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% FILE: dc_drv_sample_02u_std.m

clc
clear all
close all

% TIME VECTOR
tfin=5; % Simulation time [s]
h=0.0002; % Integration step
t=0:h:tfin;
n=length(t);% RATED VALUES & PARAMETERS OF MOTOR 1
P1_rtd=83.5e3; V1_rtd=400; RPM1_rtd=1160;
Wm1_rtd=121.4749; TL1_rtd=687.385; Ia1_rtd=228;

Ra1=0.120; La1=2.9e-3;Jm1=1.3; bm1=2*0.077547;
Kfi1=3.06763;

J1=Jm1;

%Jackshaft Parameters
K1=1.5e+004;
b=0;

%Load Parameters
J2=50;
b2=0.05;

% Converter Gain
Kc1=50;

% % Load ParametersJL1=9*Jm1; J1_tot=Jm1+JL1;

% Current Limit
Ia1_lim=5*Ia1_rtd;

% Current Controller
Ti1 = 0.0130; Ki1 = 0.0050;

% Speed Controller
Ts1 = 0.6114; Ks1 = 21.0154;% VECTOR INITIALIZATION
%2M
omega_star=zeros(1,n); err_omega_m=zeros(1,n);
omega_m=zeros(1,n); omega_L=zeros(1,n);
theta_m=zeros(1,n); theta_L=zeros(1,n);

I_star1=zeros(1,n);I_ref1=zeros(1,n); err_Ia1=zeros(1,n);
Ia1=zeros(1,n); Vc1=zeros(1,n); Va1=zeros(1,n);
Tel=zeros(1,n); TL1=zeros(1,n);

% SPEED REFERENCE & LOAD TORQUE
% Speedcommand (ramp)
omega_star_ee1=0.1*Wm1_rtd;
t_step=1;

W_ref1_0=0;
delta_W1=Wm1_rtd;
W_ref1_f=W_ref1_0+delta_W1;

for k=1:n
if t(k)<t_step,
omega_star(k)=0;
end
ift(k)>=t_step,
omega_star(k)=omega_star_ee1;
end
end

% Load torque (constant)
TL1=0.1*TL1_rtd*ones(1,n);
TL1(1)=0.1*TL1_rtd;

% SYSTEM EQUATIONS

for k=2:nerr_omega_m(k)=omega_star(k)-omega_m(k-1);
I_star1(k)=I_star1(k-1)+Ks1*(err_omega_m(k)-err_omega_m(k-1))+Ks1*h*err_omega_m(k)/Ts1;

if abs(I_star1(k))>Ia1_lim
if I_star1(k)>0,I_ref1(k)=Ia1_lim;
end
if I_star1(k)<0,
I_ref1(k)=-Ia1_lim ;
end
else I_ref1(k)=I_star1(k) ;
end...