IPM Motor Simulator - Revision history

Marcexec at 10:56, 14 June 2023

2023-06-14T10:56:27Z

← Older revision		Revision as of 10:56, 14 June 2023
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	[[File:Debug.png\|none\|thumb]]		[[File:Debug.png\|none\|thumb]]
	This is with a breakpoint set in the middle of the main control loop (the red dot by the line numbers), the values of frqFiltered, ud and uq are shown on the right, you can single step through the code (while watching how the values change), push down into subroutines, set more breakpoints etc. Hovering over variables also shows their values. For debugging, or just understanding how code works, I find it invaluable. With the simulator it also has the advantage that it's safe, hitting a breakpoint in firmware controlling a real running motor can be problematic to say the least! With the simulator when you hit a breakpoint everything stops, including the motor model, allowing you to continue as if the breakpoint hadn't happened. Without the debugger I very much doubt that any of the fixed point overflow bugs would have been found and I definitely wouldn't have developed the understanding of the way the code works. If you are used programming without a debugger then it is worth having a play with it just to see what you are missing!		This is with a breakpoint set in the middle of the main control loop (the red dot by the line numbers), the values of frqFiltered, ud and uq are shown on the right, you can single step through the code (while watching how the values change), push down into subroutines, set more breakpoints etc. Hovering over variables also shows their values. For debugging, or just understanding how code works, I find it invaluable. With the simulator it also has the advantage that it's safe, hitting a breakpoint in firmware controlling a real running motor can be problematic to say the least! With the simulator when you hit a breakpoint everything stops, including the motor model, allowing you to continue as if the breakpoint hadn't happened. Without the debugger I very much doubt that any of the fixed point overflow bugs would have been found and I definitely wouldn't have developed the understanding of the way the code works. If you are used programming without a debugger then it is worth having a play with it just to see what you are missing!
			[[Category:Tutorial]] [[Category:Education]]

Pete9008 at 16:31, 15 February 2023

2023-02-15T16:31:12Z

← Older revision		Revision as of 16:31, 15 February 2023
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	At its core the simulator is a mathematical model of an Interior Permanent Magnet (IPM) motor. This is wrapped with a Graphical User Interface (GUI) that allows the voltage stimulus applied to the motor model, and the resulting motor currents and rotor position from the model, to be graphed. The program also includes hooks to allow the core control code from the OpenInverter (OI) firmware to be used to control the motor. The GUI allows the relevant parameters within the OI firmware, and the motor model parameters, to be adjusted to see what effect changes may have.		At its core the simulator is a mathematical model of an Interior Permanent Magnet (IPM) motor. This is wrapped with a Graphical User Interface (GUI) that allows the voltage stimulus applied to the motor model, and the resulting motor currents and rotor position from the model, to be graphed. The program also includes hooks to allow the core control code from the OpenInverter (OI) firmware to be used to control the motor. The GUI allows the relevant parameters within the OI firmware, and the motor model parameters, to be adjusted to see what effect changes may have.

	Now the model isn't perfect, and it isn't supposed to be, but it is pretty close and good enough for its intended purpose which is to allow an understanding of the effect of parameter changes to be ~~understood~~ and to provide a ~~safe~~ way to evaluate OI code changes before testing in the real world.		Now the model isn't perfect, and it isn't supposed to be, but it is pretty close and good enough for its intended purpose which is to allow an understanding of the effect of parameter changes to be developed and to provide a safer way to evaluate OI code changes before testing in the real world.

	'''Please note that it is just a model, don't assume that just because code runs OK in the simulator that it will work in the real world. It's a different compiler and is running without any of the execution speed limitations found in the real world and does not simulate the full hardware system. Use just as much caution in real testing as you would have done without the simulator.'''		'''Please note that it is just a model, don't assume that just because code runs OK in the simulator that it will work in the real world. It's a different compiler and is running without any of the execution speed limitations found in the real world and does not simulate the full hardware system. Use just as much caution in real testing as you would have done without the simulator.'''

