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-- Copyright (C) 2002 Morgan Kaufmann Publishers, Inc
-- This file is part of VESTs (Vhdl tESTs).
-- VESTs is free software; you can redistribute it and/or modify it
-- under the terms of the GNU General Public License as published by the
-- Free Software Foundation; either version 2 of the License, or (at
-- your option) any later version.
-- VESTs is distributed in the hope that it will be useful, but WITHOUT
-- ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-- FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
-- for more details.
-- You should have received a copy of the GNU General Public License
-- along with VESTs; if not, write to the Free Software Foundation,
-- Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
library ieee_proposed; use ieee_proposed.electrical_systems.all;
entity motor_system is
port ( terminal vp, vm : electrical;
terminal px : electrical_vector(1 to 3) );
end entity motor_system;
----------------------------------------------------------------
architecture state_space of motor_system is
quantity v_in across vp to vm;
quantity x across i_x through px to electrical_ref;
constant Tfb : real := 0.001;
constant Kfb : real := 1.0;
constant Te : real := 0.001;
constant Ke : real := 1.0;
constant Tm : real := 0.1;
constant Km : real := 1.0;
type real_matrix is array (1 to 3, 1 to 3) of real;
constant c : real_matrix := ( ( -1.0/Tfb, 0.0, Kfb/Tfb ),
( -Ke/Te, -1.0/Te, 0.0 ),
( 0.0, Km/Tm, -1.0/Tm ) );
begin
state_eqn : procedural is
variable sum : real_vector(1 to 3) := (0.0, 0.0, 0.0);
begin
for i in 1 to 3 loop
for j in 1 to 3 loop
sum(i) := sum(i) + c(i, j) * x(j);
end loop;
end loop;
x(1)'dot := sum(1);
x(2)'dot := sum(2) + (Ke/Te)*v_in;
x(3)'dot := sum(3);
end procedural state_eqn;
end architecture state_space;
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