Add Simulink model to include LPF, PLL, and observer

[noguchi-takahiro]

Context

Related Issues / PRs:

• Update simulink to include LPF, PLL, and observer #140
• Update offset section in the encoder article #139
• Revise encoder offset section contents #146

Approach

Create a PR to add Simulink model including LPF, PLL, and observer models.

[noguchi-takahiro]

@mhmokhtarabadi could I quickly look into the Simulink model, focusing on the PLL block, and get your insight during today's lab hour?

[noguchi-takahiro]

Per 12/19:

See Fig. 5: High-Resolution Velocity Estimation for All-Digital, ac Servo Drives.pdf

Here are the notes Tim had for us (from the course) for when we discussed this paper.

@noguchi-takahiro and @mhmokhtarabadi will check these above.

[noguchi-takahiro]

Takahiro is planning to move forward the PLL things during today's lab hour.

[noguchi-takahiro]

Per 1/30, @mhmokhtarabadi and @noguchi-takahiro got together during the lab hour.

@noguchi-takahiro pushed the latest changes in this PR, while @mhmokhtarabadi will make a new branch to compare our approaches here. The key idea here is to make a Simulink model so that users can easily switch the speed estimation method (in either low pass filleter, PLL, or observer). This also need to be consistent with the Lorentz paper that we think it is almost there. We will update this PR and get it ready soon.

[mhmokhtarabadi]

@noguchi-takahiro, this is the branch I created to add my simulations: propose_simulation_structure

[noguchi-takahiro]

Thank you @mhmokhtarabadi. I will compare the Simulink models, during today's lab hour.

[noguchi-takahiro]

We did not have a chance to do this today due to this issue. Let us do this on 2/13.

[noguchi-takahiro]

@mhmokhtarabadi I wonder if we could work on this issue during the lab hour today, while I help this issue?

[mhmokhtarabadi]

2/13:

We had a discussion with @elsevers and @noguchi-takahiro about this issue today.

Here we're trying to create simulink simulation of PLL and Observer. In Severson-Group/nsf_pfi_bearingless/issues/523, I'm also creating a Simulink simulation of descrete time PLL that can be implemented on AMDC.

PLL

Observer

We decided to create a simulation replicating these screenshots and use it in different places in our research group. @mhmokhtarabadi will create that simulation. Just a side note that I think these screenshots are implementing the block diagram in Figure 10 of this paper:

R. D. Lorenz and K. W. Van Patten, "High-resolution velocity estimation for all-digital, AC servo drives," in IEEE Transactions on Industry Applications, vol. 27, no. 4, pp. 701-705, July-Aug. 1991, doi: 10.1109/28.85485

.

[noguchi-takahiro]

I see @mhmokhtarabadi has several updates on the PLL simulation. @mhmokhtarabadi let us sync up on it during today's lab hour.

[elsevers]

At the 2/19 meeting, let's talk in lab hours today briefly about how we are doing this. (@mhmokhtarabadi, @joshblackham , @noguchi-takahiro , @elsevers to talk).