Pete9008: Fixed broken link

2023-02-15T16:24:29Z

Fixed broken link

← Older revision		Revision as of 16:24, 15 February 2023
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	<code>git clone --recurse-submodules <nowiki>https://github.com/jsphuebner/stm32-sine</nowiki></code></blockquote>This will copy the simulator code onto your machine and copy the OpenInverter code into a subdirectory within it.		<code>git clone --recurse-submodules <nowiki>https://github.com/jsphuebner/stm32-sine</nowiki></code></blockquote>This will copy the simulator code onto your machine and copy the OpenInverter code into a subdirectory within it.
	Johannes also has a fork of the repository which already includes the OI code it can be installed by doing a single:<blockquote><code>git clone --recurse-submodules <nowiki>https://github.com/jsphuebner/IPMMotorSim.git</nowiki></code></blockquote>Currently the only difference between the two is the way a line of OI code is handled, Johannes automatically comments out a line of code that causes an oscillation in the simulator output but keeps it for real firmware builds. I'm not too keen on this as I believe the line also causes problems in real life and I'd prefer to understand and fix it rather than mask it in the simulator and so I haven't pulled this change. See here for details viewtopic.php?p=49172#p49172		Johannes also has a fork of the repository which already includes the OI code it can be installed by doing a single:<blockquote><code>git clone --recurse-submodules <nowiki>https://github.com/jsphuebner/IPMMotorSim.git</nowiki></code></blockquote>Currently the only difference between the two is the way a line of OI code is handled, Johannes automatically comments out a line of code that causes an oscillation in the simulator output but keeps it for real firmware builds. I'm not too keen on this as I believe the line also causes problems in real life and I'd prefer to understand and fix it rather than mask it in the simulator and so I haven't pulled this change. See here for details https://openinverter.org/forum/viewtopic.php?p=49172#p49172

	[[File:Git commandline 2.jpg\|none\|thumb]]		[[File:Git commandline 2.jpg\|none\|thumb]]

Pete9008: Fixed typos and updated a couple of areas to reflect software changes

2023-02-15T16:09:40Z

Fixed typos and updated a couple of areas to reflect software changes

Pete9008: Tidied TOC formatting

2023-02-15T15:48:58Z

Tidied TOC formatting

← Older revision		Revision as of 15:48, 15 February 2023
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	;[[File:FirstRun.png\|none\|thumb]]		;[[File:FirstRun.png\|none\|thumb]]

	=== How to Use the Simulator ===		=== '''How to Use the Simulator''' ===
	The first screen to explain is the main data entry and control window:		The first screen to explain is the main data entry and control window:
	[[File:DialogWin2.png\|none\|thumb]]		[[File:DialogWin2.png\|none\|thumb]]
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	This doesn't affect the simulation results in any way but reducing the numbers of displayed windows, or the number of displayed traces, does significantly increase the display update speed. Window visibility settings are persisted across program runs, as are window sizes and screen positions. The radio buttons for the Power/Torque window allow selection of the horizontal axis, plotting against speed is useful for generating traditional power/torque plots, time is useful when trying to correlate against the other plots. Similarly the radio buttons for the Operating Point window allow the display of either Amp or Volts. The checkboxes allow the three phase values to be shown or not on each of the corresponding plots (disabling speeds up redrawing by about 30%)		This doesn't affect the simulation results in any way but reducing the numbers of displayed windows, or the number of displayed traces, does significantly increase the display update speed. Window visibility settings are persisted across program runs, as are window sizes and screen positions. The radio buttons for the Power/Torque window allow selection of the horizontal axis, plotting against speed is useful for generating traditional power/torque plots, time is useful when trying to correlate against the other plots. Similarly the radio buttons for the Operating Point window allow the display of either Amp or Volts. The checkboxes allow the three phase values to be shown or not on each of the corresponding plots (disabling speeds up redrawing by about 30%)

