[1416] | 1 | function [var_ome, var_th, var_th2] = fpcrb(model, control, amp, injom, Q, R, T, ref_profile) |
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| 2 | %function for computing PCRB of PMSM model |
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| 3 | |
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| 4 | |
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| 5 | % machine parameters |
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| 6 | Rs = 0.28; |
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| 7 | Ls = 0.003465; |
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| 8 | psipm = 0.1989; |
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| 9 | B = 0; |
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| 10 | TL = 0; |
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| 11 | kp = 1.5; |
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| 12 | pp = 4.0; |
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| 13 | J = 0.04; |
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| 14 | |
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| 15 | dt = 0.000125; |
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| 16 | |
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| 17 | Lq = 1.0*Ls; |
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| 18 | Ld = 0.9*Ls; |
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| 19 | |
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| 20 | %aliases |
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| 21 | kpp = kp*pp*pp; |
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| 22 | kppj = kpp/J; |
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| 23 | psi = psipm; |
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| 24 | |
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| 25 | a = 0.9898; |
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| 26 | b = 0.0072; |
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| 27 | c = 0.0361; |
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| 28 | d = 1.0; |
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| 29 | e = 0.0149; |
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| 30 | |
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| 31 | %reference signal |
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| 32 | ref_ome = zeros(1, T); |
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| 33 | for k = 1:T, |
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| 34 | index = floor(k*dt); |
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| 35 | if(index>0) |
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| 36 | lower = ref_profile(index); |
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| 37 | else |
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| 38 | lower = 0; |
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| 39 | end |
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| 40 | if(index<T*dt) |
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| 41 | upper = ref_profile(index+1); |
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| 42 | else |
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| 43 | upper = 0; |
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| 44 | end |
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| 45 | ref_ome(k) = lower + (upper-lower)*dt*(k-index/dt); |
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| 46 | end |
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| 47 | |
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| 48 | |
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| 49 | |
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| 50 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 51 | % system variables |
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| 52 | |
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| 53 | %system state and control |
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| 54 | x_sys = zeros(4, T); |
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| 55 | u_dq = zeros(2, T); |
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| 56 | |
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| 57 | %covariance alternatives |
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| 58 | Q4 = Q; |
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| 59 | Q5 = zeros(5); |
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| 60 | Q5(1:4,1:4) = Q; |
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| 61 | Q5(5,5) = Q(4,4); |
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| 62 | q1 = Q4(1,1); |
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| 63 | q2 = Q4(2,2); |
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| 64 | q3 = Q4(3,3); |
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| 65 | q4 = Q4(4,4); |
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| 66 | q5 = Q5(5,5); |
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| 67 | iQ4 = inv(Q4); |
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| 68 | iQ5 = inv(Q5); |
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| 69 | iR = inv(R); |
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| 70 | e05q4 = exp(-1/2*q4); |
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| 71 | e2q4 = exp(-2*q4); |
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| 72 | e92q4 = exp(-9/2*q4); |
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| 73 | e4q4 = exp(4*q4); |
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| 74 | e8q4 = exp(-8*q4); |
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| 75 | e6q4 = exp(6*q4); |
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| 76 | |
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| 77 | %PCRB J matrices |
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| 78 | if(model(1) == 1) |
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| 79 | iJn1 = zeros(2,T); |
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| 80 | Jj1 = inv(Q4); |
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| 81 | end |
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| 82 | if(model(2) == 1) |
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| 83 | iJn2 = zeros(2,T); |
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| 84 | Jj2 = inv(Q4); |
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| 85 | end |
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| 86 | if(model(3) == 1) |
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| 87 | iJn3 = zeros(3,T); |
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| 88 | Jj3 = inv(Q5); |
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| 89 | end |
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| 90 | if(model(4) == 1) |
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| 91 | iJn4 = zeros(2,T); |
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| 92 | Jj4 = inv(Q4); |
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| 93 | end |
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| 94 | if(model(5) == 1) |
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| 95 | iJn5 = zeros(2,T); |
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| 96 | Jj5 = inv(Q4); |
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| 97 | end |
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| 98 | if(model(6) == 1) |
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| 99 | iJn6 = zeros(3,T); |
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| 100 | Jj6 = inv(Q5); |
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| 101 | end |
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| 102 | if(model(7) == 1) |
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| 103 | iJn7 = zeros(2,T); |
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| 104 | Jj7 = inv(Q4); |
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| 105 | end |
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| 106 | if(model(8) == 1) |
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| 107 | iJn8 = zeros(2,T); |
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| 108 | Jj8 = inv(Q4); |
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| 109 | end |
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| 110 | if(model(9) == 1) |
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| 111 | iJn9 = zeros(3,T); |
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| 112 | Jj9 = inv(Q5); |
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| 113 | end |
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| 114 | if(model(10) == 1) |
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| 115 | iJn10 = zeros(2,T); |
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| 116 | Jj10 = inv(Q4); |
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| 117 | end |
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| 118 | if(model(11) == 1) |
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| 119 | iJn11 = zeros(2,T); |
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| 120 | Jj11 = inv(Q4); |
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| 121 | end |
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| 122 | if(model(12) == 1) |
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| 123 | iJn12 = zeros(3,T); |
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| 124 | Jj12 = inv(Q5); |
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| 125 | end |
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| 126 | |
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| 127 | |
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| 128 | %PI control |
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| 129 | sum_iq = 0; |
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| 130 | sum_ud = 0; |
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| 131 | sum_uq = 0; |
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| 132 | kon_pi = 30.0; |
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| 133 | kon_ii = 0.0; |
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| 134 | kon_pu = 20.0; |
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| 135 | kon_iu = 0.0; |
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| 136 | |
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| 137 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 138 | % init |
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| 139 | |
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| 140 | % measurement function derivatives |
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| 141 | C4 = zeros(2,4); |
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| 142 | C4(1,1) = 1.0; |
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| 143 | C4(2,2) = 1.0; |
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| 144 | |
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| 145 | C5 = zeros(2,5); |
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| 146 | C5(1,1) = 1.0; |
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| 147 | C5(2,2) = 1.0; |
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| 148 | |
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| 149 | % system function derivatives |
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| 150 | %alpha-beta, equal Ls |
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| 151 | A14 = zeros(4); |
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| 152 | A14(1,1) = a; |
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| 153 | A14(2,2) = a; |
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| 154 | A14(3,3) = d; |
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| 155 | A14(4,3) = dt; |
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| 156 | A14(4,4) = 1.0; |
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| 157 | A4 = zeros(4); |
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| 158 | %d-q, equal Ls |
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| 159 | A25 = zeros(4); |
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| 160 | A25(1,1) = a; |
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| 161 | A25(2,2) = a; |
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| 162 | A25(2,3) = -b; |
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| 163 | A25(3,2) = e; |
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| 164 | A25(3,3) = d; |
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| 165 | A25(4,3) = dt; |
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| 166 | A25(4,4) = 1.0; |
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| 167 | %5sc, equal Ls |
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| 168 | A36 = zeros(5); |
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| 169 | A36(1,1) = a; |
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| 170 | A36(2,2) = a; |
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| 171 | A36(3,3) = d; |
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| 172 | A36(4,4) = 1.0; |
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| 173 | A36(5,5) = 1.0; |
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| 174 | %alpha-beta, Ldq |
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| 175 | A70 = zeros(4); |
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| 176 | % A70(4,4) = 1.0; |
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| 177 | % A70(5,5) = 1.0; |
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| 178 | %d-q, Ldq |
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| 179 | A81 = zeros(4); |
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| 180 | A81(1,1) = 1.0 - Rs*dt/Ld; |
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| 181 | A81(2,2) = 1.0 - Rs*dt/Lq; |
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| 182 | A81(3,3) = 1-B*dt/J; |
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| 183 | A81(4,3) = dt; |
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| 184 | A81(4,4) = 1.0; |
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| 185 | %5sc, Ldq |
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| 186 | A92 = zeros(5); |
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| 187 | A92(4,4) = 1.0; |
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| 188 | A92(5,5) = 1.0; |
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| 189 | |
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| 190 | |
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| 191 | %expectation corrections |
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| 192 | %cor. 2 -> 5 |
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| 193 | D11_cor5 = diag([dt^2*q3/q2, dt^2*q3/q1, dt^2*q1/q2 + dt^2*q2/q1, 0.0]); |
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| 194 | %cor. 3 -> 6 |
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| 195 | D11_cor6 = diag([e^2*q4/q3,... |
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| 196 | e^2*q5/q3,... |
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| 197 | b^2*q5/q2 + dt^2*q5/q4 + b^2*q4/q1 + dt^2*q4/q5,... |
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| 198 | e^2*q1/q3 + b^2*q3/q1 + dt^2*q3/q5,... |
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| 199 | e^2*q2/q3 + b^2*q3/q2 + dt^2*q3/q4]); |
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| 200 | %cor. 8 -> 11 |
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| 201 | D11_cor11 = diag([Ld^2/Lq^2*dt^2*q3/q2 + dt^2*kp^2*pp^4*(Ld-Lq)^2*q2/J^2/q3,... |
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| 202 | Lq^2/Ld^2*dt^2*q3/q1 + dt^2*kp^2*pp^4*(Ld-Lq)^2*q1/J^2/q3,... |
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| 203 | Lq^2/Ld^2*dt^2*q2/q1 + Ld^2/Lq^2*dt^2*q1/q2, 0.0]); |
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| 204 | |
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| 205 | % new figure |
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| 206 | figure; |
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| 207 | |
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| 208 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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| 209 | % main loop |
