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works with python3, cleaned up the charts a bit #3

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2 changes: 2 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
@@ -0,0 +1,2 @@
__pycache__
*.swp
66 changes: 40 additions & 26 deletions control.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,33 +19,34 @@

import numpy as np

import dyn_model as dm
import dyn_model as dm

import misc_utils as mu

import math

PWM_freq = 16000
PWM_cycle_time = (1./16000)
PWM_cycle_time = 1.0 / 16000
PWM_duty = 0.6
PWM_duty_time = PWM_cycle_time * PWM_duty

debug = False


#
#
# Sp setpoint, Y output
#
def run_hpwm_l_on_bipol(Sp, Y, t):
elec_angle = mu.norm_angle(Y[dm.ov_theta] * dm.NbPoles/2)
elec_angle = mu.norm_angle(Y[dm.ov_theta] * dm.NbPoles / 2)

U = np.zeros(dm.iv_size)

step = "none"

# switching pattern based on the "encoder"
# H PWM L ON pattern
if 0. <= elec_angle <= (math.pi * (1./6.)): # second half of step 1
if 0.0 <= elec_angle <= (math.pi * (1.0 / 6.0)): # second half of step 1
# U off
# V low
# W hpwm
Expand All @@ -59,7 +60,7 @@ def run_hpwm_l_on_bipol(Sp, Y, t):
hw = 0
lw = 0
step = "1b"
elif (math.pi * (1.0/6.0)) < elec_angle <= (math.pi * (3.0/6.0)): # step 2
elif (math.pi * (1.0 / 6.0)) < elec_angle <= (math.pi * (3.0 / 6.0)): # step 2
# U hpwm
# V low
# W off
Expand All @@ -73,7 +74,7 @@ def run_hpwm_l_on_bipol(Sp, Y, t):
hw = 0
lw = 0
step = "2 "
elif (math.pi * (3.0/6.0)) < elec_angle <= (math.pi * (5.0/6.0)): # step 3
elif (math.pi * (3.0 / 6.0)) < elec_angle <= (math.pi * (5.0 / 6.0)): # step 3
# U hpwm
# V off
# W low
Expand All @@ -87,7 +88,7 @@ def run_hpwm_l_on_bipol(Sp, Y, t):
hw = 0
lw = 1
step = "3 "
elif (math.pi * (5.0/6.0)) < elec_angle <= (math.pi * (7.0/6.0)): # step 4
elif (math.pi * (5.0 / 6.0)) < elec_angle <= (math.pi * (7.0 / 6.0)): # step 4
# U off
# V hpwm
# W low
Expand All @@ -101,7 +102,7 @@ def run_hpwm_l_on_bipol(Sp, Y, t):
hw = 0
lw = 1
step = "4 "
elif (math.pi * (7.0/6.0)) < elec_angle <= (math.pi * (9.0/6.0)): # step 5
elif (math.pi * (7.0 / 6.0)) < elec_angle <= (math.pi * (9.0 / 6.0)): # step 5
# U low
# V hpwm
# W off
Expand All @@ -115,7 +116,7 @@ def run_hpwm_l_on_bipol(Sp, Y, t):
hw = 0
lw = 0
step = "5 "
elif (math.pi * (9.0/6.0)) < elec_angle <= (math.pi * (11.0/6.0)): # step 6
elif (math.pi * (9.0 / 6.0)) < elec_angle <= (math.pi * (11.0 / 6.0)): # step 6
# U low
# V off
# W hpwm
Expand All @@ -129,7 +130,9 @@ def run_hpwm_l_on_bipol(Sp, Y, t):
hw = 0
lw = 0
step = "6 "
elif (math.pi * (11.0/6.0)) < elec_angle <= (math.pi * (12.0/6.0)): # first half of step 1
elif (
(math.pi * (11.0 / 6.0)) < elec_angle <= (math.pi * (12.0 / 6.0))
): # first half of step 1
# U off
# V low
# W hpwm
Expand All @@ -144,7 +147,7 @@ def run_hpwm_l_on_bipol(Sp, Y, t):
lw = 0
step = "1a"
else:
print 'ERROR: The electrical angle is out of range!!!'
print("ERROR: The electrical angle is out of range!!!")