	=== Graph Window Details ===		=== '''Graph Window Details''' ===

	==== '''Operating Point''' ====		==== '''Operating Point''' ====
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	This is probably only useful if you are looking at developing MTPA or MTPV control algorithms. The Id and Iq currents, or Vd and Vq voltages, are shown on the two axis, the green circle shows the maximum current or voltage circle and the blue trace shows the operating point of the motor. Please note that the voltage circle includes the space vector allowance so can be higher than may be expected based on Vdc. In the plot above you can see the operating has moved along the MTPA line as the motor accelerates until it hits the current limit and then dropped down as FW comes in. The plot would look different for low inductance motors.		This is probably only useful if you are looking at developing MTPA or MTPV control algorithms. The Id and Iq currents, or Vd and Vq voltages, are shown on the two axis, the green circle shows the maximum current or voltage circle and the blue trace shows the operating point of the motor. Please note that the voltage circle includes the space vector allowance so can be higher than may be expected based on Vdc. In the plot above you can see the operating has moved along the MTPA line as the motor accelerates until it hits the current limit and then dropped down as FW comes in. The plot would look different for low inductance motors.

	==== Simulation ====		==== '''Simulation''' ====
	[[File:Sim.png\|none\|thumb]]		[[File:Sim.png\|none\|thumb]]
	Basic simulation data, motor electrical speed, motor rotor angle, and controller (motor electrical) position. To speed up rendering the position traces can be disabled.		Basic simulation data, motor electrical speed, motor rotor angle, and controller (motor electrical) position. To speed up rendering the position traces can be disabled.
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	This plot provides the motor currents as seen by the controller. NOTE - the controller view is only correct if the current sampling point, rotor position sampling point, and sampling time offsets are all correct. If they are then this plot will match the Motor Currents plot, if not the values of Id and Iq will drift apart with frequency. Once setup correctly (and the settings above will do that) and the two plots agree there is little point in having both current windows up. Also shown is field weakening current and throttle reduction (Ud/Uq limiting).		This plot provides the motor currents as seen by the controller. NOTE - the controller view is only correct if the current sampling point, rotor position sampling point, and sampling time offsets are all correct. If they are then this plot will match the Motor Currents plot, if not the values of Id and Iq will drift apart with frequency. Once setup correctly (and the settings above will do that) and the two plots agree there is little point in having both current windows up. Also shown is field weakening current and throttle reduction (Ud/Uq limiting).

	==== Motor Voltages ====		==== '''Motor Voltages''' ====
	[[File:MVolt.png\|none\|thumb]]		[[File:MVolt.png\|none\|thumb]]
	This plot shows the components of the motor voltages as calculated from the motor equations. Each term of the equations are plotted on a separate trace. This plot is only really of value if you want to understand the interaction of the equation terms and would normally not be enabled.		This plot shows the components of the motor voltages as calculated from the motor equations. Each term of the equations are plotted on a separate trace. This plot is only really of value if you want to understand the interaction of the equation terms and would normally not be enabled.

	==== Motor Currents ====		==== '''Motor Currents''' ====
	[[File:MCur.png\|none\|thumb]]		[[File:MCur.png\|none\|thumb]]
	This plot shows the motor currents. Note that these are the actual and correct motor currents, if the controller currents and motor currents disagree then these are the correct ones and the sampling parameters (probably SyncAdv unless you have changed SyncDel or Sampling Point from their defaults) needs adjusting. It is worth noting that these should always be sinusoidal as the motor does not 'see' the space vector modulation at all, just a 15% bigger sine wave than would otherwise be possible. If over-modulation is used then some waveform distortion is to be expected. To speed up rendering the phase voltage traces can be disabled.		This plot shows the motor currents. Note that these are the actual and correct motor currents, if the controller currents and motor currents disagree then these are the correct ones and the sampling parameters (probably SyncAdv unless you have changed SyncDel or Sampling Point from their defaults) needs adjusting. It is worth noting that these should always be sinusoidal as the motor does not 'see' the space vector modulation at all, just a 15% bigger sine wave than would otherwise be possible. If over-modulation is used then some waveform distortion is to be expected. To speed up rendering the phase voltage traces can be disabled.
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	This plot is fairly self explanatory. Use a time x-axis if trying to correlate against other plots and a speed axis if you would like a traditional power/torque plot. The plot is calculated from the shaft power of the motor, the electrical power going into the motor is not calculated but will be slightly higher (resistive winding losses). Magnetic and mechanical losses are not allowed for.		This plot is fairly self explanatory. Use a time x-axis if trying to correlate against other plots and a speed axis if you would like a traditional power/torque plot. The plot is calculated from the shaft power of the motor, the electrical power going into the motor is not calculated but will be slightly higher (resistive winding losses). Magnetic and mechanical losses are not allowed for.