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| 210 | |
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| 211 | for t = 1:T-1, |
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| 212 | %aliases |
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| 213 | ial = x_sys(1, t); |
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| 214 | ibe = x_sys(2, t); |
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| 215 | ome = x_sys(3, t); |
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| 216 | the = x_sys(4, t); |
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| 217 | |
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| 218 | ia = ial; |
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| 219 | ib = ibe; |
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| 220 | |
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| 221 | st = sin(the); |
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| 222 | ct = cos(the); |
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| 223 | |
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| 224 | id = ial*cos(the) + ibe*sin(the); |
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| 225 | iq = ibe*cos(the) - ial*sin(the); |
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| 226 | |
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| 227 | hia = ial; |
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| 228 | hib = ibe; |
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| 229 | hom = ome; |
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| 230 | sht = sin(the); |
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| 231 | cht = cos(the); |
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| 232 | sh2t = sin(2*the); |
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| 233 | ch2t = cos(2*the); |
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| 234 | sh3t = sin(3*the); |
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| 235 | ch3t = cos(3*the); |
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| 236 | ch4t = cos(4*the); |
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| 237 | |
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| 238 | %PCRB models |
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| 239 | if(model(1) == 1) %al-be/nE/Ls |
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| 240 | A14(1,3) = b*sin(the); |
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| 241 | A14(1,4) = b*ome*cos(the); |
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| 242 | A14(2,3) = -b*cos(the); |
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| 243 | A14(2,4) = b*ome*sin(the); |
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| 244 | A14(3,1) = -e*sin(the); |
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| 245 | A14(3,2) = e*cos(the); |
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| 246 | A14(3,4) = -e*(ial*cos(the)+ibe*sin(the)); |
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| 247 | |
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| 248 | D11 = A14'*iQ4*A14; |
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| 249 | D12 = -A14'*iQ4; |
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| 250 | D21 = D12'; |
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| 251 | D22 = iQ4 + C4'*iR*C4; |
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| 252 | |
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| 253 | Jj1 = D22 - D21/(Jj1 + D11)*D12; |
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| 254 | tmp = inv(Jj1); |
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| 255 | iJn1(1,t) = tmp(3,3); |
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| 256 | iJn1(2,t) = tmp(4,4); |
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| 257 | end |
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| 258 | if(model(2) == 1) %d-q/nE/Ls |
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| 259 | A25(1,2) = dt*ome; |
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| 260 | A25(1,3) = dt*iq; |
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| 261 | A25(2,1) = -dt*ome; |
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| 262 | A25(2,3) = -dt*id-b; |
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| 263 | |
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| 264 | D11 = A25'*iQ4*A25; |
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| 265 | D12 = -A25'*iQ4; |
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| 266 | D21 = D12'; |
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| 267 | D22 = iQ4 + C4'*iR*C4; |
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| 268 | |
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| 269 | Jj2 = D22 - D21/(Jj2 + D11)*D12; |
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| 270 | tmp = inv(Jj2); |
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| 271 | iJn2(1,t) = tmp(3,3); |
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| 272 | iJn2(2,t) = tmp(4,4); |
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| 273 | end |
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| 274 | if(model(3) == 1) %5sc/nE/Ls |
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| 275 | A36(1,3) = b*sin(the); |
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| 276 | A36(1,4) = b*ome; |
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| 277 | A36(2,3) = -b*cos(the); |
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| 278 | A36(2,5) = -b*ome; |
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| 279 | A36(3,1) = -e*sin(the); |
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| 280 | A36(3,2) = e*cos(the); |
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| 281 | A36(3,4) = -e*ial; |
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| 282 | A36(3,5) = e*ibe; |
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| 283 | A36(4,3) = dt*cos(the); |
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| 284 | A36(4,5) = dt*ome; |
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| 285 | A36(5,3) = -dt*sin(the); |
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| 286 | A36(5,4) = -dt*ome; |
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| 287 | |
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| 288 | D11 = A36'*iQ5*A36; |
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| 289 | D12 = -A36'*iQ5; |
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| 290 | D21 = D12'; |
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| 291 | D22 = iQ5 + C5'*iR*C5; |
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| 292 | |
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| 293 | Jj3 = D22 - D21/(Jj3 + D11)*D12; |
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| 294 | tmp = inv(Jj3); |
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| 295 | iJn3(1,t) = tmp(3,3); |
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| 296 | iJn3(2,t) = tmp(4,4); |
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| 297 | iJn3(3,t) = tmp(5,5); |
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| 298 | end |
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| 299 | if(model(4) == 1) %al-be/E/Ls |
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| 300 | D11 = zeros(4); |
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| 301 | D11(1, 1) = a^2/q1 + e^2/q3*(1/2 - 1/2*exp(-2*q4)*cos(2*the)); |
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| 302 | D11(1, 2) = -e^2/q3*sin(the)*cos(the)*exp(-2*q4); |
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| 303 | D11(1, 3) = (a*b/q1 - d*e/q3)*sin(the)*exp(-1/2*q4); |
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| 304 | D11(1, 4) = e^2/q3*(ial*sin(the)*cos(the)*exp(-2*q4) + ibe*(1/2 - 1/2*exp(-2*q4)*cos(2*the)))... |
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| 305 | + a*b/q1*ome*cos(the)*exp(-1/2*q4); |
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| 306 | D11(2, 1) = D11(1, 2); |
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| 307 | D11(2, 2) = a^2/q2 + e^2/q3*(1/2 + 1/2*exp(-2*q4)*cos(2*the)); |
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| 308 | D11(2, 3) = (d*e/q3 - a*b/q2)*cos(the)*exp(-1/2*q4); |
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| 309 | D11(2, 4) = a*b/q2*ome*sin(the)*exp(-1/2*q4)... |
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| 310 | - e^2/q3*(ial*(1/2 + 1/2*exp(-2*q4)*cos(2*the)) + ibe*sin(the)*cos(the)*exp(-2*q4)); |
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| 311 | D11(3, 1) = D11(1, 3); |
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| 312 | D11(3, 2) = D11(2, 3); |
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| 313 | D11(3, 3) = d^2/q3 + dt^2/q4 + b^2/q2*(1/2 + 1/2*exp(-2*q4)*cos(2*the))... |
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| 314 | + b^2/q1*(1/2 - 1/2*exp(-2*q4)*cos(2*the)); |
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| 315 | D11(3, 4) = dt/q4 - d*e/q3*(ial*cos(the)*exp(-1/2*q4) + ibe*sin(the)*exp(-1/2*q4))... |
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| 316 | + b^2/q1*ome*sin(the)*cos(the)*exp(-2*q4) - b^2/q2*ome*sin(the)*cos(the)*exp(-2*q4); |
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| 317 | D11(4, 1) = D11(1, 4); |
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| 318 | D11(4, 2) = D11(2, 4); |
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| 319 | D11(4, 3) = D11(3, 4); |
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| 320 | D11(4, 4) = 1/q4 + e^2/q3*((q1 + ial^2)*(1/2 + 1/2*exp(-2*q4)*cos(2*the))... |
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| 321 | + 2*ial*ibe*sin(the)*cos(the)*exp(-2*q4)... |
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| 322 | + (q2 + ibe^2)*(1/2 - 1/2*exp(-2*q4)*cos(2*the)))... |
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| 323 | + b^2/q2*(q3 + ome^2)*(1/2 - 1/2*exp(-2*q4)*cos(2*the))... |
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| 324 | + b^2/q1*(q3 + ome^2)*(1/2 + 1/2*exp(-2*q4)*cos(2*the)); |
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| 325 | |
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| 326 | A4(1,1) = a; |
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| 327 | A4(1,2) = 0.0; |
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| 328 | A4(1,3) = b*sin(the)*exp(-1/2*q4); |
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| 329 | A4(1,4) = b*ome*cos(the)*exp(-1/2*q4); |
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| 330 | A4(2,1) = 0.0; |
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| 331 | A4(2,2) = a; |
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| 332 | A4(2,3) = -b*cos(the)*exp(-1/2*q4); |
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| 333 | A4(2,4) = b*ome*sin(the)*exp(-1/2*q4); |
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| 334 | A4(3,1) = -e*sin(the)*exp(-1/2*q4); |
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| 335 | A4(3,2) = e*cos(the)*exp(-1/2*q4); |
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| 336 | A4(3,3) = d; |
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| 337 | A4(3,4) = -e*(ial*cos(the)*exp(-1/2*q4) + ibe*sin(the)*exp(-1/2*q4)); |
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| 338 | A4(4,1) = 0.0; |
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| 339 | A4(4,2) = 0.0; |
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| 340 | A4(4,3) = dt; |
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| 341 | A4(4,4) = 1.0; |
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| 342 | |
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| 343 | D12 = -A4'*iQ4; |
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| 344 | D21 = D12'; |
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| 345 | D22 = iQ4 + C4'*iR*C4; |
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| 346 | |
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| 347 | Jj4 = D22 - D21/(Jj4 + D11)*D12; |
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| 348 | tmp = inv(Jj4); |
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| 349 | iJn4(1,t) = tmp(3,3); |
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| 350 | iJn4(2,t) = tmp(4,4); |
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| 351 | end |
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| 352 | if(model(5) == 1) %d-q/E/Ls |
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| 353 | A25(1,2) = dt*ome; |
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| 354 | A25(1,3) = dt*iq; |
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| 355 | A25(2,1) = -dt*ome; |
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| 356 | A25(2,3) = -dt*id-b; |
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| 357 | |
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| 358 | D11 = A25'*iQ4*A25 + D11_cor5; |
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| 359 | D12 = -A25'*iQ4; |
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| 360 | D21 = D12'; |
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| 361 | D22 = iQ4 + C4'*iR*C4; |
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| 362 | |
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| 363 | Jj5 = D22 - D21/(Jj5 + D11)*D12; |
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| 364 | tmp = inv(Jj5); |
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| 365 | iJn5(1,t) = tmp(3,3); |
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| 366 | iJn5(2,t) = tmp(4,4); |
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| 367 | end |
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| 368 | if(model(6) == 1) %5sc/E/Ls |
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| 369 | A36(1,3) = b*sin(the); |
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| 370 | A36(1,4) = b*ome; |
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| 371 | A36(2,3) = -b*cos(the); |
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| 372 | A36(2,5) = -b*ome; |
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| 373 | A36(3,1) = -e*sin(the); |
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| 374 | A36(3,2) = e*cos(the); |
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| 375 | A36(3,4) = -e*ial; |
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| 376 | A36(3,5) = e*ibe; |
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| 377 | A36(4,3) = dt*cos(the); |
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| 378 | A36(4,5) = dt*ome; |
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| 379 | A36(5,3) = -dt*sin(the); |
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| 380 | A36(5,4) = -dt*ome; |
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| 381 | |
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| 382 | D11 = A36'*iQ5*A36 + D11_cor6; |
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| 383 | D12 = -A36'*iQ5; |
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| 384 | D21 = D12'; |
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| 385 | D22 = iQ5 + C5'*iR*C5; |
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| 386 | |
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| 387 | Jj6 = D22 - D21/(Jj6 + D11)*D12; |
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| 388 | tmp = inv(Jj6); |
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| 389 | iJn6(1,t) = tmp(3,3); |
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| 390 | iJn6(2,t) = tmp(4,4); |
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| 391 | iJn6(3,t) = tmp(5,5); |
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| 392 | end |
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| 393 | if(model(7) == 1) %al-be/nE/Ldq |
