PMSM.rar_foc_电流环_电流环 pmsm

clear,clc; %% simulation configuration T_simulation = 1e-6; %% motor parameter Ld = 0.0001059; %直轴电感 Lq = 0.0002873; %交轴电感 Rs = 0.00475; %相线圈电阻 permanet_flux = 0.0438; %永磁体磁通量 p = 4; %电机磁极对数 Jpmsm = 1; %电机转子及其连接部分的惯量 friction = 0.001; %电机转动阻尼系数，和转速相乘为阻尼转矩 %% simulation condition n_ref = 500; Vdc = 300; %直流母线电压 Td = 0e-6; Tpwm = 1/(10e3); T_current = Tpwm; T_spsest = 1e-3; %% current PI Ki_D = 8; Kp_D = Ki_D * Ld/Rs; Ki_Q = 8; Kp_Q = Ki_D * Lq/Rs; id = -8; iq = 50; we = n_ref/60*p*2*pi; %% EEMF & SMO parameter T_sensorless = 1e-4; % filter design Al = 1; wl0 = 300*2*pi; Ql = 1; A = 1/Ld*[-Rs we*Lq; -we*Lq -Rs]; %1/Ld*[-Rs -wr*p*(Ld - Lq); wr*p*(Ld - Lq) -Rs]; B = [1/Ld 0; 0 1/Ld]; h_SMO = 75;%50 Kp_Eab = 1; Ki_Eab = 10; k_wrEs = 500; Kp_wrEs = 500; Ki_wrEs = 20000; Kp_heter = 50000; Ki_heter = 0; Kd_heter = 250;