Modeling of PMSM motor in Simulink embedded MATLAB Function

Hi,

I have implemented math model of PMSM motor using simulink blocks (Pic1) and equations (Pic2) of PMSM motor

Pic1

Pic2

I want to implement the same model using embedded MATLAB function block (Pic3)

Pic3

where id_m, iq_m are measured outputs PMSM model currents,

uqIN, udIN are measured outputs PI controller voltage,

omega_m is measured outputs PMSM model angular speed.

I don't know how to implement integrator in code.

My suggestion of code is below

function [idOut, iqOut] = EKF(idm, iqm, udm, uqm, omegam)

%dane silnika

Rs = 0.12;
Ld = 0.9e-3;
Lq = 1.05e-3;
Jm = 0.19;
Yf = 0.075;
p = 9;
Tl = 0;

persistent xhat;
if isempty (xhat)
    xhat = [0.1; 0.1; 10];
end
xhat(1) = (p * xhat(3) * xhat(1) * Lq + udm - Rs*xhat(2)) * 1/Ld; %id
xhat(2) = (-p * xhat(3) * xhat(2) * Ld - Yf*p*xhat(3)+uqm-Rs*xhat(1))*1/Lq; %iq
xhat(3) = (3*p)/(2*Jm) * (Yf*xhat(2) + (Ld-Lq)*xhat(1)*xhat(2)) - Tl/Jm; %omega

xhat (1) = xhat(1) + idm;
xhat (2) = xhat(2) + iqm;
xhat (3) = xhat(3) + omegam;

idOut = xhat(1)
iqOut = xhat(2)

Answer 1

[Andrey Er]

Good day.

for integration use SUM with time coefficient T

like Xk+1=Xk+T*Var;

T must be constant or eual time step in model.