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| 394 | A70 = [[ (Lq - Rs*dt*sin(the)^2)/Lq - (dt*ome*sin(the)*Lq^2*cos(the) + Rs*dt*Lq*cos(the)^2)/(Ld*Lq) + (Ld*dt*ome*cos(the)*sin(the))/Lq, (dt*(Ld - Lq)*(- Lq*ome*cos(the)^2 + Rs*cos(the)*sin(the) + Ld*ome*sin(the)^2))/(Ld*Lq), dt*cos(the)*(ia*sin(the) - ib*cos(the) + (Lq*(ib*cos(the) - ia*sin(the)))/Ld) + dt*sin(the)*(psi/Lq - ia*cos(the) - ib*sin(the) + (Ld*(ia*cos(the) + ib*sin(the)))/Lq), (dt*(ome*psi*cos(the) + Rs*ib*cos(2*the) - Rs*ia*sin(2*the)))/Lq + (Ld*dt*(ia*ome*cos(2*the) + ib*ome*sin(2*the)))/Lq - (dt*(Lq^2*ia*ome*cos(2*the) + Lq^2*ib*ome*sin(2*the) + Lq*Rs*ib*cos(2*the) - Lq*Rs*ia*sin(2*the)))/(Ld*Lq)];... |
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| 395 | [ (dt*(Ld - Lq)*(- Ld*ome*cos(the)^2 + Rs*cos(the)*sin(the) + Lq*ome*sin(the)^2))/(Ld*Lq), (Lq - Rs*dt*cos(the)^2)/Lq - (Lq*Rs*dt*sin(the)^2 - Lq^2*dt*ome*cos(the)*sin(the))/(Ld*Lq) - (Ld*dt*ome*cos(the)*sin(the))/Lq, (dt*(Lq*ia - psi*cos(the)))/Lq + (dt*((Lq^2*ia*cos(2*the))/2 - (Lq^2*ia)/2 + (Lq^2*ib*sin(2*the))/2))/(Ld*Lq) - (Ld*dt*(ia/2 + (ia*cos(2*the))/2 + (ib*sin(2*the))/2))/Lq, (dt*ome*psi*sin(the) - Rs*dt*ia*(2*sin(the)^2 - 1) + Rs*dt*ib*sin(2*the))/Lq + (Ld*(dt*ib*ome*(2*sin(the)^2 - 1) + dt*ia*ome*sin(2*the)))/Lq - (Lq*Rs*dt*ib*sin(2*the) + Lq^2*dt*ib*ome*(2*sin(the)^2 - 1) + Lq^2*dt*ia*ome*sin(2*the) - Lq*Rs*dt*ia*(2*sin(the)^2 - 1))/(Ld*Lq)];... |
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| 396 | [ -dt*kppj*(psi*sin(the) - cos(the)*(Ld - Lq)*(ib*cos(the) - ia*sin(the)) + sin(the)*(Ld - Lq)*(ia*cos(the) + ib*sin(the))), dt*kppj*(psi*cos(the) + cos(the)*(Ld - Lq)*(ia*cos(the) + ib*sin(the)) + sin(the)*(Ld - Lq)*(ib*cos(the) - ia*sin(the))), 1.0, -dt*kppj*(psi*(ia*cos(the) + ib*sin(the)) + (Ld - Lq)*(ia*cos(the) + ib*sin(the))^2 - (Ld - Lq)*(ib*cos(the) - ia*sin(the))^2)];... |
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| 397 | [ 0.0, 0.0, dt, 1.0]]; |
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| 398 | |
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| 399 | D11 = A70'*iQ4*A70; |
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| 400 | D12 = -A70'*iQ4; |
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| 401 | D21 = D12'; |
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| 402 | D22 = iQ4 + C4'*iR*C4; |
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| 403 | |
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| 404 | Jj7 = D22 - D21/(Jj7 + D11)*D12; |
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| 405 | tmp = inv(Jj7); |
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| 406 | iJn7(1,t) = tmp(3,3); |
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| 407 | iJn7(2,t) = tmp(4,4); |
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| 408 | end |
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| 409 | if(model(8) == 1) %d-q/nE/Ldq |
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| 410 | A81(1,2) = Lq*dt/Ld*ome; |
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| 411 | A81(1,3) = Lq*dt/Ld*iq; |
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| 412 | A81(2,1) = -Ld*dt/Lq*ome; |
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| 413 | A81(2,3) = -Ld*dt/Lq*id-psipm*dt/Lq; |
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| 414 | A81(3,1) = kp*pp*pp*dt*(Ld-Lq)/J*iq; |
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| 415 | A81(3,2) = kp*pp*pp*dt/J*((Ld-Lq)*id+psipm); |
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| 416 | |
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| 417 | D11 = A81'*iQ4*A81; |
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| 418 | D12 = -A81'*iQ4; |
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| 419 | D21 = D12'; |
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| 420 | D22 = iQ4 + C4'*iR*C4; |
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| 421 | |
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| 422 | Jj8 = D22 - D21/(Jj8 + D11)*D12; |
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| 423 | tmp = inv(Jj8); |
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| 424 | iJn8(1,t) = tmp(3,3); |
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| 425 | iJn8(2,t) = tmp(4,4); |
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| 426 | end |
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| 427 | if(model(9) == 1) %5sc/nE/Ldq |
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| 428 | A92(1, 1) = 1.0 + dt*(-Rs*(st^2/Lq + ct^2/Ld) + ome*st*ct*(Ld/Lq - Lq/Ld)); |
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| 429 | A92(1, 2) = dt*(-ome + Rs*st*ct*(1/Lq - 1/Ld) + ome*(Ld*st^2/Lq + Lq*ct^2/Ld)); |
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| 430 | A92(1, 3) = dt*psi*st/Lq + dt*ial*st*ct*(Ld/Lq - Lq/Ld) + dt*ibe*(-1 + Ld/Lq*st^2 + Lq/Ld*ct^2); |
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| 431 | A92(1, 4) = dt*psi*ome/Lq + dt*ial*(-Rs*2*st/Lq + ome*ct*(Ld/Lq - Lq/Ld)) + dt*ibe*(Rs*ct*(1/Lq - 1/Ld) + ome*2*Ld*st/Lq); |
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| 432 | A92(1, 5) = dt*ial*(-Rs*2*ct/Ld + ome*st*(Ld/Lq - Lq/Ld)) + dt*ibe*(Rs*st*(1/Lq - 1/Ld) + ome*2*Lq*ct/Ld); |
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| 433 | |
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| 434 | A92(2, 1) = dt*(ome + Rs*st*ct*(1/Lq - 1/Ld) - ome*(Lq*st^2/Ld + Ld*ct^2/Lq)); |
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| 435 | A92(2, 2) = 1 + dt*(-Rs*(st^2/Ld + ct^2/Lq) + ome*st*ct*(Lq/Ld - Ld/Lq)); |
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| 436 | A92(2, 3) = -dt*psi*ct/Lq + dt*ial*(1 - Lq*st^2/Ld - Ld*ct^2/Lq) + dt*ibe*st*ct*(Lq/Ld - Ld/Lq); |
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| 437 | A92(2, 4) = dt*ial*(Rs*ct*(1/Lq - 1/Ld) - ome*2*Lq*st/Ld) + dt*ibe*(-Rs*2*st/Ld + ome*ct*(Lq/Ld - Ld/Lq)); |
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| 438 | A92(2, 5) = -dt*psi*ome/Lq + dt*ial*(Rs*st*(1/Lq - 1/Ld) -ome*2*Ld*ct/Lq) + dt*ibe*(-Rs*2*ct/Lq + ome*st*(Lq/Ld - Ld/Lq)); |
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| 439 | |
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| 440 | A92(3, 1) = dt*kpp/J*((Ld - Lq)*(-2*ial*st*ct + ibe*ct^2 - ibe*st^2) - psi*st); |
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| 441 | A92(3, 2) = dt*kpp/J*((Ld - Lq)*(ial*ct^2 - ial*st^2 + 2*ibe*st*ct) + psi*ct); |
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| 442 | A92(3, 3) = 1; |
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| 443 | A92(3, 4) = dt*kpp/J*((Ld - Lq)*(-ial^2*ct - ial*ibe*2*st + ibe^2*ct) - psi*ial); |
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| 444 | A92(3, 5) = dt*kpp/J*((Ld - Lq)*(-ial^2*st + ial*ibe*2*ct + ibe^2*st) + psi*ibe); |
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| 445 | |
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| 446 | A92(4,3) = dt*cos(the); |
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| 447 | A92(4,5) = dt*ome; |
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| 448 | A92(5,3) = -dt*sin(the); |
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| 449 | A92(5,4) = -dt*ome; |
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| 450 | |
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| 451 | D11 = A92'*iQ5*A92; |
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| 452 | D12 = -A92'*iQ5; |
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| 453 | D21 = D12'; |
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| 454 | D22 = iQ5 + C5'*iR*C5; |
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| 455 | |
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| 456 | Jj9 = D22 - D21/(Jj9 + D11)*D12; |
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| 457 | tmp = inv(Jj9); |
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| 458 | iJn9(1,t) = tmp(3,3); |
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| 459 | iJn9(2,t) = tmp(4,4); |
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| 460 | iJn9(3,t) = tmp(5,5); |
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| 461 | end |
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| 462 | if(model(10) == 1) %al-be/E/Ldq |
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| 463 | A70 = [[ (Lq - Rs*dt*1/2*(1 - e2q4*ch2t))/Lq - (dt*hom*sht*e05q4*Lq^2*cht*e05q4 + Rs*dt*Lq*1/2*(1 + e2q4*ch2t))/(Ld*Lq) + (Ld*dt*hom*sht*cht*e2q4)/Lq, (dt*(Ld - Lq)*(- Lq*hom*1/2*(1 + e2q4*ch2t) + Rs*sht*cht*e2q4 + Ld*hom*1/2*(1 - e2q4*ch2t)))/(Ld*Lq), dt*cht*e05q4*(hia*sht*e05q4 - hib*cht*e05q4 + (Lq*(hib*cht*e05q4 - hia*sht*e05q4))/Ld) + dt*sht*e05q4*(psi/Lq - hia*cht*e05q4 - hib*sht*e05q4 + (Ld*(hia*cht*e05q4 + hib*sht*e05q4))/Lq), (dt*(hom*psi*cht*e05q4 + Rs*hib*ch2t*e2q4 - Rs*hia*sh2t*e2q4))/Lq + (Ld*dt*(hia*hom*ch2t*e2q4 + hib*hom*sh2t*e2q4))/Lq - (dt*(Lq^2*hia*hom*ch2t*e2q4 + Lq^2*hib*hom*sh2t*e2q4 + Lq*Rs*hib*ch2t*e2q4 - Lq*Rs*hia*sh2t*e2q4))/(Ld*Lq)];... |
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| 464 | [ (dt*(Ld - Lq)*(- Ld*hom*1/2*(1 + e2q4*ch2t) + Rs*sht*cht*e2q4 + Lq*hom*1/2*(1 - e2q4*ch2t)))/(Ld*Lq), (Lq - Rs*dt*1/2*(1 + e2q4*ch2t))/Lq - (Lq*Rs*dt*1/2*(1 - e2q4*ch2t) - Lq^2*dt*hom*sht*cht*e2q4)/(Ld*Lq) - (Ld*dt*hom*sht*cht*e2q4)/Lq, (dt*(Lq*hia - psi*cht*e05q4))/Lq + (dt*((Lq^2*hia*ch2t*e2q4)/2 - (Lq^2*hia)/2 + (Lq^2*hib*sh2t*e2q4)/2))/(Ld*Lq) - (Ld*dt*(hia/2 + (hia*ch2t*e2q4)/2 + (hib*sh2t*e2q4)/2))/Lq, (dt*hom*psi*sht*e05q4 - Rs*dt*hia*(2*1/2*(1 - e2q4*ch2t) - 1) + Rs*dt*hib*sh2t*e2q4)/Lq + (Ld*(dt*hib*hom*(2*1/2*(1 - e2q4*ch2t) - 1) + dt*hia*hom*sh2t*e2q4))/Lq - (Lq*Rs*dt*hib*sh2t*e2q4 + Lq^2*dt*hib*hom*(2*1/2*(1 - e2q4*ch2t) - 1) + Lq^2*dt*hia*hom*sh2t*e2q4 - Lq*Rs*dt*hia*(2*1/2*(1 - e2q4*ch2t) - 1))/(Ld*Lq)];... |
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| 465 | [ -dt*kppj*(psi*sht*e05q4 - cht*e05q4*(Ld - Lq)*(hib*cht*e05q4 - hia*sht*e05q4) + sht*e05q4*(Ld - Lq)*(hia*cht*e05q4 + hib*sht*e05q4)), dt*kppj*(psi*cht*e05q4 + cht*e05q4*(Ld - Lq)*(hia*cht*e05q4 + hib*sht*e05q4) + sht*e05q4*(Ld - Lq)*(hib*cht*e05q4 - hia*sht*e05q4)), 1.0, -dt*kppj*(psi*(hia*cht*e05q4 + hib*sht*e05q4) + (Ld - Lq)*(hia*cht*e05q4 + hib*sht*e05q4)^2 - (Ld - Lq)*(hib*cht*e05q4 - hia*sht*e05q4)^2)];... |
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| 466 | [ 0.0, 0.0, dt, 1.0]]; |
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| 467 | |
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| 468 | D11 = zeros(4); |
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| 469 | D11(1,1) = 1/q1 + (dt^2*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q2 + (dt^2*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q2 - (2*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q1 + (4*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q2 + (Rs^2*dt^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Rs^2*dt^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) - (2*Rs*dt*1/2*(1 + e2q4*ch2t))/(Ld*q1) + (dt^2*kppj^2*psi^2*1/2*(1 - e2q4*ch2t))/q3 - (2*Rs*dt*1/2*(1 - e2q4*ch2t))/(Lq*q1) - (2*Lq*dt^2*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q2) + (Ld^2*dt^2*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) + (Lq^2*dt^2*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (Ld^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Ld^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) + (Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Ld*dt^2*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q2) + (2*Ld*dt^2*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (2*Lq*dt^2*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (2*Ld*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq*q2) - (2*Lq*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld*q2) - (2*Ld*Lq*dt^2*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Ld*Lq*dt^2*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (2*Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q1) - (2*Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q2) + (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) - (4*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) - (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) - (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) + (4*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q2) + (Lq^2*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (4*Ld^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Ld^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (4*Lq^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Lq^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (2*Ld*dt*hom*sht*cht*e2q4)/(Lq*q1) - (2*Lq*dt*hom*sht*cht*e2q4)/(Ld*q1) + (4*Ld*dt^2*hia*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (2*Ld*dt^2*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (4*Lq*dt^2*hia*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (2*Lq*dt^2*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (4*Ld^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (4*Ld^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (4*Lq^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (4*Lq^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (8*Ld*Lq*dt^2*(hia^2 + q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (4*Ld*Lq*dt^2*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Ld*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (2*Lq*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (2*Ld*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (2*Lq*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (8*Ld*Lq*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (8*Ld*Lq*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3; |
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| 470 | D11(1,2) = (dt*hom*1/2*(1 + e2q4*ch2t))/q2 - (dt*hom*1/2*(1 + e2q4*ch2t))/q1 - (dt*hom*1/2*(1 - e2q4*ch2t))/q1 + (dt*hom*1/2*(1 - e2q4*ch2t))/q2 - (dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 + (dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 + (dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 - (dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q2 + (Lq*dt*hom*1/2*(1 + e2q4*ch2t))/(Ld*q1) - (Ld*dt*hom*1/2*(1 + e2q4*ch2t))/(Lq*q2) + (Ld*dt*hom*1/2*(1 - e2q4*ch2t))/(Lq*q1) - (Lq*dt*hom*1/2*(1 - e2q4*ch2t))/(Ld*q2) - (dt^2*kppj^2*psi^2*sht*cht*e2q4)/q3 - (Rs*dt*sht*cht*e2q4)/(Ld*q1) - (Rs*dt*sht*cht*e2q4)/(Ld*q2) + (Rs*dt*sht*cht*e2q4)/(Lq*q1) + (Rs*dt*sht*cht*e2q4)/(Lq*q2) + (Rs^2*dt^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (Rs^2*dt^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (Rs^2*dt^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (Rs^2*dt^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (Rs*dt^2*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) - (Rs*dt^2*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q2) - (Rs*dt^2*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q2) + (Rs*dt^2*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Ld*dt^2*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (Lq*dt^2*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 + (Rs^2*dt^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q1) - (Rs^2*dt^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*Lq*q1) - (Rs^2*dt^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q2) + (Rs^2*dt^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*Lq*q2) + (Ld*dt^2*hia*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (Lq*dt^2*hia*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (Lq^2*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (Ld^2*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (Lq^2*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (Ld^2*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (2*Ld^2*dt^2*(hia^2 + q1)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (2*Ld^2*dt^2*(hia^2 + q1)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Ld^2*dt^2*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (2*Ld^2*dt^2*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (2*Lq^2*dt^2*(hia^2 + q1)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (2*Lq^2*dt^2*(hia^2 + q1)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Lq^2*dt^2*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (2*Lq^2*dt^2*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (Ld^2*dt^2*hia*hib*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*hia*hib*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Ld^2*dt^2*hia*hib*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*hia*hib*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Ld*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (Ld*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (Lq*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (Lq*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (Ld*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) - (Ld*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q2) + (Lq*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) + (Lq*dt^2*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) - (Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Ld*q1) + (Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Ld*q2) - (Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Lq*q1) + (Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Lq*q2) - (Lq*Rs*dt^2*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Ld*Rs*dt^2*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) - (Ld*Rs*dt^2*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Lq*Rs*dt^2*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) - (3*Ld*dt^2*hia*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (3*Ld*dt^2*hib*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (3*Lq*dt^2*hia*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (3*Lq*dt^2*hib*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (Ld*Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (Lq*Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) - (Ld*Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (Lq*Rs*dt^2*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (4*Ld*Lq*dt^2*(hia^2 + q1)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (4*Ld*Lq*dt^2*(hia^2 + q1)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (4*Ld*Lq*dt^2*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (4*Ld*Lq*dt^2*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Ld*Lq*dt^2*hia*hib*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Ld*Lq*dt^2*hia*hib*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (6*Ld^2*dt^2*hia*hib*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (6*Lq^2*dt^2*hia*hib*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (12*Ld*Lq*dt^2*hia*hib*kppj^2*1/8*(1 - e8q4*ch4t))/q3; |