# Assigning the scheme phase values to the simulator phases
# "Connecting the controller wires to the motor" ^^
Expand All @@ -157,32 +160,37 @@ def run_hpwm_l_on_bipol(Sp, Y, t):
U[dm.iv_lw] = lv

if debug:
print 'time {} step {} eangle {} switches {}'.format(t, step, mu.deg_of_rad(elec_angle), U)
print(
"time {} step {} eangle {} switches {}".format(
t, step, mu.deg_of_rad(elec_angle), U
)
)

return U


#
#
# Sp setpoint, Y output
#
def run_hpwm_l_on(Sp, Y, t):
elec_angle = mu.norm_angle(Y[dm.ov_theta] * dm.NbPoles/2)
elec_angle = mu.norm_angle(Y[dm.ov_theta] * dm.NbPoles / 2)

U = np.zeros(dm.iv_size)

step = "none"

# switching pattern based on the "encoder"
# H PWM L ON pattern bipolar
if 0. <= elec_angle <= (math.pi * (1./6.)): # second half of step 1
if 0.0 <= elec_angle <= (math.pi * (1.0 / 6.0)): # second half of step 1
# U off
# V low
# W hpwm
hu = 0
lu = 0
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hw = 1
lw = 0
lw = 0
hv = 0
lv = 1
else:
Expand All @@ -191,24 +199,24 @@ def run_hpwm_l_on(Sp, Y, t):
hv = 1
lv = 0
step = "1b"
elif (math.pi * (1.0/6.0)) < elec_angle <= (math.pi * (3.0/6.0)): # step 2
elif (math.pi * (1.0 / 6.0)) < elec_angle <= (math.pi * (3.0 / 6.0)): # step 2
# U hpwm
# V low
# W off
if math.fmod(t, PWM_cycle_time) <= PWM_duty_time:
hu = 1
lu = 0
lu = 0
hv = 0
lv = 1
else:
hu = 0
lu = 1
lu = 1
hv = 1
lv = 0
hw = 0
lw = 0
step = "2 "
elif (math.pi * (3.0/6.0)) < elec_angle <= (math.pi * (5.0/6.0)): # step 3
elif (math.pi * (3.0 / 6.0)) < elec_angle <= (math.pi * (5.0 / 6.0)): # step 3
# U hpwm
# V off
# W low
Expand All @@ -225,7 +233,7 @@ def run_hpwm_l_on(Sp, Y, t):
hv = 0
lv = 0
step = "3 "
elif (math.pi * (5.0/6.0)) < elec_angle <= (math.pi * (7.0/6.0)): # step 4
elif (math.pi * (5.0 / 6.0)) < elec_angle <= (math.pi * (7.0 / 6.0)): # step 4
# U off
# V hpwm
# W low
Expand All @@ -242,7 +250,7 @@ def run_hpwm_l_on(Sp, Y, t):
hw = 1
lw = 0
step = "4 "
elif (math.pi * (7.0/6.0)) < elec_angle <= (math.pi * (9.0/6.0)): # step 5
elif (math.pi * (7.0 / 6.0)) < elec_angle <= (math.pi * (9.0 / 6.0)): # step 5
# U low
# V hpwm
# W off
Expand All @@ -259,7 +267,7 @@ def run_hpwm_l_on(Sp, Y, t):
hw = 0
lw = 0
step = "5 "
elif (math.pi * (9.0/6.0)) < elec_angle <= (math.pi * (11.0/6.0)): # step 6
elif (math.pi * (9.0 / 6.0)) < elec_angle <= (math.pi * (11.0 / 6.0)): # step 6
# U low
# V off
# W hpwm
Expand All @@ -276,7 +284,9 @@ def run_hpwm_l_on(Sp, Y, t):
hu = 1
lu = 0
step = "6 "
elif (math.pi * (11.0/6.0)) < elec_angle <= (math.pi * (12.0/6.0)): # first half of step 1
elif (
(math.pi * (11.0 / 6.0)) < elec_angle <= (math.pi * (12.0 / 6.0))
): # first half of step 1
# U off
# V low
# W hpwm
Expand All @@ -294,7 +304,7 @@ def run_hpwm_l_on(Sp, Y, t):
lv = 0
step = "1a"
else:
print 'ERROR: The electrical angle is out of range!!!'
print("ERROR: The electrical angle is out of range!!!")

# Assigning the scheme phase values to the simulator phases
# "Connecting the controller wires to the motor" ^^
Expand All @@ -307,7 +317,11 @@ def run_hpwm_l_on(Sp, Y, t):
U[dm.iv_lw] = lv

if debug:
print 'time {} step {} eangle {} switches {}'.format(t, step, mu.deg_of_rad(elec_angle), U)
print(
"time {} step {} eangle {} switches {}".format(
t, step, mu.deg_of_rad(elec_angle), U
)
)

return U

Expand All @@ -317,5 +331,5 @@ def run_hpwm_l_on(Sp, Y, t):
# Sp setpoint, Y output
#
def run(Sp, Y, t):
#return run_hpwm_l_on(Sp, Y, t)
# return run_hpwm_l_on(Sp, Y, t)
return run_hpwm_l_on_bipol(Sp, Y, t)
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