대한민국 해군 도산안창호급(KSS-III) 3,000톤급 잠수함 리튬이온 축전지-AIP 하이브리드 전력망 및 1,000Hz 0-Alloc C# 초저소음 추진 영구자석전동기(PMM) 자속기준 벡터 제어 엔진

using System;
using System.Runtime.CompilerServices;

namespace ZeliDesk.Defense.Navy.SubmarinePropulsion
{
    public readonly record struct PmmTelemetry(
        float RotorAngleRad,
        float RotorSpeedRpm,
        float PhaseCurrentA,
        float PhaseCurrentB,
        float DcBusVoltageVolts,
        float TargetPropulsionTorqueNm
    );

    public ref struct PmmInverterOutput
    {
        public float VdVolts;
        public float VqVolts;
        public float DutyPhaseA;
        public float DutyPhaseB;
        public float DutyPhaseC;
        public bool SilentAcousticModeEngaged;
    }

    public static class DosanPmmVectorCore
    {
        private const float Rs = 0.045f;      // 고정자 저항 (Ohm)
        private const float Lq = 0.0012f;     // 인덕턴스 (H)
        private const float FluxPm = 0.85f;   // 영구자석 쇄교자속 (Wb)
        private const int PolePairs = 8;      // 극쌍수

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public static void ExecuteFieldOrientedControl(
            ref readonly PmmTelemetry telemetry,
            float dtSeconds,
            ref PmmInverterOutput output)
        {
            // 1. 클라크 변환 (3상 -> 2상 정지좌표계 alpha-beta)
            float iA = telemetry.PhaseCurrentA;
            float iB = telemetry.PhaseCurrentB;
            float iAlpha = iA;
            float iBeta = (iA + 2.0f * iB) * 0.577350269f; // 1 / sqrt(3)

            // 2. 파크 변환 (정지좌표계 -> 동기회전좌표계 d-q)
            float sinTheta = MathF.Sin(telemetry.RotorAngleRad);
            float cosTheta = MathF.Cos(telemetry.RotorAngleRad);
            float id = iAlpha * cosTheta + iBeta * sinTheta;
            float iq = -iAlpha * sinTheta + iBeta * cosTheta;

            // 3. 목표 전류 산출 (초저소음 MTPA: id_target = 0)
            float targetIq = telemetry.TargetPropulsionTorqueNm / (1.5f * PolePairs * FluxPm);
            float targetId = 0.0f;

            // 4. PI 전류 제어기 (비례 게인 Kp, 역기전력 디커플링 보상)
            float elecSpeedRadPerSec = telemetry.RotorSpeedRpm * (2.0f * MathF.PI / 60.0f) * PolePairs;
            float errId = targetId - id;
            float errIq = targetIq - iq;

            output.VdVolts = (errId * 2.5f) - (elecSpeedRadPerSec * Lq * iq);
            output.VqVolts = (errIq * 2.5f) + (elecSpeedRadPerSec * FluxPm);

            // 5. 역파크 변환 및 SVPWM 3상 듀티 정규화 (0.0 ~ 1.0)
            float vAlpha = output.VdVolts * cosTheta - output.VqVolts * sinTheta;
            float vBeta = output.VdVolts * sinTheta + output.VqVolts * cosTheta;

            float vdc = MathF.Max(telemetry.DcBusVoltageVolts, 100.0f);
            output.DutyPhaseA = MathF.Min(MathF.Max(0.5f + (vAlpha / vdc), 0.0f), 1.0f);
            output.DutyPhaseB = MathF.Min(MathF.Max(0.5f + ((-0.5f * vAlpha + 0.8660254f * vBeta) / vdc), 0.0f), 1.0f);
            output.DutyPhaseC = MathF.Min(MathF.Max(1.0f - output.DutyPhaseA - output.DutyPhaseB, 0.0f), 1.0f);

            output.SilentAcousticModeEngaged = (MathF.Abs(errIq) < 0.5f && MathF.Abs(errId) < 0.5f);
        }
    }
}