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| 471 | D11(1,3) = (3*dt^2*hia*hom*1/2*(1 + e2q4*ch2t))/(2*q2) - (dt*hib*1/2*(1 - e2q4*ch2t))/q1 - (dt*hib*1/2*(1 + e2q4*ch2t))/q1 - (dt^2*hia*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(2*q2) + (3*dt^2*hia*hom*1/2*(1 - e2q4*ch2t))/(2*q2) - (dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(2*q2) - (dt*kppj*psi*sht*e05q4)/q3 + (dt*psi*sht*e05q4)/(Lq*q1) + (Lq*dt*hib*1/2*(1 + e2q4*ch2t))/(Ld*q1) + (Ld*dt*hib*1/2*(1 - e2q4*ch2t))/(Lq*q1) - (2*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/q1 + (dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/q2 + (Rs*dt^2*hib*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (Rs*dt^2*hib*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) - (Rs*dt^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq^2*q1) - (dt^2*hom*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq*q2) - (dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 + (dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 + (dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 - (dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q2 + (Ld*dt*hib*kppj*1/2*(1 + e2q4*ch2t))/q3 - (Lq*dt*hib*kppj*1/2*(1 + e2q4*ch2t))/q3 - (Ld*dt*hib*kppj*1/2*(1 - e2q4*ch2t))/q3 + (Lq*dt*hib*kppj*1/2*(1 - e2q4*ch2t))/q3 + (Ld*dt^2*hom*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq^2*q2) - (Ld*dt^2*hia*hom*1/2*(1 - e2q4*ch2t))/(2*Lq*q2) - (3*Lq*dt^2*hia*hom*1/2*(1 - e2q4*ch2t))/(2*Ld*q2) + (Ld*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(2*Lq*q2) - (Lq*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(2*Ld*q2) - (3*Rs*dt^2*hia*sht*cht*e2q4)/(2*Ld*q2) + (3*Rs*dt^2*hia*sht*cht*e2q4)/(2*Lq*q2) + (Ld^2*dt^2*hia*hom*1/2*(1 + e2q4*ch2t))/(2*Lq^2*q2) + (Ld^2*dt^2*hia*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(2*Lq^2*q2) + (Lq^2*dt^2*hia*hom*1/2*(1 - e2q4*ch2t))/(2*Ld^2*q2) + (Lq^2*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(2*Ld^2*q2) - (2*Ld*dt*hia*kppj*sht*cht*e2q4)/q3 + (2*Lq*dt*hia*kppj*sht*cht*e2q4)/q3 + (Rs*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) - (Rs*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(2*Ld*q2) + (Rs*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(2*Ld*q2) - (Rs*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) - (Rs*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(2*Lq*q2) + (Rs*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(2*Lq*q2) - (Rs*dt^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q2) - (dt^2*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q1) + (dt^2*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q2) - (dt^2*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq*q2) + (Ld*dt*hia*sht*cht*e2q4)/(Lq*q1) - (Lq*dt*hia*sht*cht*e2q4)/(Ld*q1) + (Rs*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Ld*q2) + (Rs*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Lq*q2) - (Lq*Rs*dt^2*hib*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) - (Ld*Rs*dt^2*hib*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) - (3*Ld*dt^2*hia*hom*1/2*(1 + e2q4*ch2t))/(2*Lq*q2) - (Lq*dt^2*hia*hom*1/2*(1 + e2q4*ch2t))/(2*Ld*q2) - (Ld*dt^2*hia*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(2*Lq*q2) + (Lq*dt^2*hia*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(2*Ld*q2) - (Ld*Rs*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (Lq*Rs*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (Rs*dt^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*Lq*q1) + (Rs*dt^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*Lq*q2) - (Lq^2*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (Ld^2*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (Lq^2*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (Ld^2*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) - (Ld*Rs*dt^2*hia*sht*cht*e2q4)/(2*Lq^2*q2) + (Lq*Rs*dt^2*hia*sht*cht*e2q4)/(2*Ld^2*q2) + (Lq^2*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (Lq^2*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(2*Ld^2*q2) - (Ld^2*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(2*Lq^2*q2) - (Ld*Rs*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Lq*Rs*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (Ld*Rs*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(2*Lq^2*q2) - (Ld*Rs*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(2*Lq^2*q2) + (Lq*Rs*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(2*Ld^2*q2) - (Lq*Rs*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(2*Ld^2*q2) - (Ld*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (Ld*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (Lq*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (Lq*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (Ld*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) - (Ld*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q2) + (Lq*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) + (Lq*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) + (Ld*dt^2*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1); |
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| 472 | D11(1,4) = (dt^2*hib*(hom^2 + q3)*1/2*(1 - e2q4*ch2t))/q2 - (dt^2*hib*(hom^2 + q3)*1/2*(1 + e2q4*ch2t))/q2 - (2*dt^2*hib*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q2 + (Rs^2*dt^2*hib*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) - (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Ld*q2) + (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq*q2) - (Rs*dt*hib*1/2*(1 + e2q4*ch2t))/(Ld*q1) + (Rs*dt*hib*1/2*(1 + e2q4*ch2t))/(Lq*q1) + (dt^2*hib*kppj^2*psi^2*1/2*(1 - e2q4*ch2t))/q3 + (Rs*dt*hib*1/2*(1 - e2q4*ch2t))/(Ld*q1) - (Rs*dt*hib*1/2*(1 - e2q4*ch2t))/(Lq*q1) + (2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 - (2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 - (2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 + (2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q2 + (Ld^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Ld^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (4*dt^2*hib*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q1 + (2*dt^2*hib*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q2 + (Rs^2*dt^2*hib*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (dt*hom*psi*cht*e05q4)/(Lq*q1) - (Rs*dt^2*hia*hom*1/2*(1 + e2q4*ch2t))/(Ld*q2) - (Rs*dt^2*hia*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (2*Rs*dt^2*hia*hom*1/2*(1 + e2q4*ch2t))/(Lq*q2) - (Rs*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) - (2*Rs*dt^2*hia*hom*1/2*(1 - e2q4*ch2t))/(Ld*q2) + (4*Rs*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q2) + (Rs*dt^2*hia*hom*1/2*(1 - e2q4*ch2t))/(Lq*q2) - (2*Rs*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q2) - (Rs^2*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (2*Rs^2*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (Rs^2*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (2*Rs^2*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Ld^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (2*Ld^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Lq^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (2*Lq^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Ld*Lq*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Ld*dt^2*hib*(hom^2 + q3)*1/2*(1 + e2q4*ch2t))/(Lq*q2) + (Lq*dt^2*hib*(hom^2 + q3)*1/2*(1 + e2q4*ch2t))/(Ld*q2) - (2*Ld*Lq*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Ld*dt^2*hib*(hom^2 + q3)*1/2*(1 - e2q4*ch2t))/(Lq*q2) + (Lq*dt^2*hib*(hom^2 + q3)*1/2*(1 - e2q4*ch2t))/(Ld*q2) + (2*Ld*dt^2*hib*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q2) - (2*Lq*dt^2*hib*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q2) + (Rs^2*dt^2*hia*sht*cht*e2q4)/(Ld^2*q2) + (Rs^2*dt^2*hia*sht*cht*e2q4)/(Lq^2*q2) - (Ld*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 + (2*Ld*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 + (Lq*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (2*Lq*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 + (Ld*dt*hia*hom*1/2*(1 + e2q4*ch2t))/(Lq*q1) - (Lq*dt*hia*hom*1/2*(1 + e2q4*ch2t))/(Ld*q1) - (Rs^2*dt^2*hib*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*Lq*q1) - (Ld*dt*hia*hom*1/2*(1 - e2q4*ch2t))/(Lq*q1) + (Lq*dt*hia*hom*1/2*(1 - e2q4*ch2t))/(Ld*q1) - (Rs^2*dt^2*hib*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*Lq*q1) - (2*Ld^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Lq^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (dt^2*hia*kppj^2*psi^2*sht*cht*e2q4)/q3 + (Ld^2*dt^2*hib*(hom^2 + q3)*1/2*(1 + e2q4*ch2t))/(Lq^2*q2) + (2*Rs*dt*hia*sht*cht*e2q4)/(Ld*q1) - (2*Rs*dt*hia*sht*cht*e2q4)/(Lq*q1) - (Lq^2*dt^2*hib*(hom^2 + q3)*1/2*(1 - e2q4*ch2t))/(Ld^2*q2) + (2*Lq^2*dt^2*hib*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) - (Ld^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Lq^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Rs^2*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (2*Rs^2*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (2*Rs^2*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (2*Rs^2*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (Ld^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Lq^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*q1) + (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq*q2) + (2*Lq^2*dt^2*hib*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (2*Ld^2*dt^2*hib*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (2*Ld^2*dt^2*hib*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) + (10*Ld^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (10*Lq^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (2*Ld*dt*hib*hom*sht*cht*e2q4)/(Lq*q1) - (2*Lq*dt*hib*hom*sht*cht*e2q4)/(Ld*q1) - (2*Rs^2*dt^2*hia*sht*cht*e2q4)/(Ld*Lq*q2) + (4*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (4*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (2*Ld*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) + (2*Ld*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q2) - (2*Lq*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) - (2*Lq*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) + (3*Rs*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Ld*q1) + (3*Rs*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Lq*q1) - (6*Rs*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Lq*q2) + (Ld*dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q1) - (Ld*dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q2) + (Lq*Rs*dt^2*hia*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) - (Ld*Rs*dt^2*hia*hom*1/2*(1 + e2q4*ch2t))/(Lq^2*q2) + (Ld*Rs*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Lq*Rs*dt^2*hia*hom*1/2*(1 - e2q4*ch2t))/(Ld^2*q2) - (2*Lq*Rs*dt^2*hia*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (3*Ld*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (2*Ld*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (3*Lq*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (2*Lq*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (Ld*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 + (Lq*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (2*Rs^2*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q1) + (2*Rs^2*dt^2*hia*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*Lq*q1) + (4*Rs^2*dt^2*hia*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q2) + (Rs*dt^2*hib*hom*sht*cht*e2q4)/(Ld*q2) + (Rs*dt^2*hib*hom*sht*cht*e2q4)/(Lq*q2) + (4*Ld*Lq*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (Lq^2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (Lq^2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (Ld^2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Ld^2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) + (2*Lq^2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (2*Ld^2*dt^2*hia*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (2*Ld*dt^2*hib*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq*q2) - (2*Lq*dt^2*hib*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld*q2) - (Rs*dt^2*hom*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Ld*Lq*q1) + (6*Ld^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (6*Ld^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (6*Lq^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (6*Lq^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (2*Ld*Lq*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (2*Ld*Lq*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (2*Rs^2*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q1) - (4*Rs^2*dt^2*hib*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q2) + (3*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) - (Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (6*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) - (2*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) + (Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (3*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (4*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q2) - (Rs*dt^2*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) + (Rs*dt^2*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q2) - (20*Ld*Lq*dt^2*(hia^2 + q1)*hib*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (3*Ld*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Ld*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) - (Lq*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (3*Lq*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (2*Ld*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (2*Ld*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (4*Lq*Rs*dt^2*hib*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (7*Ld*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (7*Lq*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (3*Ld*Rs*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (3*Lq*Rs*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (4*Ld*Rs*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) + (2*Lq*Rs*dt^2*hia*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (Rs*dt^2*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*Lq*q2) - (12*Ld*Lq*dt^2*hia*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (12*Ld*Lq*dt^2*hia*(hib^2 + q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (Ld*Rs*dt^2*hib*hom*sht*cht*e2q4)/(Lq^2*q2) - (Lq*Rs*dt^2*hib*hom*sht*cht*e2q4)/(Ld^2*q2); |
