学习SVPWM过程中使用python做一些模拟与仿真（三）

第三个部分用来记录FOC控制中的clark、park、反clark、反park变换；

本来这个板块只写SVPWM部分的，但是写了坐标系变化的代码，就一起记录下来；

具体的理论分析不做过多的介绍；

python的代码如下：

'''
author : sunyan
'''

from matplotlib import pyplot as plt
import numpy as np
import math

class SVPWM_sim:

    def __init__(self):
        plt.figure(figsize = (10, 10))
        self.fre_to_time = 5

    def three_phase_to_two(self):
        for thate in range(0, 361, self.fre_to_time):
            plt.cla()                                   # 清除之前画的图
    
            ua = math.cos(math.radians(thate))
            ub = math.cos(math.radians(thate - 120))
            uc = math.cos(math.radians(thate + 120))

            xa0 = 0 
            ya0 = 0
            xa1 = ua
            ya1 = 0

            xb0 = xa1 
            yb0 = ya1
            xb1 = xb0 + ub * math.cos(math.radians(120)) 
            yb1 = yb0 + ub * math.sin(math.radians(120))

            xc0 = xb1 
            yc0 = yb1
            xc1 = xc0 + uc * math.cos(math.radians(240))
            yc1 = yc0 + uc * math.sin(math.radians(240))

            xu0 = 0
            yu0 = 0
            xu1 = (3 / 2) * math.cos(math.radians(thate))
            yu1 = (3 / 2) * math.sin(math.radians(thate))

            plt.annotate('', xy = (xa1, ya1), xytext = (xa0, ya0), \
                    arrowprops = dict(color = 'blue', width = 1))
            plt.annotate('', xy = (xb1, yb1), xytext = (xb0, yb0), \
                    arrowprops = dict(color = 'red', width = 1))
            plt.annotate('', xy = (xc1, yc1), xytext = (xc0, yc0), \
                    arrowprops = dict(color = 'yellow', width = 1))
            plt.annotate('', xy = (xu1, yu1), xytext = (xu0, yu0), \
                    arrowprops = dict(color = 'black', width = 1))

            plt.xlim(-2, 2)                             # 设置x轴范围
            plt.ylim(-2, 2)                             # 设置y轴范围
            plt.grid(True)

            plt.pause(0.01 * self.fre_to_time)          # 暂停1/100秒
        
        plt.show()

    def three_phase_to_two(self, udc = 100, km = 1, thate = 0):

        print('thate is : ' + str(thate))
        Ts = 2 * math.pi * 1 / 10000
        K = math.sqrt(3) * Ts / udc
        
        uarfa = km * (2 / 3) * udc * math.cos(math.radians(thate))
        ubata = km * (2 / 3) * udc * math.sin(math.radians(thate))

        u1 = ubata
        u2 = (math.sqrt(3) / 2 * uarfa) - ubata / 2
        u3 = (-math.sqrt(3) / 2 * uarfa) - ubata / 2

        if u1 > 0:
            A = 1
        else:
            A = 0
        if u2 > 0:
            B = 1
        else:
            B = 0
        if u3 > 0:
            C = 1
        else:
            C = 0
        
        N = 4 * C + 2 * B + A

        if N == 3:
            time4 = K * u2
            time6 = K * u1
            time7 = Ts - time4 - time6
            if (time4 + time6) > Ts:
                time4 = time4 / (time4 + time6) * Ts
                time6 = time6 / (time4 + time6) * Ts
                time7 = 0
            T4 = time4 / Ts * 100
            T6 = time6 / Ts * 100
            T7 = time7 / 2 / Ts * 100
            print('扇区1')
            print('T4 的占空比是：' + str(T4) + '%')
            print('T6 的占空比是：' + str(T6) + '%')
            print('T7 的占空比是：' + str(T7) + '%')
            print('T0 的占空比是：' + str(T7) + '%')
        elif N == 1:
            time6 = -K * u3
            time2 = -K * u2
            time7 = Ts - time6 - time2
            if (time6 + time2) > Ts:
                time6 = time6 / (time6 + time2) * Ts
                time2 = time2 / (time6 + time2) * Ts
                time7 = 0
            T6 = time6 / Ts * 100
            T2 = time2 / Ts * 100
            T7 = time7 / 2 / Ts * 100
            print('扇区2')
            print('T6 的占空比是：' + str(T6) + '%')
            print('T2 的占空比是：' + str(T2) + '%')
            print('T7 的占空比是：' + str(T7) + '%')
            print('T0 的占空比是：' + str(T7) + '%')
        elif N == 5:
            time2 = K * u1
            time3 = K * u3
            time7 = Ts - time2 - time3
            if (time2 + time3) > Ts:
                time2 = time2 / (time2 + time3) * Ts
                time3 = time3 / (time2 + time3) * Ts
                time7 = 0
            T2 = time2 / Ts * 100
            T3 = time3 / Ts * 100
            T7 = time7 / 2 / Ts * 100
            print('扇区3')
            print('T2 的占空比是：' + str(T2) + '%')
            print('T3 的占空比是：' + str(T3) + '%')
            print('T7 的占空比是：' + str(T7) + '%')
            print('T0 的占空比是：' + str(T7) + '%')
        elif N == 4:
            time3 = -K * u2
            time1 = -K * u1
            time7 = Ts - time3 - time1
            if (time3 + time1) > Ts:
                time3 = time3 / (time3 + time1) * Ts
                time1 = time1 / (time3 + time1) * Ts
                time7 = 0
            T3 = time3 / Ts * 100
            T1 = time1 / Ts * 100
            T7 = time7 / 2 / Ts * 100
            print('扇区4')
            print('T3 的占空比是：' + str(T3) + '%')
            print('T1 的占空比是：' + str(T1) + '%')
            print('T7 的占空比是：' + str(T7) + '%')
            print('T0 的占空比是：' + str(T7) + '%')
        elif N == 6:
            time1 = K * u3
            time5 = K * u2
            time7 = Ts - time1 - time5
            if (time1 + time5) > Ts:
                time1 = time1 / (time1 + time5) * Ts
                time5 = time5 / (time1 + time5) * Ts
                time7 = 0
            T1 = time1 / Ts * 100
            T5 = time5 / Ts * 100
            T7 = time7 / 2 / Ts *100
            print('扇区5')
            print('T2 的占空比是：' + str(T1) + '%')
            print('T3 的占空比是：' + str(T5) + '%')
            print('T7 的占空比是：' + str(T7) + '%')
            print('T0 的占空比是：' + str(T7) + '%')
        elif N == 2:
            time5 = -K * u1
            time4 = -K * u3
            time7 = Ts - time5 - time4
            if (time5 + time4) > Ts:
                time5 = time5 / (time5 + time4) * Ts
                time4 = time4 / (time5 + time4) * Ts
                time7 = 0
            T5 = time5 / Ts * 100
            T4 = time4 / Ts * 100
            T7 = time7 / 2 / Ts * 100
            print('扇区6')
            print('T5 的占空比是：' + str(T5) + '%')
            print('T4 的占空比是：' + str(T4) + '%')
            print('T7 的占空比是：' + str(T7) + '%')
            print('T0 的占空比是：' + str(T7) + '%')

