Sim_data for a custom hardware RL PMSM
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Hello im train to train a TD3 agent for a FOc PMSM
but im creating the Sim_data for my real hardware but im not sure if is working
this is my code
%% Model : PMSM Field Oriented Control (Sensorless, RL compatible)
% Description : sim_data for mcb_pmsm_foc_sim_RL
% Motor : MCAT-identified PMSM (sensorless)
% Purpose : Stable simulation + RL training
%
% IMPORTANT:
% This file follows MathWorks MCB naming conventions.
% Do NOT change field names unless you also edit Simulink blocks.
%% =========================================================
% PWM Switching frequency
%% =========================================================
PWM_frequency = 5e3; % Hz
T_pwm = 1/PWM_frequency; % s
%% =========================================================
% Sample times
%% =========================================================
Ts = T_pwm; % Controller sample time
Ts_simulink = T_pwm/2; % Plant simulation
Ts_motor = T_pwm/2;
Ts_inverter = T_pwm/2;
Ts_speed = 10*Ts; % Speed loop
%% =========================================================
% Data type
%% =========================================================
dataType = 'single';
%% =========================================================
% PMSM PARAMETERS (MCB-compatible)
%% =========================================================
pmsm = struct();
% -------- Electrical --------
pmsm.p = 4; % Pole pairs
pmsm.Rs = 0.54; % Ohm
pmsm.Ld = 235e-6; % H
pmsm.Lq = 218e-6; % H
% -------- Flux (from MCAT Kt) --------
% Kt = (3/2)*p*FluxPM -> FluxPM = Kt / (1.5*p)
pmsm.FluxPM = 0.0548 / (1.5 * pmsm.p); % Wb
% -------- Mechanical --------
pmsm.J = 1e-4; % kg*m^2
pmsm.B = 1e-4; % viscous friction (MUST exist)
% -------- Ratings --------
pmsm.I_rated = 6; % A
pmsm.V_rated = 15; % V
pmsm.N_rated = 4000; % rpm
% -------- Base speed (REQUIRED by model) --------
pmsm.N_base = 4000; % rpm
% -------- Encoder placeholders (REQUIRED even if sensorless) --------
pmsm.QEPSlits = 2048; % Dummy value (never used in sensorless)
%% =========================================================
% INVERTER PARAMETERS
%% =========================================================
inverter = struct();
inverter.Vdc = 24; % DC bus voltage
inverter.ISenseMax = 8.25; % A (hardware scale)
inverter.Rds_on = 0.05; % Ohm
inverter.DeadTime = 500e-9; % s
%% =========================================================
% TARGET PARAMETERS (generic)
%% =========================================================
target = struct();
target.PWM_frequency = PWM_frequency;
target.ADC_Vref = 3.3;
%% =========================================================
% PER-UNIT SYSTEM (used by scaling blocks)
%% =========================================================
PU_System = struct();
PU_System.I_base = pmsm.I_rated;
PU_System.V_base = pmsm.V_rated / sqrt(3);
PU_System.W_base = pmsm.N_base * 2*pi/60;
PU_System.T_base = (3/2) * pmsm.p * pmsm.FluxPM * PU_System.I_base;
%% =========================================================
% CURRENT PI CONTROLLER PARAMETERS
% (from your MCAT tuning)
%% =========================================================
PI_params = struct();
% Current loop gains
PI_params.Kp_d = 0.6746;
PI_params.Ki_d = 0.03434;
PI_params.Kp_q = 0.2490;
PI_params.Ki_q = 0.02231;
% Limits
PI_params.CurrentLimit = 0.9; % 90 %
% Delays (simulation)
PI_params.delay_Currents = 1;
PI_params.delay_Position = 1;
%% =========================================================
% SPEED LOOP PARAMETERS
%% =========================================================
Speed_params = struct();
Speed_params.Kp = 0.002368;
Speed_params.Ki = 0.0002252;
Speed_params.UpperLimit = 2; % A
Speed_params.LowerLimit = -2; % A
Speed_params.RampUp = 5000; % rpm/s
Speed_params.RampDown = 5000; % rpm/s
%% =========================================================
% SENSORLESS OBSERVER PARAMETERS
%% =========================================================
Observer = struct();
% BEMF observer
Observer.BEMF_F0 = 300; % Hz
Observer.BEMF_xi = 1;
% Tracking observer
Observer.TO_F0 = 70; % Hz
Observer.TO_xi = 1;
% Startup & merging
Observer.StartupRamp = 3000; % rpm/s
Observer.StartupCurrent = 0.65; % A
Observer.MergeSpeed = 500; % rpm
Observer.MergeCoeff = 1.0; % 100 %
%% =========================================================
% DISPLAY (debug)
%% =========================================================
disp("=== PMSM sim_data loaded successfully ===");
disp(pmsm);
``
but i need it to work like this one
% Model : PMSM Field Oriented Control
% Description : Set Parameters for Motor, Inverter and Controllers
% : for simulating the FOC control algorithm for PMSM
% File name : mcb_pmsm_foc_sim_data.m
% Copyright 2020-2021 The MathWorks, Inc.
%% Set PWM Switching frequency
PWM_frequency = 5e3; %Hz // converter s/w freq 5e3
T_pwm = 1/PWM_frequency; %s // PWM switching time period
%% Set Sample Times
Ts = T_pwm; %sec // simulation time step for controller
Ts_simulink = T_pwm/2; %sec // simulation time step for model simulation
Ts_motor = T_pwm/2; %sec // Simulation sample time
Ts_inverter = T_pwm/2; %sec // simulation time step for average value inverter
Ts_speed = 10*Ts; %Sec // Sample time for speed controller
%% Set data type for controller & code-gen
dataType = 'single'; % Floating point code-generation
%% System Parameters // Hardware parameters
pmsm = mcb.getPMSMParameters('Maxon_EC_Speedgoat');
pmsm.PositionOffset = 0.165;
%% Target & Inverter Parameters
target = mcb.getProcessorParameters('F28379D',PWM_frequency);
inverter = mcb.getInverterParameters('BoostXL-DRV8305');
% Update ISenseMax that is measurable by target ADC
inverter.ISenseMax = inverter.ISenseMax * target.ADC_Vref / inverter.ISenseVref;
%% Derive Characteristics
pmsm.N_base = mcb.getMotorBaseSpeed(pmsm,inverter); %rpm // Base speed of motor at given Vdc
%% PU System details // Set base values for pu conversion
PU_System = mcb.getPUSystemParameters(pmsm,inverter);
%% Controller design // Get ballpark values!
PI_params = mcb.getPIControllerParameters(pmsm,inverter,PU_System,T_pwm,Ts,Ts_speed);
%Updating delays for simulation
PI_params.delay_Currents = 1;
PI_params.delay_Position = 1;
%% Displaying model variables
disp(pmsm);
disp(inverter);
disp(target);
disp(PU_System);
https://es.mathworks.com/help/reinforcement-learning/ug/train-td3-agent-for-pmsm-control.html#TrainTD3AgentForPMSMControlExample-3
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2026-4-19，20:49
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