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| 473 | |
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| 474 | D11(2,1) = D11(1,2); |
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| 475 | D11(2,2) = 1/q2 + (dt^2*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q1 + (dt^2*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q1 + (4*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q1 - (2*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q2 + (Rs^2*dt^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) + (Rs^2*dt^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (dt^2*kppj^2*psi^2*1/2*(1 + e2q4*ch2t))/q3 - (2*Rs*dt*1/2*(1 + e2q4*ch2t))/(Lq*q2) - (2*Rs*dt*1/2*(1 - e2q4*ch2t))/(Ld*q2) - (2*Ld*dt^2*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Lq^2*dt^2*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Ld^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Ld^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (2*Lq*dt^2*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (2*Ld*dt^2*hia*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (2*Lq*dt^2*hia*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (2*Ld*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq*q1) - (2*Lq*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld*q1) - (2*Ld*Lq*dt^2*(hia^2 + q1)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Ld*Lq*dt^2*(hia^2 + q1)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q1) + (2*Rs^2*dt^2*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q2) + (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (4*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) - (4*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (2*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) + (Lq^2*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) + (Ld^2*dt^2*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Ld^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (4*Ld^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Lq^2*dt^2*(hia^2 + q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (4*Lq^2*dt^2*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Ld*dt*hom*sht*cht*e2q4)/(Lq*q2) + (2*Lq*dt*hom*sht*cht*e2q4)/(Ld*q2) - (2*Ld*dt^2*hia*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (4*Ld*dt^2*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (2*Lq*dt^2*hia*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (4*Lq*dt^2*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (4*Ld^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (4*Ld^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (4*Lq^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (4*Lq^2*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (4*Ld*Lq*dt^2*(hia^2 + q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (8*Ld*Lq*dt^2*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (2*Ld*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (2*Lq*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (2*Ld*Rs*dt^2*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) - (2*Lq*Rs*dt^2*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (8*Ld*Lq*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (8*Ld*Lq*dt^2*hia*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3; |
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| 476 | D11(2,3) = (dt*hia)/q2 + (dt^2*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q1 + (dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q1 + (dt*kppj*psi*cht*e05q4)/q3 - (dt*psi*cht*e05q4)/(Lq*q2) - (Ld*dt*hia)/(2*Lq*q2) - (Lq*dt*hia)/(2*Ld*q2) - (Ld*dt*hia*1/2*(1 + e2q4*ch2t))/(2*Lq*q2) + (Lq*dt*hia*1/2*(1 + e2q4*ch2t))/(2*Ld*q2) + (Ld*dt*hia*1/2*(1 - e2q4*ch2t))/(2*Lq*q2) - (Lq*dt*hia*1/2*(1 - e2q4*ch2t))/(2*Ld*q2) + (4*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/q1 - (2*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/q2 + (Rs*dt^2*hia*1/2*(1 + e2q4*ch2t))/(2*Ld*q2) - (Rs*dt^2*hia*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(2*Ld*q2) - (Rs*dt^2*hia*1/2*(1 + e2q4*ch2t))/(Lq*q2) + (Rs*dt^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq^2*q2) - (Rs*dt^2*hia*1/2*(1 - e2q4*ch2t))/(Ld*q2) + (Rs*dt^2*hia*1/2*(1 - e2q4*ch2t))/(2*Lq*q2) - (Rs*dt^2*hia*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(2*Lq*q2) - (dt^2*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq*q1) - (dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 + (dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 + (dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 - (dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q2 + (Ld*dt*hia*kppj*1/2*(1 + e2q4*ch2t))/q3 - (Lq*dt*hia*kppj*1/2*(1 + e2q4*ch2t))/q3 - (Ld*dt*hia*kppj*1/2*(1 - e2q4*ch2t))/q3 + (Lq*dt*hia*kppj*1/2*(1 - e2q4*ch2t))/q3 - (2*Ld*dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Ld*dt^2*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq^2*q1) + (Lq^2*dt^2*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (2*Ld*dt*hib*kppj*sht*cht*e2q4)/q3 - (2*Lq*dt*hib*kppj*sht*cht*e2q4)/q3 + (Rs*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (2*Rs*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (Rs*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) - (2*Rs*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (Rs*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (Rs*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) + (Rs*dt^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) + (dt^2*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*q1) - (dt^2*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*q2) - (dt^2*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq*q1) - (Ld*dt*hib*sht*cht*e2q4)/(Lq*q2) + (Lq*dt*hib*sht*cht*e2q4)/(Ld*q2) - (Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Ld*q1) + (Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(2*Ld*q2) - (Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Lq*q1) + (Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(2*Lq*q2) + (Ld*Rs*dt^2*hia*1/2*(1 + e2q4*ch2t))/(2*Lq^2*q2) + (Ld*Rs*dt^2*hia*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(2*Lq^2*q2) + (Lq*Rs*dt^2*hia*1/2*(1 - e2q4*ch2t))/(2*Ld^2*q2) + (Lq*Rs*dt^2*hia*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(2*Ld^2*q2) - (2*Lq*dt^2*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (Ld*Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (Lq*Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) - (Ld*Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(2*Lq^2*q2) - (Lq*Rs*dt^2*hia*1/8*(1 - e8q4*ch4t))/(2*Ld^2*q2) - (Rs*dt^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*Lq*q1) + (Rs*dt^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*Lq*q2) - (Lq^2*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (Ld^2*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (2*Ld*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq*q1) - (2*Lq*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld*q1) - (Lq^2*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(2*Ld^2*q2) + (Lq^2*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(2*Ld^2*q2) - (Ld^2*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(2*Lq^2*q2) + (Ld^2*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(2*Lq^2*q2) - (Ld*dt^2*hia*hom*sht*cht*e2q4)/(Lq*q2) + (Lq*dt^2*hia*hom*sht*cht*e2q4)/(Ld*q2) + (Lq^2*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) + (Ld^2*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) + (Ld*Rs*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (Lq*Rs*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (Ld*Rs*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) - (Lq*Rs*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (Ld*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (Ld*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (Lq*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (Lq*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (Lq^2*dt^2*hia*hom*sht*cht*e2q4)/(2*Ld^2*q2) + (Ld^2*dt^2*hia*hom*sht*cht*e2q4)/(2*Lq^2*q2) + (Ld*dt^2*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q2); |
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| 477 | D11(2,4) = (dt^2*hia*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q1 + (dt^2*hia*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q1 - (Rs*dt*hia)/(Ld*q2) + (Rs*dt*hia)/(Lq*q2) + (Rs^2*dt^2*hia*1/2*(1 - e2q4*ch2t))/(Ld^2*q2) - (2*Rs^2*dt^2*hia*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (dt*hom*psi*sht*e05q4)/(Lq*q2) + (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Ld*q1) - (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq*q1) - (dt^2*hia*kppj^2*psi^2*1/2*(1 + e2q4*ch2t))/q3 + (2*Rs*dt*hia*1/2*(1 - e2q4*ch2t))/(Ld*q2) - (2*Rs*dt*hia*1/2*(1 - e2q4*ch2t))/(Lq*q2) - (2*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 + (2*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 + (4*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 - (Ld*dt*hib*hom)/(Lq*q2) + (Lq*dt*hib*hom)/(Ld*q2) - (Ld^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Lq^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Ld^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Lq^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*dt^2*hia*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q1 + (4*dt^2*hia*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q2 - (2*dt^2*hib*(hom^2 + q3)*sht*cht*e2q4)/q2 - (Rs^2*dt^2*hia*1/2*(1 + e2q4*ch2t))/(Lq^2*q2) + (2*Rs*dt^2*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) - (Rs*dt^2*hib*hom*1/2*(1 + e2q4*ch2t))/(Ld*q2) - (Rs*dt^2*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) - (Rs*dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (2*Rs*dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Rs*dt^2*hib*hom*1/2*(1 - e2q4*ch2t))/(Lq*q2) - (2*Rs*dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q2) - (2*Rs^2*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) - (2*Rs^2*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (2*Rs^2*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Ld^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (2*Ld^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Lq^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (2*Lq^2*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (2*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Ld*dt^2*hia*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Lq*dt^2*hia*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (2*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Ld*dt^2*hia*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) - (Lq*dt^2*hia*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) - (2*Ld*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 + (Ld*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 + (2*Lq*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (Lq*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 + (Rs^2*dt^2*hia*1/2*(1 + e2q4*ch2t))/(Ld*Lq*q2) + (2*Ld*dt*hib*hom*1/2*(1 - e2q4*ch2t))/(Lq*q2) - (2*Lq*dt*hib*hom*1/2*(1 - e2q4*ch2t))/(Ld*q2) - (Rs^2*dt^2*hia*1/2*(1 - e2q4*ch2t))/(Ld*Lq*q2) + (2*Rs^2*dt^2*hia*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*Lq*q2) + (2*Ld^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (2*Lq^2*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (dt^2*hib*kppj^2*psi^2*sht*cht*e2q4)/q3 - (Lq^2*dt^2*hia*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) - (2*Rs*dt*hib*sht*cht*e2q4)/(Ld*q2) + (2*Rs*dt*hib*sht*cht*e2q4)/(Lq*q2) - (Ld^2*dt^2*hia*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Ld^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Rs^2*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (Rs^2*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (2*Rs^2*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (Rs^2*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Rs^2*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) - (2*Rs^2*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (Ld^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q2) - (dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq*q1) + (Lq^2*dt^2*hia*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*hia*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (2*Lq^2*dt^2*hia*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (2*Ld^2*dt^2*hia*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (10*Ld^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (10*Lq^2*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (2*Ld*dt*hia*hom*sht*cht*e2q4)/(Lq*q2) - (2*Lq*dt*hia*hom*sht*cht*e2q4)/(Ld*q2) + (4*Ld*Lq*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (4*Ld*Lq*dt^2*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Ld*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (2*Ld*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (2*Lq*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (2*Lq*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) + (Lq^2*dt^2*hib*(hom^2 + q3)*sht*cht*e2q4)/(Ld^2*q2) + (Ld^2*dt^2*hib*(hom^2 + q3)*sht*cht*e2q4)/(Lq^2*q2) - (3*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld*q1) + (4*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld*q2) - (3*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq*q1) + (2*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq*q2) + (Ld*dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) - (Ld*dt^2*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q2) - (Lq*Rs*dt^2*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Ld*Rs*dt^2*hib*hom*1/2*(1 + e2q4*ch2t))/(Lq^2*q2) - (Ld*Rs*dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) - (Lq*Rs*dt^2*hib*hom*1/2*(1 - e2q4*ch2t))/(Ld^2*q2) + (2*Lq*Rs*dt^2*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (2*Ld*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (3*Ld*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (2*Lq*dt^2*(hia^2 + q1)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (3*Lq*dt^2*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (2*Rs^2*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q1) - (2*Rs^2*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*Lq*q1) - (2*Rs^2*dt^2*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q2) + (2*Rs^2*dt^2*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*Lq*q2) + (Rs*dt^2*hia*hom*sht*cht*e2q4)/(Ld*q2) + (Rs*dt^2*hia*hom*sht*cht*e2q4)/(Lq*q2) + (Ld*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (Lq*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (4*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Lq^2*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (2*Ld^2*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (2*Lq^2*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (2*Ld^2*dt^2*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) + (6*Ld^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (6*Ld^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (6*Lq^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (6*Lq^2*dt^2*(hia^2 + q1)*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (2*Ld*Lq*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (Rs*dt^2*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Ld*Lq*q2) - (2*Ld*Lq*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (4*Rs^2*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q1) - (2*Rs^2*dt^2*hia*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q2) - (Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) - (5*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (2*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) + (2*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) + (5*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) + (Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) - (4*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) + (Rs*dt^2*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q1) - (Rs*dt^2*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q2) + (20*Ld*Lq*dt^2*hia*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (3*Ld*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Ld*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) - (Lq*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (3*Lq*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (2*Ld*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (2*Ld*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (4*Lq*Rs*dt^2*hia*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (7*Ld*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (7*Lq*dt^2*hia*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (3*Ld*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (3*Lq*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) - (4*Ld*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Lq*Rs*dt^2*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (Rs*dt^2*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*Lq*q1) - (12*Ld*Lq*dt^2*(hia^2 + q1)*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (12*Ld*Lq*dt^2*(hia^2 + q1)*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (Ld*Rs*dt^2*hia*hom*sht*cht*e2q4)/(Lq^2*q2) - (Lq*Rs*dt^2*hia*hom*sht*cht*e2q4)/(Ld^2*q2); |
