = 0.01;
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config.inertia = 0.0005;
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config.NbPoles = 2;
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config.damping = 0.00001;
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return config;
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};
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dc_motor::dc_motor(const sc_module_name &nm)
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: sc_module(nm)
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, NAMED(va_i)
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, NAMED(vb_i)
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, NAMED(vc_i)
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, NAMED(va_o)
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, NAMED(vb_o)
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, NAMED(vc_o)
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, NAMED(vcenter_o)
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, NAMED(max_integ_step, sc_time(10, SC_US))
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, NAMED(load, 0.1)
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, bldc_model(get_config())
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, bldc_state(bldc_model.getState()) {
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bldc_model.setLoad(0.0001);
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SC_THREAD(thread);
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}
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dc_motor::~dc_motor() = default;
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void dc_motor::trace(sc_trace_file *trf) const {
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auto &ia = bldc_state.ia;
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sc_core::sc_trace(trf, bldc_state.ia, std::string(this->name()) +"." "ia");
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sc_core::sc_trace(trf, bldc_state.ib, std::string(this->name()) +"." "ib");
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sc_core::sc_trace(trf, bldc_state.ic, std::string(this->name()) +"." "ic");
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sc_core::sc_trace(trf, bldc_state.theta, std::string(this->name()) +"." "theta");
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sc_core::sc_trace(trf, bldc_state.omega, std::string(this->name()) +"." "omega");
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sc_core::sc_trace(trf, vout[0], std::string(this->name()) + "." "va");
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sc_core::sc_trace(trf, vout[1], std::string(this->name()) + "." "vb");
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sc_core::sc_trace(trf, vout[2], std::string(this->name()) + "." "vc");
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sc_core::sc_trace(trf, vout[3], std::string(this->name()) + "." "vcenter");
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sc_core::sc_trace(trf, vout[4], std::string(this->name()) + "." "ea");
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sc_core::sc_trace(trf, vout[5], std::string(this->name()) + "." "eb");
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sc_core::sc_trace(trf, vout[6], std::string(this->name()) + "." "ec");
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}
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void dc_motor::thread() {
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const auto divider = 10.0;
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wait(SC_ZERO_TIME);
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std::array<double, 3> vin{0., 0., 0.};
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auto eval_model = [this](std::array<double, 3> vin, const sc_time step) -> std::array<double, 7> {
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bldc_model.set_input(vin);
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bldc_model.run(step.to_seconds());
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return bldc_model.get_voltages();
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};
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while (true) {
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vin[0] = va_i.read();
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vin[1] = vb_i.read();
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vin[2] = vc_i.read();
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// auto sim_res=std::async(std::launch::async, eval_model, vin, step);
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auto start = sc_time_stamp();
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wait(max_integ_step, va_i.value_changed_event() | vb_i.value_changed_event() | vc_i.value_changed_event());
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auto diff = sc_time_stamp() - start;
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if (diff.to_seconds() >= bldc_model.dt) {
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vout = eval_model(vin, diff); // sim_res.get();
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va_o = vout[0] / divider;
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vb_o = vout[1] / divider;
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vc_o = vout[2] / divider;
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vcenter_o = vout[3] / divider;
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}
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}
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}
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} /* namespace sysc */
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