	=== Zooming/Scrolling windows ===		=== '''Zooming/Scrolling windows''' ===
	Zooming and scrolling on the plots is possible but not very sophisticated and currently there is no way to automatically synchronise the x-axis of the plots. To zoom use the + or - keys or draw a rectangle to zoom in on. To pan use the arrow keys. The easiest way to reset the zoom is to Step the simulation. The plotting is one area of the simulator that could probably do with a bit of work (it was quickly cobbled together from Qt examples) but realistically I can't see it happening any time soon.		Zooming and scrolling on the plots is possible but not very sophisticated and currently there is no way to automatically synchronise the x-axis of the plots. To zoom use the + or - keys or draw a rectangle to zoom in on. To pan use the arrow keys. The easiest way to reset the zoom is to Step the simulation. The plotting is one area of the simulator that could probably do with a bit of work (it was quickly cobbled together from Qt examples) but realistically I can't see it happening any time soon.

	=== Other Comments ===		=== '''Other Comments''' ===
	Few other tricks are worth mentioning. Simulations can get a bit slow if trying to be true to life. If you want to simulate things quickly try dropping the weight of the car to allow it to change speed faster (I typically use 100-500kg for initial runs and only revert to actual weight when almost there).		Few other tricks are worth mentioning. Simulations can get a bit slow if trying to be true to life. If you want to simulate things quickly try dropping the weight of the car to allow it to change speed faster (I typically use 100-500kg for initial runs and only revert to actual weight when almost there).

Zieg: /* Installing Qt */

2023-02-14T22:58:41Z

Installing Qt

← Older revision		Revision as of 22:58, 14 February 2023
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	To install download the online installer from <nowiki>https://www.qt.io/download-qt-installer</nowiki>. You will also need to register for a Qt account.		To install download the online installer from <nowiki>https://www.qt.io/download-qt-installer</nowiki>. You will also need to register for a Qt account.

	An example of a minimalist installation may look like this: First install only the "Qt x.x for desktop development" module. Then, once the installation is complete, open the Maintenance Tool (MaintenanceTool.exe found in the top level folder where you installed Qt) and select "Add or remove components". In the search bar at the bottom, type 'charts' and select "Qt Charts" under the version of Qt you installed~~, click~~ 'Next' and follow the prompts to complete the update.		An example of a minimalist installation may look like this: First install only the "Qt x.x for desktop development" module. Then, once the installation is complete, open the Maintenance Tool (MaintenanceTool.exe found in the top level folder where you installed Qt) and select "Add or remove components". In the search bar at the bottom, type 'charts' and select "Qt Charts" under the version of Qt you installed. Click 'Next' and follow the prompts to complete the update.
	[[File:Qt 6.4 install only.png\|none\|thumb]]		[[File:Qt 6.4 install only.png\|none\|thumb]]
	[[File:Maintenance tool step 1.jpg\|none\|thumb]]		[[File:Maintenance tool step 1.jpg\|none\|thumb]]

Zieg: /* Installing Qt */

2023-02-14T22:28:43Z

Installing Qt

← Older revision		Revision as of 22:28, 14 February 2023
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	An example of a minimalist installation may look like this: First install only the "Qt x.x for desktop development" module. Then, once the installation is complete, open the Maintenance Tool (MaintenanceTool.exe found in the top level folder where you installed Qt) and select "Add or remove components". In the search bar at the bottom, type 'charts' and select "Qt Charts" under the version of Qt you installed, click 'Next' and follow the prompts to complete the update.		An example of a minimalist installation may look like this: First install only the "Qt x.x for desktop development" module. Then, once the installation is complete, open the Maintenance Tool (MaintenanceTool.exe found in the top level folder where you installed Qt) and select "Add or remove components". In the search bar at the bottom, type 'charts' and select "Qt Charts" under the version of Qt you installed, click 'Next' and follow the prompts to complete the update.
			[[File:Qt 6.4 install only.png\|none\|thumb]]
			[[File:Maintenance tool step 1.jpg\|none\|thumb]]
			[[File:Maintenance tool step 2.jpg\|none\|thumb]]