    def clark_3s_to_2s(self, ia, ib, ic):

        iarfa = ia
        ibate = (1 / math.sqrt(3)) * ia + (2 / math.sqrt(3)) * ib

        return iarfa, ibate

    def park_2s_to_2r(self, iarfa, ibate, thate):

        i_2r_d = iarfa * math.cos(thate) + ibate * math.sin(thate)
        i_2r_q = -iarfa * math.sin(thate) + ibate * math.cos(thate)

        return i_2r_d, i_2r_q

    def park_2r_to_2s(self, i_2r_d, i_2r_q, thate):
        
        iarfa = i_2r_d * math.cos(thate) - i_2r_q * math.sin(thate)
        ibate = i_2r_d * math.sin(thate) + i_2r_q * math.cos(thate)

        return iarfa, ibate

    def clark_2s_to_3s(self, iarfa, ibate):

        ia = iarfa
        ib = -(1 / 2) * iarfa + (math.sqrt(3) / 2) * ibate
        ic = -(1 / 2) * iarfa - (math.sqrt(3) / 2) * ibate

        return ia, ib, ic

由于这部分调试代码比较多， 也就一并记录一下调试代码；

调试代码如下：

demo = SVPWM_sim()

te1 = 0
te2 = 0
te_d = 0
te_q = 0
te_arf = 0
te_bat = 0
te_ia = 0
te_ib = 0
te_ic = 0

time = []
re_ia = []
re_ib = []
re_ic = []
re_arf = []
re_bat = []
re_d = []
re_q = []
an_re_arfa = []
an_re_bate = []
an_re_ua = []
an_re_ub = []
an_re_uc = []
k = 2 * math.pi * 0.01		#此处应该是一条斜率为（2*pi*f）的斜坡信号，f是与正变换的3s信号的频率相同；

for index in range(0, 201, 1):
    time.append(index)
    ia = math.cos(2 * math.pi * 0.01 * index)
    ib = math.cos(2 * math.pi * 0.01 * index - 120 / 180 * math.pi)
    ic = math.cos(2 * math.pi * 0.01 * index + 120 / 180 * math.pi)
    
    re_ia.append(ia)
    re_ib.append(ib)
    re_ic.append(ic)

    te1 = demo.clark_3s_to_2s(ia, ib, ic)[0]
    te2 = demo.clark_3s_to_2s(ia, ib, ic)[1]

    re_arf.append(te1)
    re_bat.append(te2)

    te_d = demo.park_2s_to_2r(te1, te2, (k * index))[0]
    te_q = demo.park_2s_to_2r(te1, te2, (k * index))[1]
    re_d.append(te_d)
    re_q.append(te_q)

    te_arf = demo.park_2r_to_2s(te_d, te_q, (k * index))[0]
    te_bat = demo.park_2r_to_2s(te_d, te_q, (k * index))[1]

    an_re_arfa.append(te_arf)
    an_re_bate.append(te_bat)

    an_re_ua.append(demo.clark_2s_to_3s(te_arf, te_bat)[0])
    an_re_ub.append(demo.clark_2s_to_3s(te_arf, te_bat)[1])
    an_re_uc.append(demo.clark_2s_to_3s(te_arf, te_bat)[2])



plt.xlim(0, 200)
plt.ylim(-1.1, 1.1)
plt.grid(True)

plt.plot(time, re_ia)
plt.plot(time, re_ib)
plt.plot(time, re_ic)
plt.plot(time, re_arf)
plt.plot(time, re_bat)
plt.plot(time, re_d)
plt.plot(time, re_q)
plt.plot(time, an_re_arfa)
plt.plot(time, an_re_bate)
plt.plot(time, an_re_ua)
plt.plot(time, an_re_ub)
plt.plot(time, an_re_uc)

plt.show()

 最后附一张绘制的图像：