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| 478 | |
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| 479 | D11(3,1) = D11(1,3); |
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| 480 | D11(3,2) = D11(2,3); |
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| 481 | D11(3,3) = 1/q3 + dt^2/q4 + (3*dt^2*(hia^2 + q1))/(2*q2) + (dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q1 - (dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(2*q2) + (dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q1 - (dt^2*(hia^2 + q1)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(2*q2) + (Lq^2*dt^2*(hia^2 + q1))/(4*Ld^2*q2) + (Ld^2*dt^2*(hia^2 + q1))/(4*Lq^2*q2) - (2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/q1 + (4*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/q1 + (dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/q2 - (2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/q2 + (dt^2*psi^2*1/2*(1 + e2q4*ch2t))/(Lq^2*q2) - (Ld*dt^2*(hia^2 + q1))/(Lq*q2) - (Lq*dt^2*(hia^2 + q1))/(Ld*q2) + (dt^2*psi^2*1/2*(1 - e2q4*ch2t))/(Lq^2*q1) + (Lq^2*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) - (Lq^2*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(2*Ld^2*q2) + (Ld^2*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(2*Lq^2*q2) + (Lq^2*dt^2*(hia^2 + q1)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(4*Ld^2*q2) + (Ld^2*dt^2*(hia^2 + q1)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(4*Lq^2*q2) + (dt^2*hia*psi*cht*e05q4)/(Ld*q2) - (2*dt^2*hia*psi*cht*e05q4)/(Lq*q2) + (Ld^2*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Lq^2*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(2*Ld^2*q2) - (Ld^2*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(2*Lq^2*q2) + (Lq^2*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(4*Ld^2*q2) + (Ld^2*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(4*Lq^2*q2) - (dt^2*hia*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Ld*q2) - (2*dt^2*hib*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq*q1) - (2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 + (2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 + (2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 - (2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q2 - (2*Lq*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) - (Ld*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(Lq*q2) + (Lq*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(Ld*q2) - (2*Ld*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Ld*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(Lq*q2) - (Lq*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(Ld*q2) + (2*Ld*dt^2*hib*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq^2*q1) - (2*Ld*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq*q1) - (2*Lq*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld*q1) + (Lq^2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (Lq^2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(2*Ld^2*q2) - (Ld^2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(2*Lq^2*q2) + (Lq^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) + (Ld^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q1) + (2*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*q1) + (dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q2) - (2*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*q2) - (2*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq*q1) + (Ld*dt^2*hia*psi*cht*e05q4)/(Lq^2*q2) + (Ld*dt^2*hia*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq^2*q2) - (2*Lq^2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (2*Ld^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (Lq^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (Lq^2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q2) - (Ld^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) + (Ld^2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) - (2*Ld*dt^2*hia*hib*sht*cht*e2q4)/(Lq*q2) + (2*Lq*dt^2*hia*hib*sht*cht*e2q4)/(Ld*q2) - (2*Ld*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (2*Ld*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (2*Lq*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (2*Lq*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (Lq^2*dt^2*hia*hib*sht*cht*e2q4)/(Ld^2*q2) + (Ld^2*dt^2*hia*hib*sht*cht*e2q4)/(Lq^2*q2) + (2*Ld*dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) - (Ld*dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q2) + (2*Ld*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q2); |
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| 482 | D11(3,4) = dt/q4 - (3*Rs*dt^2*(hia^2 + q1))/(2*Ld*q2) + (3*Rs*dt^2*(hia^2 + q1))/(2*Lq*q2) - (Rs*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (5*Rs*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(2*Ld*q2) + (Rs*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q2) + (2*Rs*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) - (7*Rs*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(2*Lq*q2) + (Rs*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q2) - (Ld*Rs*dt^2*(hia^2 + q1))/(2*Lq^2*q2) + (Lq*Rs*dt^2*(hia^2 + q1))/(2*Ld^2*q2) + (2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 - (2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 - (2*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 + (2*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 - (2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 + (2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q2 + (4*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 - (Ld*dt*(hia^2 + q1)*kppj*1/2*(1 + e2q4*ch2t))/q3 + (Ld*dt*(hib^2 + q2)*kppj*1/2*(1 + e2q4*ch2t))/q3 + (Lq*dt*(hia^2 + q1)*kppj*1/2*(1 + e2q4*ch2t))/q3 - (Lq*dt*(hib^2 + q2)*kppj*1/2*(1 + e2q4*ch2t))/q3 + (Ld*dt*(hia^2 + q1)*kppj*1/2*(1 - e2q4*ch2t))/q3 - (Ld*dt*(hib^2 + q2)*kppj*1/2*(1 - e2q4*ch2t))/q3 - (Lq*dt*(hia^2 + q1)*kppj*1/2*(1 - e2q4*ch2t))/q3 + (Lq*dt*(hib^2 + q2)*kppj*1/2*(1 - e2q4*ch2t))/q3 + (dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q1 - (dt^2*hia*hib*hom*1/2*(1 + e2q4*ch2t))/q2 + (dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q1 + (dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/q2 - (2*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q2 - (dt*hia*kppj*psi*cht*e05q4)/q3 - (dt*hib*kppj*psi*sht*e05q4)/q3 - (2*dt^2*(hib^2 + q2)*hom*sht*cht*e2q4)/q2 + (2*Rs*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (Rs*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(2*Ld*q2) - (Rs*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Rs*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(2*Lq*q2) - (Rs*dt^2*hib*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq^2*q1) + (dt^2*hib*hom*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Ld*q1) - (dt^2*hib*hom*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq*q1) - (Ld*dt^2*hia*hib*hom)/(Lq*q2) + (Lq*dt^2*hia*hib*hom)/(Ld*q2) + (dt^2*hia*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Ld*q1) - (dt^2*hia*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(2*Ld*q2) + (2*Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Ld*q1) - (Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld*q1) - (Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Ld*q2) + (2*Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld*q2) + (2*Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Lq*q1) - (Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq*q1) - (Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Lq*q2) + (2*Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq*q2) - (Lq*Rs*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) - (Ld*Rs*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(2*Lq^2*q2) - (Lq*Rs*dt^2*(hia^2 + q1)*1/2*(1 + e2q4*ch2t))/(2*Ld^2*q2) - (Ld*Rs*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (3*Ld*Rs*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(2*Lq^2*q2) - (Lq*Rs*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(2*Ld^2*q2) - (Ld*Rs*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) - (Lq*Rs*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) - (Lq^2*dt^2*hia*hib*hom)/(2*Ld^2*q2) + (Ld^2*dt^2*hia*hib*hom)/(2*Lq^2*q2) + (dt^2*hom*psi^2*sht*cht*e2q4)/(Lq^2*q1) - (dt^2*hom*psi^2*sht*cht*e2q4)/(Lq^2*q2) - (Rs*dt^2*hia*psi*cht*e05q4)/(Lq^2*q2) - (6*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/q1 + (6*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/q2 - (dt^2*hib*hom*psi*cht*e05q4)/(Ld*q2) - (dt^2*hia*hom*psi*sht*e05q4)/(2*Ld*q2) + (dt^2*hia*hom*psi*sht*e05q4)/(Lq*q2) - (2*dt^2*hia*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*q1) - (2*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q1) + (5*dt^2*hia*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(2*Ld*q2) + (3*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q2) - (dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq*q1) + (Ld*dt^2*hib*hom*psi*cht*e05q4)/(Lq^2*q2) - (Ld*dt^2*hia*hom*psi*sht*e05q4)/(2*Lq^2*q2) - (2*Ld*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (2*Ld*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (2*Lq*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (2*Lq*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) + (Lq^2*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Ld^2*q2) - (Ld^2*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Lq^2*q2) + (Lq^2*dt^2*(hib^2 + q2)*hom*sht*cht*e2q4)/(Ld^2*q2) + (Ld^2*dt^2*(hib^2 + q2)*hom*sht*cht*e2q4)/(Lq^2*q2) + (Rs*dt^2*hia*psi*cht*e05q4)/(Ld*Lq*q2) - (Ld*dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (Lq*dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (Ld*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) - (Lq*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) + (2*Ld*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(Lq*q2) - (2*Lq*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(Ld*q2) - (Ld*dt^2*hia*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq^2*q1) + (Ld*dt^2*hia*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(2*Lq^2*q2) - (2*Rs*dt^2*hia*hib*sht*cht*e2q4)/(Ld*q2) + (4*Rs*dt^2*hia*hib*sht*cht*e2q4)/(Lq*q2) - (2*Ld*Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (2*Lq*Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (Ld*Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (Lq*Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (Ld*Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) + (Lq*Rs*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (2*Ld*Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Lq*Rs*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (Lq^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (Lq^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (Ld^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Ld^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) - (2*Lq^2*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (2*Ld^2*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Lq^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (Lq^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q2) + (Ld^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (Ld^2*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) - (2*Lq^2*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (2*Ld^2*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) + (Rs*dt^2*hib*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Ld*Lq*q1) - (Lq^2*dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Lq^2*dt^2*hia*hib*hom*1/2*(1 + e2q4*ch2t))/(2*Ld^2*q2) + (Ld^2*dt^2*hia*hib*hom*1/2*(1 + e2q4*ch2t))/(2*Lq^2*q2) - (Ld^2*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Lq^2*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(2*Ld^2*q2) - (3*Ld^2*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(2*Lq^2*q2) + (Lq^2*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (Ld^2*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) - (4*Ld*dt*hia*hib*kppj*sht*cht*e2q4)/q3 + (4*Lq*dt*hia*hib*kppj*sht*cht*e2q4)/q3 - (Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) - (5*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) - (3*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) + (Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q2) + (2*Ld*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Lq*q2) - (2*Lq*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Ld*q2) + (5*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) + (Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) - (3*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) + (Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q2) - (2*Rs*dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) + (Rs*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q1) + (2*Rs*dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q2) - (2*Rs*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q2) + (3*Lq^2*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (3*Ld^2*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (3*Lq^2*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) - (3*Ld^2*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (3*Ld*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (Ld*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) - (Lq*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (3*Lq*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) + (3*Ld*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (Ld*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q2) + (3*Lq*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (Lq*Rs*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q2) + (2*Ld*dt^2*hia*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q1) + (3*Ld*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) - (5*Ld*dt^2*hia*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(2*Lq^2*q2) - (3*Ld*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q2) + (2*Rs*dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*Lq*q1) - (Rs*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*Lq*q1) - (2*Rs*dt^2*hia*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*Lq*q2) + (2*Rs*dt^2*hib*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*Lq*q2) - (2*Ld*Rs*dt^2*hia*hib*sht*cht*e2q4)/(Lq^2*q2); |
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| 483 | |
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| 484 | D11(4,1) = D11(1,4); |
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| 485 | D11(4,2) = D11(2,4); |
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| 486 | D11(4,3) = D11(3,4); |
