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    moon-foc

    PMSM SVPWM modulation and coordinate transform numerical kernel

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    Version
    0.1.0
    License
    MIT
    Last updated
    2 hours ago
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    #moon-foc

    PMSM SVPWM modulation and coordinate transform numerical kernel in MoonBit.

    Pure numerical core for field-oriented control: space-vector PWM (six-sector detection, T1/T2 active-vector timing, overmodulation clamping) plus Clarke / Park / inverse-Park transforms and mechanical-to-electrical angle conversion. No C FFI, no I/O. Backend coverage as verified locally with MoonBit 0.1.20261012: native and js build, run the demo, and pass the unit tests; wasm-gc passes check/build/test locally and in CI; legacy wasm tests were not run, because the local core.core bundle is missing (a toolchain environment issue, not a code failure), so a four-backend test matrix is not claimed.

    #Install

    Not published to mooncakes yet. moon add Duckweed/moon-foc only works after a release; until then, run the bundled demo in this repository instead of installing the package.

    #Quick start

    // examples/demo/main.mbt
let (alpha, beta) = @coord.clarke(1.0, -0.5, -0.5)   // → alpha=1, beta=0
let (d, q) = @coord.park(alpha, beta, 0.7)            // rotate by theta=0.7 rad
let sector = @svpwm.sector_of(alpha, beta)            // → 1
let (da, db, dc) = @svpwm.duties(alpha, beta, 0.0001, 24.0)  // Vdc=24V, Ts=100us

    Run the bundled demo with an explicit target (the bare default target wasm cannot run locally because its core bundle is missing):

    moon run examples/demo --target native
# equivalent runnable target:
moon run examples/demo --target js

    Conventions:

    • Amplitude-invariant Clarke: alpha = (2/3)(ia - ib/2 - ic/2), beta = (1/√3)(ib - ic).
    • Park: d = alpha*cosθ + beta*sinθ, q = -alpha*sinθ + beta*cosθ.
    • SVPWM duties are centered around 0 (range [-1, 1]); 0 means 50% on-time.
    • Linear modulation limit: |Vref| <= Vdc/√3. Beyond that, T1/T2 are scaled so T1+T2 = Ts.

    #Test

    CI (.github/workflows/ci.yml) covers wasm-gc only: moon check --targetwasm-gc, moon build --target wasm-gc, and moon test --target wasm-gc; there is no native, js, or legacy-wasm CI job. Native and js were checked and tested locally; legacy wasm tests were not run (missing local core.core bundle, environment issue).

    moon check --deny-warn --target wasm-gc
moon test --target wasm-gc
# local additional targets, not part of CI:
moon check --deny-warn --target native
moon test --target native
moon check --deny-warn --target js
moon test --target js

    33 cases cover: Clarke balanced three-phase and round-trip, Park at θ=0 and θ=π/2, Park/inverse-Park round-trip, SVPWM sector detection across all six sectors, linear and overmodulation timing, a hand-computed absolute baseline for T1/T2 and the three-phase duties in the linear region, duty range and per-sector order, angle normalization, and 20 independent numeric fixtures whose expected values were computed outside this library.

    #Independent numeric fixtures

    coord/coord_test.mbt and svpwm/svpwm_test.mbt each carry 20 fixed cases whose expected values were computed independently by scripts/gen_fixtures.py (plain Python, textbook formulas), not taken from this library's output. The script sweeps current amplitudes 1 / 5 / 10 / 20 A and Park angles from 0 to 1.9π, so a few cases land in the overmodulation region and pin the T1+T2 = Ts clamping.

    Regenerate the printed block if the formulas ever change:

    python scripts/gen_fixtures.py

    A MATLAB / Simulink reference model with the same motor parameters is maintained out-of-tree; the numeric fixtures in this repository are the in-tree oracle.

    #License

    MIT © 2026 Duckweed-yhb

    #AI tool usage

    This project was built with AI assistance, but the goal, scope, quality boundaries, and open-source compliance are controlled by the author:

    • AI assisted with: boilerplate for Clarke / Park / SVPWM functions, test case generation, initial README draft.
    • Human controlled: project selection (motor control numerical kernel), the pure-math boundary (no I/O), the differentiation from hwlxmm/dsp (SVPWM chain vs instantaneous power), the design of the 20 MATLAB baseline inputs, hand-computed expected values.
    • How AI-generated code is verified: each AI-generated test is checked against textbook formulas; Clarke/Park round-trip tests verify mathematical consistency; SVPWM sector detection uses 6 angle points; CI must be green before merge.
    • What is not done: no code copied from TI C2000 / ST MCSDK (only math steps cross-referenced); no self-hosting expected values; no AI-generated test data taken as truth.

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