Sim_data for a custom hardware RL PMSM

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