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| 487 | D11(4,4) = 1/q4 - (2*dt^2*(hib^2 + q2)*(hom^2 + q3))/q2 + (Rs^2*dt^2*(hia^2 + q1))/(Ld^2*q2) + (Rs^2*dt^2*(hia^2 + q1))/(Lq^2*q2) - (2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q1 - (2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q1 + (8*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/2*(1 - e2q4*ch2t))/q2 - (8*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q2 + (4*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q1 - (8*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q1 - (8*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/q2 + (Rs^2*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Rs^2*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Rs^2*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) - (4*Rs^2*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(Ld^2*q2) + (4*Rs^2*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (Rs^2*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) - (4*Rs^2*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(Lq^2*q2) + (4*Rs^2*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) + (Ld^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Ld^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (dt^2*(hom^2 + q3)*psi^2*1/2*(1 + e2q4*ch2t))/(Lq^2*q1) + (Ld^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Ld^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (Lq^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (dt^2*(hom^2 + q3)*psi^2*1/2*(1 - e2q4*ch2t))/(Lq^2*q2) + (dt^2*(hia^2 + q1)*kppj^2*psi^2*1/2*(1 + e2q4*ch2t))/q3 + (dt^2*(hib^2 + q2)*kppj^2*psi^2*1/2*(1 - e2q4*ch2t))/q3 - (2*Rs^2*dt^2*(hia^2 + q1))/(Ld*Lq*q2) + (Lq^2*dt^2*(hib^2 + q2)*(hom^2 + q3))/(Ld^2*q2) + (Ld^2*dt^2*(hib^2 + q2)*(hom^2 + q3))/(Lq^2*q2) - (2*Rs^2*dt^2*(hib^2 + q2)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*Lq*q1) + (8*Rs^2*dt^2*(hia^2 + q1)*1/2*(1 - e2q4*ch2t))/(Ld*Lq*q2) - (8*Rs^2*dt^2*(hia^2 + q1)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*Lq*q2) + (Lq^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (Lq^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (Ld^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) - (4*Lq^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/2*(1 - e2q4*ch2t))/(Ld^2*q2) - (4*Ld^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/2*(1 - e2q4*ch2t))/(Lq^2*q2) + (4*Lq^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (4*Ld^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) + (2*dt^2*hib*(hom^2 + q3)*psi*sht*e05q4)/(Ld*q2) - (2*Ld^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Lq^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (2*Rs*dt^2*hia*hib*hom)/(Ld*q2) + (2*Rs*dt^2*hia*hib*hom)/(Lq*q2) - (2*Ld^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Lq^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (8*dt^2*hia*hib*(hom^2 + q3)*sht*cht*e2q4)/q2 - (2*Ld*Lq*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Ld*Lq*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Ld*Lq*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 - (2*Ld*Lq*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (2*Ld*dt^2*(hia^3 + 3*hia*q1)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (2*Lq*dt^2*(hia^3 + 3*hia*q1)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (2*dt^2*hia*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Ld*q1) + (2*Ld*dt^2*(hib^3 + 3*hib*q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (2*Lq*dt^2*(hib^3 + 3*hib*q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (4*dt^2*hib*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Ld*q2) + (4*Rs^2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) - (2*Rs^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (4*Rs^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) + (4*Rs^2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (2*Rs^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (4*Rs^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Ld^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Ld^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Lq^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Lq^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (8*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q1 - (8*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q1 - (16*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q2 - (2*Rs^2*dt^2*(hib^2 + q2)*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*Lq*q1) + (4*Ld*Lq*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/q3 + (2*dt^2*hia*hib*kppj^2*psi^2*sht*cht*e2q4)/q3 + (2*Rs*dt^2*hia*hom*psi*sht*e05q4)/(Lq^2*q2) + (4*Ld*Lq*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/q3 + (4*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) - (4*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (8*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (4*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (4*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) - (8*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (8*Rs^2*dt^2*(hia^2 + q1)*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q1) + (4*Rs^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q1) - (8*Rs^2*dt^2*(hib^2 + q2)*1/8*(1 - e8q4*ch4t))/(Ld*Lq*q2) - (4*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) + (4*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) + (4*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q1) - (4*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*q1) + (8*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) - (8*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*q2) - (4*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) + (4*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (4*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q1) - (4*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq*q1) + (8*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) - (8*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq*q2) - (2*Lq^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) - (2*Ld^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (4*Lq^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (4*Ld^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) + (4*Lq^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Ld^2*q2) + (4*Ld^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) - (2*Ld*dt^2*(hia^3 + 3*hia*q1)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (2*Ld*dt^2*(hib^3 + 3*hib*q2)*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (2*Lq*dt^2*(hia^3 + 3*hia*q1)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (2*Lq*dt^2*(hib^3 + 3*hib*q2)*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 + (2*dt^2*hia*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q1) - (4*dt^2*hib*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*q1) - (4*dt^2*hia*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*q2) - (2*Rs*dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) - (2*Rs*dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) + (2*Rs*dt^2*hib*hom*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq^2*q1) + (20*Ld^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (20*Lq^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (2*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q1) - (8*Rs*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(Ld*q2) + (8*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld*q2) - (2*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q1) - (8*Rs*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(Lq*q2) + (8*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq*q2) - (2*Ld*dt^2*hib*(hom^2 + q3)*psi*sht*e05q4)/(Lq^2*q2) - (2*Ld*Rs*dt^2*hia*hib*hom)/(Lq^2*q2) - (2*Lq*Rs*dt^2*hia*hib*hom)/(Ld^2*q2) - (4*Rs*dt^2*hia*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq^2*q2) + (4*Ld*Lq*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (4*Ld*Lq*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 + (8*Ld^2*dt^2*hia*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (8*Ld^2*dt^2*hia*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (8*Ld^2*dt^2*(hia^3 + 3*hia*q1)*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (8*Ld^2*dt^2*(hia^3 + 3*hia*q1)*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (8*Lq^2*dt^2*hia*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (8*Lq^2*dt^2*hia*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (8*Lq^2*dt^2*(hia^3 + 3*hia*q1)*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (8*Lq^2*dt^2*(hia^3 + 3*hia*q1)*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (2*Ld*dt^2*hia*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Lq^2*q1) + (4*Ld*dt^2*hib*(hom^2 + q3)*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Lq^2*q2) + (4*Rs^2*dt^2*hia*hib*sht*cht*e2q4)/(Ld^2*q2) + (4*Rs^2*dt^2*hia*hib*sht*cht*e2q4)/(Lq^2*q2) - (2*Ld*dt^2*hia*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 + (2*Lq*dt^2*hia*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/q3 - (4*Rs*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Ld*q2) + (4*Rs*dt^2*(hib^2 + q2)*hom*sht*cht*e2q4)/(Ld*q2) - (4*Rs*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Lq*q2) + (4*Rs*dt^2*(hib^2 + q2)*hom*sht*cht*e2q4)/(Lq*q2) - (2*Ld*dt^2*(hia^2 + q1)*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 + (2*Lq*dt^2*(hia^2 + q1)*hib*kppj^2*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/q3 - (4*Lq^2*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (4*Lq^2*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (4*Ld^2*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (4*Ld^2*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) + (8*Lq^2*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (8*Ld^2*dt^2*hia*hib*(hom^2 + q3)*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (2*Rs*dt^2*hib*hom*psi*1/4*e92q4*(3*e4q4*cht + ch3t))/(Ld*Lq*q1) + (4*Rs*dt^2*hia*hom*psi*1/4*e92q4*(3*e4q4*sht - sh3t))/(Ld*Lq*q2) + (4*Ld*Rs*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Lq^2*q2) + (4*Lq*Rs*dt^2*(hia^2 + q1)*hom*sht*cht*e2q4)/(Ld^2*q2) - (4*Ld*Rs*dt^2*(hib^2 + q2)*hom*sht*cht*e2q4)/(Lq^2*q2) - (4*Lq*Rs*dt^2*(hib^2 + q2)*hom*sht*cht*e2q4)/(Ld^2*q2) - (4*Rs*dt^2*hia*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q1) - (2*Rs*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) + (4*Rs*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q2) - (40*Ld*Lq*dt^2*(hia^2 + q1)*(hib^2 + q2)*kppj^2*1/8*(1 - e8q4*ch4t))/q3 - (8*Rs^2*dt^2*hia*hib*sht*cht*e2q4)/(Ld*Lq*q2) + (4*Ld*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) - (4*Ld*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) + (4*Lq*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) - (4*Lq*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (4*Ld*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q1) + (4*Ld*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Lq^2*q1) - (4*Lq*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q1) + (4*Lq*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld^2*q1) - (8*Ld*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) - (8*Lq*Rs*dt^2*(hia^2 + q1)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) + (8*Ld*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Lq^2*q2) + (8*Lq*Rs*dt^2*(hib^2 + q2)*hom*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld^2*q2) - (16*Ld*Lq*dt^2*hia*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 + (16*Ld*Lq*dt^2*hia*(hib^3 + 3*hib*q2)*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 + (16*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*hib*kppj^2*1/4*e8q4*(e6q4 - ch2t)*sh2t)/q3 - (16*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*hib*kppj^2*1/4*e8q4*(e6q4 + ch2t)*sh2t)/q3 - (4*Lq^2*dt^2*hia*hib*(hom^2 + q3)*sht*cht*e2q4)/(Ld^2*q2) - (4*Ld^2*dt^2*hia*hib*(hom^2 + q3)*sht*cht*e2q4)/(Lq^2*q2) + (12*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld*q1) - (8*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld*q2) + (12*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq*q1) - (8*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq*q2) - (2*Ld*dt^2*hia*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q1) + (4*Ld*dt^2*hib*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Lq^2*q1) + (4*Ld*dt^2*hia*(hom^2 + q3)*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Lq^2*q2) + (2*Ld*Rs*dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (2*Lq*Rs*dt^2*hia*hib*hom*1/8*(3 + 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (2*Ld*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q1) + (2*Lq*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q1) + (8*Ld*Rs*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(Lq^2*q2) + (8*Lq*Rs*dt^2*hia*hib*hom*1/2*(1 - e2q4*ch2t))/(Ld^2*q2) - (8*Ld*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Lq^2*q2) - (8*Lq*Rs*dt^2*hia*hib*hom*1/8*(3 - 4*e2q4*ch2t + e8q4*ch4t))/(Ld^2*q2) + (10*Ld*dt^2*hia*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 + (10*Ld*dt^2*(hia^2 + q1)*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (10*Lq*dt^2*hia*(hib^2 + q2)*kppj^2*psi*1/4*e92q4*(e4q4*cht - ch3t))/q3 - (10*Lq*dt^2*(hia^2 + q1)*hib*kppj^2*psi*1/4*e92q4*(e4q4*sht + sh3t))/q3 - (2*Rs*dt^2*hia*hom*psi*sht*e05q4)/(Ld*Lq*q2) - (8*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q1) + (8*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 + ch2t)*sh2t)/(Ld*Lq*q1) + (16*Rs^2*dt^2*hia*hib*1/4*e8q4*(e6q4 - ch2t)*sh2t)/(Ld*Lq*q2) + (4*Rs*dt^2*hia*hom*psi*1/4*e92q4*(e4q4*sht + sh3t))/(Ld*Lq*q1) + (2*Rs*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*Lq*q1) - (4*Rs*dt^2*hib*hom*psi*1/4*e92q4*(e4q4*cht - ch3t))/(Ld*Lq*q2) - (12*Ld*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q1) - (12*Lq*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q1) + (8*Ld*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Lq^2*q2) + (8*Lq*Rs*dt^2*hia*hib*hom*1/8*(1 - e8q4*ch4t))/(Ld^2*q2); |
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| 488 | |
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| 489 | |
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| 490 | D12 = -A70'*iQ4; |
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| 491 | D21 = D12'; |
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| 492 | D22 = iQ4 + C4'*iR*C4; |
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| 493 | |
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| 494 | Jj10 = D22 - D21/(Jj10 + D11)*D12; |
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| 495 | tmp = inv(Jj10); |
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| 496 | iJn10(1,t) = tmp(3,3); |
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| 497 | iJn10(2,t) = tmp(4,4); |
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| 498 | end |
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| 499 | if(model(11) == 1) %d-q/E/Ldq |
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| 500 | A81(1,2) = Lq*dt/Ld*ome; |
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| 501 | A81(1,3) = Lq*dt/Ld*iq; |
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| 502 | A81(2,1) = -Ld*dt/Lq*ome; |
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| 503 | A81(2,3) = -Ld*dt/Lq*id-psipm*dt/Lq; |
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| 504 | A81(3,1) = kp*pp*pp*dt*(Ld-Lq)/J*iq; |
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| 505 | A81(3,2) = kp*pp*pp*dt/J*((Ld-Lq)*id+psipm); |
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| 506 | |
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| 507 | D11 = A81'*iQ4*A81 + D11_cor11; |
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| 508 | D12 = -A81'*iQ4; |
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| 509 | D21 = D12'; |
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| 510 | D22 = iQ4 + C4'*iR*C4; |
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| 511 | |
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| 512 | Jj11 = D22 - D21/(Jj11 + D11)*D12; |
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| 513 | tmp = inv(Jj11); |
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| 514 | iJn11(1,t) = tmp(3,3); |
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| 515 | iJn11(2,t) = tmp(4,4); |
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| 516 | end |
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| 517 | if(model(12) == 1) %5sc/E/Ldq |
