setup.m

clear
close all

Ts = 1e-4;
Tsim = 1e-5;


%% Switch winding that you develop
load_system('speedControlSimulation') % load Simulink model
% The input of this function should be 'lowPassFilter', 'pllEncoder', 'observer'
switch_speed_calculation('observer')

Tend = 0.2;

p = 1;  % number of pole
speed_cmd = 3000;  % rotational speed (r/min)

% Parameters for plant
J_z = 29.54e-6;
b = 4.28e-6; 

% Parameters for low pass filter
f_lpf = 100;  % low pass fileter cut-off frequency (Hz)
omega_lpf = 2*pi*f_lpf;  % low pass fileter cut-off frequency (rad/s)

% Parameters for PLL
pole_1_Hz = -10;
pole_2_Hz = -100;
w1 = 2*pi*pole_1_Hz;
w2 = 2*pi*pole_2_Hz;

f_sf = 10;  % motion state fileter cut-off frequency (Hz)
wb_sf = 2*pi*f_sf;
b_o_sf = wb_sf*J_z;
K_io_sf = wb_sf*b;

% Parameters for chirp signal
f_init = 0.1; % initial frequency of chirp [Hz]
f_target = 1000; % chirp frequency at target time [Hz]

% Parameters for speed control
fb_speed = 100;
omega_b_speed = 2*pi*fb_speed;
Kp_speed = omega_b_speed*J_z;
Ki_speed = omega_b_speed*b;

%% Run simulation
% set_param('compute_speed/Speed Controller LPF', 'Commented', 'off');
% set_param('compute_speed/Speed Controller PLL', 'Commented', 'on');
% set_param('compute_speed/Speed Control Observer', 'Commented', 'on');
sim('speedControlSimulation.slx');
run1 = Simulink.sdi.Run.getLatest;

% set_param('compute_speed/Speed Controller LPF', 'Commented', 'on');
% set_param('compute_speed/Speed Controller PLL', 'Commented', 'off');
% set_param('compute_speed/Speed Control Observer', 'Commented', 'on');
% sim('compute_speed.slx');
% run2 = Simulink.sdi.Run.getLatest;
% 
% set_param('compute_speed/Speed Controller LPF', 'Commented', 'on');
% set_param('compute_speed/Speed Controller PLL', 'Commented', 'on');
% set_param('compute_speed/Speed Control Observer', 'Commented', 'off');
% sim('compute_speed.slx');
% run3 = Simulink.sdi.Run.getLatest;

%% Post processing
% List of variables to extract
% obj2ext = {'time', 'omega_raw', 'omega_lpf', 'omega_pll', 'omega_sf'};
obj2ext = {'time', 'omega'};
% runs = {run1, run2, run3};
runs = {run1};

for r = 1:1
    runObj = runs{r};
    for i = 1:length(obj2ext)
        sigID = getSignalIDsByName(runObj, obj2ext{i});
        if ~isempty(sigID)
            sig_obj{r}.(obj2ext{i}) = Simulink.sdi.getSignal(sigID);
            sig_val{r}.(obj2ext{i}) = sig_obj{r}.(obj2ext{i}).Values.Data;
            time{r} = sig_obj{r}.(obj2ext{i}).Values.Time;
        end
    end
end

%% Plot figure
width = 2*5.43; 
height = 1.2*3*4.38/3/2;
set(0,'units','inches');
Inch_SS = get(0,'screensize');
lw = 1;  % line width

figure1 = figure;
% Plot omega
hold on;
% plot(time{3}, squeeze(sig_val{3}.omega_raw), 'Color', 'k', 'LineWidth', lw);
plot(time{1}, squeeze(sig_val{1}.omega), 'Color', 'r', 'LineWidth', lw);
% plot(time{2}, squeeze(sig_val{2}.omega_pll), 'Color', 'b', 'LineWidth', lw);
% plot(time{3}, squeeze(sig_val{3}.omega_sf), '--', 'Color', 'g', 'LineWidth', lw);
xlabel('Time [s]','Interpreter','latex');
ylabel('$\Omega$ (rad/s)','Interpreter','latex');
xlim([0 Tend]);
% ylim([0 400]);
% legend('$\Omega_{\mathrm{raw}}$','$\Omega_{\mathrm{lpf}}$', '$\Omega_{\mathrm{pll}}$', '$\Omega_{\mathrm{sf}}$', 'Interpreter','latex','Location','east');

set(findall(gcf, '-property', 'FontName'), 'FontName', 'Times New Roman');

set(figure1,'Units','inches','Position',[(Inch_SS(3)-width)/2 (Inch_SS(4)-height)/2 width height]);
print(figure1, '-dsvg','-noui','plot_results');
print(figure1, '-dpng','-r300','plot_results');

function switch_speed_calculation(speed_calculation_type)
    % Define maps for speed calculation models
    speed_calculation_models = containers.Map( ...
        {'lowPassFilter', 'pllEncoder', 'observer'}, ...
        {'lowPassFilter', 'pllEncoder', 'observer'} ...
    );

    if ~isKey(speed_calculation_models, speed_calculation_type)
        error('Unknown speed calculation type: %s. Choose from: %s', speed_calculation_type, strjoin(keys(speed_calculation_models), ', '));
    end

    speed_calculation_name = speed_calculation_models(speed_calculation_type);

    % Load the referenced models
    load_system(speed_calculation_name);

    % Update the reference blocks
    set_param('speedControlSimulation', 'ModelName', speed_calculation_name);

    fprintf('Speed calculation block has been switched to referenced model of %s and %s\n', controller_name);
end