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	<code>git clone --recurse-submodules <nowiki>https://github.com/jsphuebner/stm32-sine</nowiki></code></blockquote>This will copy the simulator code onto your machine and copy the OpenInverter code into a subdirectory within it.		<code>git clone --recurse-submodules <nowiki>https://github.com/jsphuebner/stm32-sine</nowiki></code></blockquote>This will copy the simulator code onto your machine and copy the OpenInverter code into a subdirectory within it.
	Johannes also has a fork of the repository which already includes the OI code it can be installed by doing a single:<blockquote><code>git clone --recurse-submodules <nowiki>https://github.com/jsphuebner/IPMMotorSim.git</nowiki></code></blockquote>Currently the only difference between the two is the way a line of OI code is handled, Johannes automatically comments out a line of code that causes an oscillation in the simulator output but keeps it for real firmware builds. I'm not too keen on this as I believe the line also causes problems in real life and I'd prefer to understand and fix it rather than mask it in the simulator and so I haven't pulled this change. See here for details viewtopic.php?p=49172#p49172		Johannes also has a fork of the repository which already includes the OI code it can be installed by doing a single:<blockquote><code>git clone --recurse-submodules <nowiki>https://github.com/jsphuebner/IPMMotorSim.git</nowiki></code></blockquote>Currently the only difference between the two is the way a line of OI code is handled, Johannes automatically comments out a line of code that causes an oscillation in the simulator output but keeps it for real firmware builds. I'm not too keen on this as I believe the line also causes problems in real life and I'd prefer to understand and fix it rather than mask it in the simulator and so I haven't pulled this change. See here for details viewtopic.php?p=49172#p49172

			[[File:Git commandline 2.jpg\|none\|thumb]]

	=== '''Building the Software''' ===		=== '''Building the Software''' ===

Zieg: /* Installing Qt */

2023-02-14T21:13:19Z

Installing Qt

← Older revision		Revision as of 21:13, 14 February 2023
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	To quote Wikipedia "Qt is cross-platform software for creating graphical user interfaces as well as cross-platform applications that run on various software and hardware platforms such as Linux, Windows, macOS, Android or embedded systems with little or no change in the underlying codebase while still being a native application with native capabilities and speed.". It comes in both open source and commercial versions and for home use the open source version is fine.		To quote Wikipedia "Qt is cross-platform software for creating graphical user interfaces as well as cross-platform applications that run on various software and hardware platforms such as Linux, Windows, macOS, Android or embedded systems with little or no change in the underlying codebase while still being a native application with native capabilities and speed.". It comes in both open source and commercial versions and for home use the open source version is fine.

			To install download the online installer from <nowiki>https://www.qt.io/download-qt-installer</nowiki>. You will also need to register for a Qt account.

			An example of a minimalist installation may look like this: First install only the "Qt x.x for desktop development" module. Then, once the installation is complete, open the Maintenance Tool (MaintenanceTool.exe found in the top level folder where you installed Qt) and select "Add or remove components". In the search bar at the bottom, type 'charts' and select "Qt Charts" under the version of Qt you installed, click 'Next' and follow the prompts to complete the update.

	To install download the online installer from <nowiki>https://www.qt.io/download-qt-installer</nowiki>. You will also need to register for a Qt account. The default installation options should be fine. If you want to do a minimal install then you don't need the examples, documents or any extra architecture support although if you plan to use Qt for other work they might be worthwhile. Individual packages can allways be removed or added post install too.

