SM_Simulator/Python/SM_simulator.py at main · mist90/SM_Simulator

Repository navigation

History

# MIT License

# michail3110@gmail.com

# Permission is hereby granted, free of charge, to any person obtaining a copy

# of this software and associated documentation files (the "Software"), to deal

# in the Software without restriction, including without limitation the rights

# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell

# copies of the Software, and to permit persons to whom the Software is

# furnished to do so, subject to the following conditions:

# The above copyright notice and this permission notice shall be included in all

# copies or substantial portions of the Software.

# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR

# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,

# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE

# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER

# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,

# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE

# SOFTWARE.

import numpy as np

import matplotlib.pyplot as plt

import SM_model

import sys

import configparser

params = dict()

for i in range(1, len(sys.argv)):

cfg = configparser.ConfigParser()

cfg.read(sys.argv[i])

for sectionName in cfg:

section = dict(cfg[sectionName])

if sectionName == "Mechanical":

params["N"] = int(section["n"]) # number of phases of stepper motor

params["J"] = float(section["j"]) # Inertia moment, kg*m^2

params["K"] = float(section["k"]) # Ratio of maximum torque to maximum phase current N*m/A

params["FTc"] = float(section["ftc"]) # Coulomb Friction torque, N*m

params["FTbrk"] = float(section["ftbrk"]) # Breakaway Friction torque, N*m

params["brkOmega"] = float(section["brkomega"]) # Breakaway angular velocity, 1/s

params["B"] = float(section["b"]) # Viscous damping friction torque constant, N*m*s

elif sectionName == "Electrical":

params["L"] = float(section["l"]) # Phase inductance, Hn

params["R"] = float(section["r"]) # Phase resistance, Ohm

params["Flowmax"] = float(section["flowmax"]) # Maximum magnetic flow of stepper motor magnetics, Wb

params["DT"] = float(section["dt"]) # Detent torque, N*m

elif sectionName == "Time":

params["StopTime"] = float(section["stoptime"])

numPoints = int(section["numpoints"])

elif sectionName == "Frequency":

startFreq = float(section["startfreq"])

stopFreq = float(section["stopfreq"])

params["startOmega"] = float(section["startomega"]) # 2.0*np.pi*startFreq/params["N"]

elif sectionName == "Output":

Iref = float(section["iref"]) # Phase current, A

params["Vpow"] = float(section["vpow"]) # Power voltage of phases of stepper motor

microstep = True if section["microstep"] == "true" else False

"""True - set voltage reverse polarity for decreasing current in motor phase,

False - set 0 V for decreasing current in motor phase"""

params["breakByVoltage"] = True if section["breakbyvoltage"] == "true" else False

time = params["StopTime"]

# Select driver

if microstep:

driver = SM_model.MicroStepDriver(startFreq, stopFreq, time, Iref)

else:

driver = SM_model.FullStepDriver(startFreq, stopFreq, time, Iref)

sm = SM_model.StepperMotorSimulator(params, driver)

sm.run()

t = np.linspace(0, time, numPoints)

# Plot results

fig, axs = plt.subplots(3, 1, sharex=True)

# Remove vertical space between axes

fig.subplots_adjust(hspace=0)

# Plot each graph

axs[0].plot(t, sm.getPhi(t))

axs[0].set_ylabel("phi, rad")

axs[1].plot(t, sm.getOmega(t))

axs[1].set_ylabel("w, rad/s")

axs[2].plot(t, sm.getI1(t))

axs[2].plot(t, sm.getI2(t))

axs[2].set_ylabel("I1,I2, A")

plt.xlabel("time")

fig.suptitle("Stepper motor movement simulation")

plt.show()

FilesExpand file tree

SM_simulator.py

Latest commit

History

SM_simulator.py

File metadata and controls