How come I cannot update the .mat file of "AutotunedSpeed.mat" of the PMSM FOC Autotuner example after the simulation? (see the code of the example below)

I am using this MATLAB Example in ordner to autotune a PMSM Motor which is controlled by the Field Oriented Block.

The example I am using is the following:

https://de.mathworks.com/help/slcontrol/ug/tune-field-oriented-controllers-for-a-pmsm-using-closed-loop-pid-autotuner-block.html

I changed the parameters of the motor (including the resistance, inductance, permanent flux..) and I tried running the Simscape example through matlab editor / code:

%% Tune Field-Oriented Controllers for a PMSM Using Closed-Loop PID Autotuner Block
% This example shows how to tune a field-oriented controller for a
% PMSM-based electrical-traction drive in just one simulation using the
% Closed-Loop PID Autotuner block.

% Copyright 2018 The MathWorks, Inc.

%% Field-Oriented Control
% In this example, a field-oriented controller for a permanent magnet
% synchronous machine (PMSM) based electrical-traction drive is modeled in
% Simulink(R) using Simscape(TM) Electrical(TM) components. The model is
% based on the Simscape example
% <docid:sps_ug#example-ee_pmsm_traction_drive>.
mdl = 'scdfocpmsmPIDTuning';
open_system(mdl)

%%.....
%%
% To view the modified outer-loop control structure, open the Outer loop
% control subsystem in the PMSM controller subsystem.
controlSubsystem = [mdl '/PMSM controller'];
open_system([controlSubsystem '/Outer loop control'])

%%
% View the modified current controllers in the Inner loop control subsystem.
open_system([controlSubsystem '/Inner loop control'])

%% Configure Autotuner Block
sim(mdl);
save('AutotunedSpeed','SpeedData');
%%%%
% During the autotuning process from 1.0 to 2.6 seconds, the changes in
% current and in motor speed are very small. The motor speed reaches the
% nominal |1000| rpm before the autotuning process begins.
%%%%
% The three PI controllers are tuned with new gains.
%
% * The d-axis PI controller has gains of P = 0.6332 and I = 331.7.
% * The q-axis PI controller has gains of P = 0.937 and I = 351.1.
% * The speed PI controller has gains of P = 32.35 and I = 1322.
%
%%%%
% The same rotor speed reference is applied before and after the autotuning
% process. Plot the rotor speed responses with respect to the nominal
% |1000| rpm before and after tuning the controllers. The speed response
% curves are aligned in time to compare controller performances
% side-by-side.
scdfocpmsmPIDTuningPlotSpeed

%%

The Problem that I am encountering is that after running the matlab code "scdfocpmsmPIDTuningPlotSpeed". I only get an older version of the "AutotunedSpeed" and I cannot see the updated speeds.

Here's the code of the scdfocpmsmPIDTuningPlotSpeed:

% Compare speed output after tuning controller
load('AutotunedSpeed')
speed_ref = SpeedData.signals.values(:,1);
speed_response = SpeedData.signals.values(:,2);
speed_initial_idx = find(SpeedData.time <= 3);
speed_compare_idx = find((SpeedData.time > 0)&(SpeedData.time <= 3));

% Plot a comparison of speed
figure
plot(SpeedData.time(speed_initial_idx), speed_ref(speed_initial_idx),'LineWidth',1);
hold on
plot(SpeedData.time(speed_initial_idx), speed_response(speed_initial_idx),'LineWidth',1);
plot(SpeedData.time(speed_compare_idx), speed_response(speed_compare_idx),'--','LineWidth',1);
title('Speed Response (rpm) of Autotuned Controllers During Acceleration');
legend('Reference','Original Controller','Autotuned Controllers','location','southeast');
grid on
hold off

See the figure from the example model:

The Autotuning itself works. But I just can't seem to get the plot of the 3 signals of the velocity (ref. Signal, vel. Signal with original controllers, and autotuned controllers).

I also chucked if the variables which "Autotunedspeed" contain "SpeedData" comes from the Simscape Model or gets exported through "To Workspace", but I didn't find any Block "To Workspace" nor a variable or a signal with the name "SpeedData" ..

I appreciate any hint or help from you guys! I am not sure how the Autotunedspeed gets updated if there is nothing to find inside the model...

The example/Simscape Model can be seen and opened on the link I added above.

Answer 1

[CHANDRA BABU GUTTIKONDA]

dear madam,

the original controller and auto tuned controllers are in the same line but there is a small variations in the graph . please check through it . the variations is very less for original controller and autotuned controllers. or vary the proportional and integral values of auto tuned controller.

[Ramo]

Hi @CHANDRA BABU GUTTIKONDA,

thanks a lot for your response. But that's not the problem I am having right now. The picture you see is the graph from the example (see the link in the description) and that's the content of the figure I would like to get, because it contains the reference speed, the original and the autotuned controller.

I cannot seem to get this (updated) graph with the the same signals and I am still trying to find out why..