	~~I don't have any screen captures for this but there are plenty of install guides for Qt online.~~

	=== '''Installing the Simulator and OpenInverter Software''' ===		=== '''Installing the Simulator and OpenInverter Software''' ===

Zieg: /* Building the Software */

2023-02-14T19:48:03Z

Building the Software

← Older revision		Revision as of 19:48, 14 February 2023
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	=== '''Building the Software''' ===		=== '''Building the Software''' ===
	Open Qt, go to 'Open Project' (either in the File menu or on the Home screen), browse to the directory where you installed the simulator and then go down into the 'IPMMotorSim' subfolder twice. In there there should be an 'IPMMotorSim.pro' file. Open this and you will get a 'Configure Project' dialog, just accept the default for this. You should see something like this:		Open QtCreator, go to 'Open Project' (either in the File menu or on the Home screen), browse to the directory where you installed the simulator and then go down into the 'IPMMotorSim' subfolder twice. In there there should be an 'IPMMotorSim.pro' file. Open this and you will get a 'Configure Project' dialog, just accept the default for this. You should see something like this:
	[[File:Start.png\|none\|thumb]]		[[File:Start.png\|none\|thumb]]
	:		:

Zieg: /* Building the Software */

2023-02-14T19:34:05Z

Building the Software

← Older revision		Revision as of 19:34, 14 February 2023
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	[[File:Start.png\|none\|thumb]]		[[File:Start.png\|none\|thumb]]
	:		:
	To build the software go to 'Build' at the top and select '~~Rebuild~~ Project: IPMMotorSim'. This should do a full build of the simulator software and the OI firmware. On my Qt install (which is a little out of date) this results in 53 warnings. They are non-critical (mostly to do with type conversion in the OI fixed point math). With that done you can run the software either by clicking the 'Run' button (green triangle at the bottom left), the 'Start Debugging' button (other green triangle with a bug icon) or by selecting the same from the top menu. With that done you should see something like this:		To build the software go to 'Build' at the top and select 'Build Project: IPMMotorSim'. This should do a full build of the simulator software and the OI firmware. On my Qt install (which is a little out of date) this results in 53 warnings. They are non-critical (mostly to do with type conversion in the OI fixed point math). With that done you can run the software either by clicking the 'Run' button (green triangle at the bottom left), the 'Start Debugging' button (other green triangle with a bug icon) or by selecting the same from the top menu. With that done you should see something like this:
	[[File:Initial.png\|none\|thumb]]		[[File:Initial.png\|none\|thumb]]
	Now on the first run the window positions are not set so the first thing to do is to set the windows up how you like them, this is how I set it up:		Now on the first run the window positions are not set so the first thing to do is to set the windows up how you like them, this is how I set it up:

← Older revision		Revision as of 16:09, 15 February 2023
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	=== '''What is it''' ===		=== '''What is it''' ===
	At its ~~code~~ the simulator is a mathematical model of an Interior Permanent Magnet (IPM) motor. This is wrapped with a Graphical User Interface (GUI) ~~program~~ that allows the voltage stimulus applied to the model, and the resulting motor currents and rotor position of the model, to be graphed. The program also includes hooks to allow the core control code from the OpenInverter (OI) firmware to be used to control the motor. The GUI allows the relevant ~~parameter~~ within the OI firmware, and the motor model parameters, to be ~~sdjusted~~ to see what effect changes may have.		At its core the simulator is a mathematical model of an Interior Permanent Magnet (IPM) motor. This is wrapped with a Graphical User Interface (GUI) that allows the voltage stimulus applied to the motor model, and the resulting motor currents and rotor position from the model, to be graphed. The program also includes hooks to allow the core control code from the OpenInverter (OI) firmware to be used to control the motor. The GUI allows the relevant parameters within the OI firmware, and the motor model parameters, to be adjusted to see what effect changes may have.

	Now the model isn't perfect, and it isn't supposed to be, but it is pretty close and good enough for its intended purpose which is to allow an understanding of the effect of parameter changes to be understood and to provide a safe way to evaluate OI code changes before testing in the real world.		Now the model isn't perfect, and it isn't supposed to be, but it is pretty close and good enough for its intended purpose which is to allow an understanding of the effect of parameter changes to be understood and to provide a safe way to evaluate OI code changes before testing in the real world.

	'''Please note that it is just a model, don't assume that just because code runs OK in the simulator that it will work in the real world~~, it~~'s a different compiler and is running without any execution speed limitations found in the real world and does not simulate the full hardware system. Use just as much caution in real testing as you would without the simulator.'''		'''Please note that it is just a model, don't assume that just because code runs OK in the simulator that it will work in the real world. It's a different compiler and is running without any of the execution speed limitations found in the real world and does not simulate the full hardware system. Use just as much caution in real testing as you would have done without the simulator.'''

