%% Load Data for SPM-IPM-REL motors drives ------ Paolo Gherardo Carlet -%%
clc;

% Load motor parameters
mot.R =             1.9;        % Stator resistance [ohm]
mot.Ld =            0.003;      % d-axis inductance [H]
mot.Lq =            0.003;      % q-axis inductance [H]
mot.Lambda_pm =     0.1;        % Permanent magnet flux linkage [Vs]  
mot.p =             4;          % Number of pole pairs
mot.IN =            3.1*sqrt(2);% Nominal current [A-pk]
mot.J =             1.8e-4;     % Inertia [Kg m^2]
mot.B =             6e-6;       % Air friction
mot.UDC =           300;        % DC-bus voltage
mot.TN = 3/2*mot.p*(mot.Lambda_pm)*mot.IN;% Nominal Torque [Nm]

% ------------------------------------------------------------------------%
% Simulation condition
fs =            10000;              % Switching frequency [Hz]
Ts =            1/fs;               % Control period [s]


% Design of the speed control loop
wctrl.Kp= 0.0391;
wctrl.Ki= 10.3484;
wctrl.IN= 4.3841;
wctrl.Ts= Ts;

% Design of the current control loop
ictrl.Ts =      Ts;
ictrl.Kp =      10;
ictrl.Ki =      1500;
ictrl.UN =      mot.UDC/sqrt(3);