	Now because it includes the OI code, and because it is intended that you can try different versions of the OI code, it is available as full source code rather than and executable, i.e. you have to install the development environment/compiler ~~as well as~~ the source code and OI firmware and then build the code before you can use it. The process is pretty straightforward and allows the code to be run on multiple platforms (Linux, Windows and Mac to date), it also allows full source code debugging if you want to use it to develop the code or look for problems. The first thing to do is therefore to install the Qt development environment.		Now because it includes the OI code, and because it is intended that you can try different versions of the OI code, it is available as full source code rather than and executable, i.e. you have to install the development environment/compiler, the source code and OI firmware and then build the code before you can use it. The process is pretty straightforward and allows the code to be run on multiple platforms (Linux, Windows and Mac to date), it also allows full source code debugging if you want to use it to develop the code or look for problems. The first thing to do is therefore to install the Qt development environment.

	For full details of the development of the simulator see https://openinverter.org/forum/viewtopic.php?t=2611		For full details of the development of the simulator see https://openinverter.org/forum/viewtopic.php?t=2611
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	[[File:Start.png\|none\|thumb]]		[[File:Start.png\|none\|thumb]]
	:		:
	To build the software go to 'Build' at the top and select 'Build Project: IPMMotorSim'. This should do a full build of the simulator software and the OI firmware. On my Qt install (which is a little out of date) this results in 53 warnings. They are non-critical (mostly to do with type ~~conversion~~ in the OI fixed point math). With that done you can run the software either by clicking the 'Run' button (green triangle at the bottom left), the 'Start Debugging' button (other green triangle with a bug icon) or by selecting the same from the top menu. With that done you should see something like this:		To build the software go to 'Build' at the top and select 'Build Project: IPMMotorSim'. This should do a full build of the simulator software and the OI firmware. On my Qt install (which is a little out of date) this results in 53 warnings. They are non-critical (mostly to do with old style type conversions in the OI fixed point math). With that done you can run the software either by clicking the 'Run' button (green triangle at the bottom left), the 'Start Debugging' button (other green triangle with a bug icon) or by selecting the same from the top menu. With that done you should see something like this:
	[[File:Initial.png\|none\|thumb]]		[[File:Initial.png\|none\|thumb]]
	Now on the first run the window positions are not set so the first thing to do is to set the windows up how you like them, this is how I set it up:		Now on the first run the window positions are not set so the first thing to do is to set the windows up how you like them, this is how I set it up:
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	* '''Wheel Radius''' - The rolling radius of the vehicle wheels. Again used to calculate how quickly the motor can accelerate for a given torque.		* '''Wheel Radius''' - The rolling radius of the vehicle wheels. Again used to calculate how quickly the motor can accelerate for a given torque.
	* '''Gear Ratio''' - The total gear ratio (gearbox + diff if separate). Again used to calculate how quickly the motor can accelerate for a given torque.		* '''Gear Ratio''' - The total gear ratio (gearbox + diff if separate). Again used to calculate how quickly the motor can accelerate for a given torque.
	* '''Vdc''' - This is the HV bus voltage ~~that supplies~~ the inverter. It is used to ~~converts~~ from the OI PWM values to the effective voltage applied to the motor.		* '''Vdc''' - This is the HV bus voltage supplied to the inverter. It is used to convert from the OI PWM values to the effective voltage applied to the motor.
	* '''Lq''' - This is the quadrature inductance of the motor (inductance with the rotor at 90degress to the PM field). It determines how the motor current changes in response to applied voltage.		* '''Lq''' - This is the quadrature inductance of the motor (inductance with the rotor at 90degress to the field). It determines how the motor current changes in response to applied voltage.
	* '''Ld''' - This is the direct inductance of the motor (inductance with the rotor aligned to the PM field). It determines how the motor current changes in response to applied voltage.		* '''Ld''' - This is the direct inductance of the motor (inductance with the rotor aligned to the field). It determines how the motor current changes in response to applied voltage.
	* '''Rs''' - This is the series resistance of the motor windings. It determines how the motor voltage changes in response to current.		* '''Rs''' - This is the series resistance of the motor windings. It determines how the motor voltage changes in response to current.
	* '''λ''' - This is the Flux Linkage of the motor. It determines how effectively the magnetic flux links to the rotor and affects the torque and back EMF of the motor. NOTE - this value is the exception in that it is pulled from the param_prj.h file and used in both the motor model and OI firmware (see comments below for details on the param_prj file).		* '''λ''' - This is the Flux Linkage of the motor. It determines how effectively the magnetic flux links to the rotor and affects the torque and back EMF of the motor. NOTE - this value is the exception in that it is pulled from the param_prj.h file and used in both the motor model and OI firmware (see comments below for details on the param_prj file).
	* '''SyncDel''' - This is compensation for the difference in time between the motor position and motor current measurement within the OI firmware. It should be left at 16.		* '''SyncDel''' - This is compensation for the difference in time between the motor position and motor current measurement within the OI firmware. It should be left at 16.
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	NOTE - the simulator must be rebuilt following any changes to the param_prj.h before the simulator will use the new values.		NOTE - the simulator must be rebuilt following any changes to the param_prj.h before the simulator will use the new values.

			NOTE - the simulator accurately models the behaviour of the ADCs on the OI boards, including overflow/clipping behaviour. If the values for il1gain and il2gain are not appropriate for the current levels modelled in the simulator then overflow will occur. Keep the currents in the simulator less than 2048/ilxgain to prevent this (e.g. if il1gain=il2gain=5 then keep currents below 2048/5 = 410A)

	These are all standard OI parameters so it's not worth going into each. A few fields here are worth mentioning though:		These are all standard OI parameters so it's not worth going into each. A few fields here are worth mentioning though:
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	* '''Lq - Ld''' - This is completely separate to the Lq and Ld settings in the Vehicle Parameters pane. It is done this way to allow the effect of mismatches to be assessed but for normal operation they should match!		* '''Lq - Ld''' - This is completely separate to the Lq and Ld settings in the Vehicle Parameters pane. It is done this way to allow the effect of mismatches to be assessed but for normal operation they should match!
	* '''SyncAdv''' - This is different to the syncadv pre OI 5.24 and should normally be left as set. Very high or very low inductance motors may benefit from a slight change in the value.		* '''SyncAdv''' - This is different to the syncadv pre OI 5.24 and should normally be left as set. Very high or very low inductance motors may benefit from a slight change in the value.
	* '''FMax''' doesn't do anything, this is implemented the higher vehicle control levels of OI and these are not included in the simulator. It has been left in as an additional speed limiter in the low level OI code has been talked about and may ~~get included~~ in the future.		* '''FMax''' doesn't do anything, this is implemented the higher vehicle control levels of OI and these are not included in the simulator. It has been left in as an additional speed limiter in the low level OI code has been talked about and may be added in the future.

	==== '''Run Controls''' ====		==== '''Run Controls''' ====
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	==== '''Power/Torque''' ====		==== '''Power/Torque''' ====
	[[File:P t.png\|none\|thumb]]		[[File:P t.png\|none\|thumb]]
	This plot is fairly self explanatory. Use a time x-axis if trying to correlate against other plots and a speed axis if you would like a traditional power/torque plot. The plot is calculated from the shaft power of the motor, the electrical power going into the motor is ~~not~~ calculated ~~but will be slightly higher~~ (~~resistive winding losses~~). Magnetic and mechanical losses are not allowed for.		This plot is fairly self explanatory. Use a time x-axis if trying to correlate against other plots and a speed axis if you would like a traditional power/torque plot. The normal plot is calculated from the shaft power of the motor. If the Efficiency checkbox is ticked the electrical power going into the motor is also calculated and plotted. The motor efficiency is also calculated and plotted (shaft power/electrical power). Magnetic and mechanical losses are not allowed for in any calculations.

	=== '''Zooming/Scrolling windows''' ===		=== '''Zooming/Scrolling windows''' ===