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| 518 | A92(1, 1) = 1.0 + dt*(-Rs*(1/2*(1 - e2q4*ch2t)/Lq + 1/2*(1 + e2q4*ch2t)/Ld) + hom*sht*cht*e2q4*(Ld/Lq - Lq/Ld)); |
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| 519 | A92(1, 2) = dt*(-hom + Rs*sht*cht*e2q4*(1/Lq - 1/Ld) + hom*(Ld*1/2*(1 - e2q4*ch2t)/Lq + Lq*1/2*(1 + e2q4*ch2t)/Ld)); |
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| 520 | A92(1, 3) = dt*psi*sht*e05q4/Lq + dt*hia*sht*cht*e2q4*(Ld/Lq - Lq/Ld) + dt*hib*(-1 + Ld/Lq*1/2*(1 - e2q4*ch2t) + Lq/Ld*1/2*(1 + e2q4*ch2t)); |
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| 521 | A92(1, 4) = dt*psi*hom/Lq + dt*hia*(-Rs*2*sht*e05q4/Lq + hom*cht*e05q4*(Ld/Lq - Lq/Ld)) + dt*hib*(Rs*cht*e05q4*(1/Lq - 1/Ld) + hom*2*Ld*sht*e05q4/Lq); |
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| 522 | A92(1, 5) = dt*hia*(-Rs*2*cht*e05q4/Ld + hom*sht*e05q4*(Ld/Lq - Lq/Ld)) + dt*hib*(Rs*sht*e05q4*(1/Lq - 1/Ld) + hom*2*Lq*cht*e05q4/Ld); |
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| 523 | |
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| 524 | A92(2, 1) = dt*(hom + Rs*sht*cht*e2q4*(1/Lq - 1/Ld) - hom*(Lq*1/2*(1 - e2q4*ch2t)/Ld + Ld*1/2*(1 + e2q4*ch2t)/Lq)); |
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| 525 | A92(2, 2) = 1 + dt*(-Rs*(1/2*(1 - e2q4*ch2t)/Ld + 1/2*(1 + e2q4*ch2t)/Lq) + hom*sht*cht*e2q4*(Lq/Ld - Ld/Lq)); |
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| 526 | A92(2, 3) = -dt*psi*cht*e05q4/Lq + dt*hia*(1 - Lq*1/2*(1 - e2q4*ch2t)/Ld - Ld*1/2*(1 + e2q4*ch2t)/Lq) + dt*hib*sht*cht*e2q4*(Lq/Ld - Ld/Lq); |
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| 527 | A92(2, 4) = dt*hia*(Rs*cht*e05q4*(1/Lq - 1/Ld) - hom*2*Lq*sht*e05q4/Ld) + dt*hib*(-Rs*2*sht*e05q4/Ld + hom*cht*e05q4*(Lq/Ld - Ld/Lq)); |
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| 528 | A92(2, 5) = -dt*psi*hom/Lq + dt*hia*(Rs*sht*e05q4*(1/Lq - 1/Ld) -hom*2*Ld*cht*e05q4/Lq) + dt*hib*(-Rs*2*cht*e05q4/Lq + hom*sht*e05q4*(Lq/Ld - Ld/Lq)); |
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| 529 | |
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| 530 | A92(3, 1) = dt*kpp/J*((Ld - Lq)*(-2*hia*sht*cht*e2q4 + hib*1/2*(1 + e2q4*ch2t) - hib*1/2*(1 - e2q4*ch2t)) - psi*sht*e05q4); |
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| 531 | A92(3, 2) = dt*kpp/J*((Ld - Lq)*(hia*1/2*(1 + e2q4*ch2t) - hia*1/2*(1 - e2q4*ch2t) + 2*hib*sht*cht*e2q4) + psi*cht*e05q4); |
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| 532 | A92(3, 3) = 1; |
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| 533 | A92(3, 4) = dt*kpp/J*((Ld - Lq)*(-(hia^2 + q1)*cht*e05q4 - hia*hib*2*sht*e05q4 + (hib^2 + q2)*cht*e05q4) - psi*hia); |
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| 534 | A92(3, 5) = dt*kpp/J*((Ld - Lq)*(-(hia^2 + q1)*sht*e05q4 + hia*hib*2*cht*e05q4 + (hib^2 + q2)*sht*e05q4) + psi*hib); |
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| 535 | |
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| 536 | A92(4,3) = dt*cht*e05q4; |
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| 537 | A92(4,5) = dt*hom; |
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| 538 | A92(5,3) = -dt*sht*e05q4; |
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| 539 | A92(5,4) = -dt*hom; |
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| 540 | |
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| 541 | D11 = zeros(5); |
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| 542 | D11(1,1) = 1/q1 + (dt^2*(hom^2 + q3))/q2 + (Rs^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2)/(Ld^2*q1) + (Rs^2*dt^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Lq^2*q1) - (2*Rs*(cht^2 + q5)*dt)/(Ld*q1) - (2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/q1 + (2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/q2 - (2*Rs*dt*(sht^2 + q4))/(Lq*q1) + (dt^2*kpp^2*psi^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*(cht^2 + q5)*dt^2*(hom^2 + q3))/(Lq*q2) - (2*Lq*dt^2*(hom^2 + q3)*(sht^2 + q4))/(Ld*q2) + (Ld^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hom^2 + q3))/(Lq^2*q2) + (Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Ld^2*q2) + (Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Lq^2*q2) + (Lq^2*dt^2*(hom^2 + q3)*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Ld^2*q2) - (2*Rs*cht*dt^2*hom*sht)/(Ld*q2) + (2*Rs*cht*dt^2*hom*sht)/(Lq*q2) + (2*Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Ld*Lq*q1) - (2*Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Ld*Lq*q2) + (2*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Ld*q1) - (2*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Ld*q2) - (2*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Lq*q1) + (2*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Lq*q2) + (Ld^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hib^2 + q2)*kpp^2)/(J^2*q3) + (Lq^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hib^2 + q2)*kpp^2)/(J^2*q3) + (Ld^2*dt^2*(hib^2 + q2)*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) + (Lq^2*dt^2*(hib^2 + q2)*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) + (Lq^2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q1) + (Ld^2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q1) + (2*Ld*cht*dt*hom*sht)/(Lq*q1) - (2*Lq*cht*dt*hom*sht)/(Ld*q1) + (2*Ld*dt^2*hib*kpp^2*psi*(sht^3 + 3*sht*q4))/(J^2*q3) - (2*Lq*dt^2*hib*kpp^2*psi*(sht^3 + 3*sht*q4))/(J^2*q3) + (4*Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Lq^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*Lq*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hib^2 + q2)*kpp^2)/(J^2*q3) - (2*Ld*Lq*dt^2*(hib^2 + q2)*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) - (2*Ld*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (2*Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Ld^2*q1) - (2*Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Lq^2*q2) + (2*Lq*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (4*Ld^2*cht*dt^2*hia*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (4*Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*kpp^2*sht)/(J^2*q3) + (4*Lq^2*cht*dt^2*hia*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (4*Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*kpp^2*sht)/(J^2*q3) - (8*Ld*Lq*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Ld*Lq*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Ld*cht*dt^2*hia*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (2*Ld*(cht^2 + q5)*dt^2*hib*kpp^2*psi*sht)/(J^2*q3) - (4*Lq*cht*dt^2*hia*kpp^2*psi*(sht^2 + q4))/(J^2*q3) + (2*Lq*(cht^2 + q5)*dt^2*hib*kpp^2*psi*sht)/(J^2*q3) - (8*Ld*Lq*cht*dt^2*hia*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (8*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*hia*hib*kpp^2*sht)/(J^2*q3); |
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| 543 | D11(1,2) = (dt*hom)/q2 - (dt*hom)/q1 - (cht*dt^2*(hom^2 + q3)*(sht^3 + 3*sht*q4))/q1 + ((cht^3 + 3*cht*q5)*dt^2*(hom^2 + q3)*sht)/q1 + (cht*dt^2*(hom^2 + q3)*(sht^3 + 3*sht*q4))/q2 - ((cht^3 + 3*cht*q5)*dt^2*(hom^2 + q3)*sht)/q2 + (Rs*(cht^2 + q5)*dt^2*hom)/(Ld*q1) - (Rs*(cht^2 + q5)*dt^2*hom)/(Lq*q2) - (Rs*dt^2*hom*(sht^2 + q4))/(Ld*q2) + (Rs*dt^2*hom*(sht^2 + q4))/(Lq*q1) - (Rs*cht*dt*sht)/(Ld*q1) - (Rs*cht*dt*sht)/(Ld*q2) + (Rs*cht*dt*sht)/(Lq*q1) + (Rs*cht*dt*sht)/(Lq*q2) + (Rs^2*(cht^3 + 3*cht*q5)*dt^2*sht)/(Ld^2*q1) + (Rs^2*cht*dt^2*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (Rs^2*cht*dt^2*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Rs^2*(cht^3 + 3*cht*q5)*dt^2*sht)/(Lq^2*q2) + (Lq*(cht^2 + q5)*dt*hom)/(Ld*q1) - (Ld*(cht^2 + q5)*dt*hom)/(Lq*q2) + (Ld*dt*hom*(sht^2 + q4))/(Lq*q1) - (Lq*dt*hom*(sht^2 + q4))/(Ld*q2) - (cht*dt^2*kpp^2*psi^2*sht)/(J^2*q3) + (Rs^2*cht*dt^2*(sht^3 + 3*sht*q4))/(Ld*Lq*q1) - (Rs^2*(cht^3 + 3*cht*q5)*dt^2*sht)/(Ld*Lq*q1) - (Rs^2*cht*dt^2*(sht^3 + 3*sht*q4))/(Ld*Lq*q2) + (Rs^2*(cht^3 + 3*cht*q5)*dt^2*sht)/(Ld*Lq*q2) - (Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hom^2 + q3)*sht)/(Ld^2*q1) + (Ld^2*cht*dt^2*(hom^2 + q3)*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Lq^2*cht*dt^2*(hom^2 + q3)*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hom^2 + q3)*sht)/(Lq^2*q2) - (Lq*Rs*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hom)/(Ld^2*q1) + (Ld*Rs*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hom)/(Lq^2*q2) - (Ld*Rs*dt^2*hom*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Lq^2*q1) + (Lq*Rs*dt^2*hom*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Ld^2*q2) - (Ld*cht*dt^2*(hom^2 + q3)*sht)/(Lq*q1) + (Lq*cht*dt^2*(hom^2 + q3)*sht)/(Ld*q1) - (Ld*cht*dt^2*(hom^2 + q3)*sht)/(Lq*q2) + (Lq*cht*dt^2*(hom^2 + q3)*sht)/(Ld*q2) - (2*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Ld*q1) + (2*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Ld*q2) - (2*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Lq*q1) + (2*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Lq*q2) + (2*Ld^2*cht*dt^2*(hia^2 + q1)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (2*Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*kpp^2*sht)/(J^2*q3) - (2*Ld^2*cht*dt^2*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) + (2*Lq^2*cht*dt^2*(hia^2 + q1)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (2*Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*kpp^2*sht)/(J^2*q3) - (2*Lq^2*cht*dt^2*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) + (Ld*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Lq^2*q1) + (Lq*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Ld^2*q1) - (Ld*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Lq^2*q2) - (Lq*Rs*(cht^2 + q5)*dt^2*hom*(sht^2 + q4))/(Ld^2*q2) + (Ld*(cht^3 + 3*cht*q5)*dt^2*hib*kpp^2*psi)/(J^2*q3) - (Lq*(cht^3 + 3*cht*q5)*dt^2*hib*kpp^2*psi)/(J^2*q3) + (Ld*dt^2*hia*kpp^2*psi*(sht^3 + 3*sht*q4))/(J^2*q3) - (Lq*dt^2*hia*kpp^2*psi*(sht^3 + 3*sht*q4))/(J^2*q3) + (Ld^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hia*hib*kpp^2)/(J^2*q3) + (Lq^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hia*hib*kpp^2)/(J^2*q3) + (Ld^2*dt^2*hia*hib*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) + (Lq^2*dt^2*hia*hib*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) - (4*Ld*Lq*cht*dt^2*(hia^2 + q1)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (4*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*kpp^2*sht)/(J^2*q3) + (4*Ld*Lq*cht*dt^2*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (4*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) - (6*Ld^2*(cht^2 + q5)*dt^2*hia*hib*kpp^2*(sht^2 + q4))/(J^2*q3) - (6*Lq^2*(cht^2 + q5)*dt^2*hia*hib*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*Lq*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hia*hib*kpp^2)/(J^2*q3) - (2*Ld*Lq*dt^2*hia*hib*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) - (3*Ld*(cht^2 + q5)*dt^2*hia*kpp^2*psi*sht)/(J^2*q3) - (3*Ld*cht*dt^2*hib*kpp^2*psi*(sht^2 + q4))/(J^2*q3) + (3*Lq*(cht^2 + q5)*dt^2*hia*kpp^2*psi*sht)/(J^2*q3) + (3*Lq*cht*dt^2*hib*kpp^2*psi*(sht^2 + q4))/(J^2*q3) + (12*Ld*Lq*(cht^2 + q5)*dt^2*hia*hib*kpp^2*(sht^2 + q4))/(J^2*q3); |
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| 544 | D11(1,3) = (dt^2*hia*hom)/q2 - (dt*hib)/q1 + (dt*psi*sht)/(Lq*q1) - (cht*dt^2*hib*hom*(sht^3 + 3*sht*q4))/q1 + ((cht^3 + 3*cht*q5)*dt^2*hib*hom*sht)/q1 + (cht*dt^2*hib*hom*(sht^3 + 3*sht*q4))/q2 - ((cht^3 + 3*cht*q5)*dt^2*hib*hom*sht)/q2 + (Rs*(cht^2 + q5)*dt^2*hib)/(Ld*q1) + (Rs*dt^2*hib*(sht^2 + q4))/(Lq*q1) - (Rs*dt^2*psi*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (2*(cht^2 + q5)*dt^2*hia*hom*(sht^2 + q4))/q1 + (2*(cht^2 + q5)*dt^2*hia*hom*(sht^2 + q4))/q2 - (dt*kpp*psi*sht)/(J*q3) + (Lq*(cht^2 + q5)*dt*hib)/(Ld*q1) + (Ld*dt*hib*(sht^2 + q4))/(Lq*q1) - (cht*dt^2*hom*psi)/(Lq*q2) + (Ld*(cht^2 + q5)*dt*hib*kpp)/(J*q3) - (Lq*(cht^2 + q5)*dt*hib*kpp)/(J*q3) - (Ld*dt*hib*kpp*(sht^2 + q4))/(J*q3) + (Lq*dt*hib*kpp*(sht^2 + q4))/(J*q3) - (Rs*cht*dt^2*hia*sht)/(Ld*q2) + (Rs*cht*dt^2*hia*sht)/(Lq*q2) - (Lq*Rs*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hib)/(Ld^2*q1) - (Ld*Rs*dt^2*hib*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Lq^2*q1) - (2*Ld*(cht^2 + q5)*dt^2*hia*hom)/(Lq*q2) + (Ld*(cht^3 + 3*cht*q5)*dt^2*hom*psi)/(Lq^2*q2) + (Rs*cht*dt^2*hia*(sht^3 + 3*sht*q4))/(Ld*q1) - (Rs*cht*dt^2*hia*(sht^3 + 3*sht*q4))/(Ld*q2) - (Rs*(cht^3 + 3*cht*q5)*dt^2*hia*sht)/(Lq*q1) + (Rs*(cht^3 + 3*cht*q5)*dt^2*hia*sht)/(Lq*q2) - (2*Lq*dt^2*hia*hom*(sht^2 + q4))/(Ld*q2) - (Rs*(cht^2 + q5)*dt^2*psi*sht)/(Lq^2*q2) - (cht*dt^2*hom*psi*(sht^2 + q4))/(Ld*q1) + (cht*dt^2*hom*psi*(sht^2 + q4))/(Ld*q2) + (Ld*cht*dt*hia*sht)/(Lq*q1) - (Lq*cht*dt*hia*sht)/(Ld*q1) + (Ld^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hia*hom)/(Lq^2*q2) - (Rs*(cht^2 + q5)*dt^2*hib*(sht^2 + q4))/(Ld*q1) + (Rs*(cht^2 + q5)*dt^2*hib*(sht^2 + q4))/(Ld*q2) - (Rs*(cht^2 + q5)*dt^2*hib*(sht^2 + q4))/(Lq*q1) + (Rs*(cht^2 + q5)*dt^2*hib*(sht^2 + q4))/(Lq*q2) + (Lq^2*dt^2*hia*hom*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Ld^2*q2) + (Ld*cht*dt^2*hom*psi*(sht^2 + q4))/(Lq^2*q1) - (2*Ld*cht*dt*hia*kpp*sht)/(J*q3) + (2*Lq*cht*dt*hia*kpp*sht)/(J*q3) - (Ld*Rs*(cht^2 + q5)*dt^2*hib*(sht^2 + q4))/(Lq^2*q2) - (Lq*Rs*(cht^2 + q5)*dt^2*hib*(sht^2 + q4))/(Ld^2*q2) - (Rs*(cht^2 + q5)*dt^2*psi*sht)/(Ld*Lq*q1) + (Rs*(cht^2 + q5)*dt^2*psi*sht)/(Ld*Lq*q2) - (Lq^2*(cht^3 + 3*cht*q5)*dt^2*hib*hom*sht)/(Ld^2*q1) + (Ld^2*cht*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Lq^2*cht*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (Ld^2*(cht^3 + 3*cht*q5)*dt^2*hib*hom*sht)/(Lq^2*q2) - (Ld*cht*dt^2*hib*hom*sht)/(Lq*q1) + (Lq*cht*dt^2*hib*hom*sht)/(Ld*q1) - (Ld*cht*dt^2*hib*hom*sht)/(Lq*q2) + (Lq*cht*dt^2*hib*hom*sht)/(Ld*q2) + (Lq^2*(cht^2 + q5)*dt^2*hia*hom*(sht^2 + q4))/(Ld^2*q1) + (Ld^2*(cht^2 + q5)*dt^2*hia*hom*(sht^2 + q4))/(Lq^2*q1) - (Ld*Rs*cht*dt^2*hia*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*sht)/(Ld^2*q1) - (Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*sht)/(Lq^2*q2) + (Lq*Rs*cht*dt^2*hia*(sht^3 + 3*sht*q4))/(Ld^2*q2); |
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| 545 | D11(1,4) = (dt*hom*psi)/(Lq*q1) - ((cht^3 + 3*cht*q5)*dt^2*hib*(hom^2 + q3))/q2 - (Rs*cht*dt*hib)/(Ld*q1) + (Rs*cht*dt*hib)/(Lq*q1) - (2*(cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/q1 - (2*cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/q1 + (2*(cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/q2 + (cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/q2 - (2*Rs*dt*hia*sht)/(Lq*q1) + (Rs^2*(cht^3 + 3*cht*q5)*dt^2*hib)/(Ld^2*q1) + (2*Rs^2*dt^2*hia*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (dt^2*hia*kpp^2*psi^2*sht)/(J^2*q3) - (Rs^2*(cht^3 + 3*cht*q5)*dt^2*hib)/(Ld*Lq*q1) - (Rs*cht*dt^2*hia*hom)/(Ld*q2) + (Rs*cht*dt^2*hia*hom)/(Lq*q2) - (2*Rs*dt^2*hib*hom*sht)/(Ld*q2) + (Ld^2*(cht^3 + 3*cht*q5)*dt^2*hib*(hom^2 + q3))/(Lq^2*q2) + (2*Lq^2*dt^2*hia*(hom^2 + q3)*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (Ld*cht*dt^2*hib*(hom^2 + q3))/(Lq*q2) + (Lq*cht*dt^2*hib*(hom^2 + q3))/(Ld*q2) - (Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hom)/(Lq*q1) + (Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hom)/(Lq*q2) - (2*Lq*dt^2*hia*(hom^2 + q3)*sht)/(Ld*q2) + (Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2)/(J^2*q3) + (Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2)/(J^2*q3) - (Rs*dt^2*hom*psi*(sht^2 + q4))/(Lq^2*q1) - (cht*dt^2*(hom^2 + q3)*psi*sht)/(Ld*q1) + (Ld*cht*dt*hia*hom)/(Lq*q1) - (Lq*cht*dt*hia*hom)/(Ld*q1) + (2*Ld*dt*hib*hom*sht)/(Lq*q1) + (Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Ld^2*q2) + (2*Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Ld^2*q2) - (Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Lq^2*q1) + (Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Lq^2*q2) + (3*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Ld*q1) - (Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Ld*q1) - (3*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Ld*q2) + (Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Ld*q2) - (3*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Lq*q1) + (3*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Lq*q2) + (Ld*cht*dt^2*(hom^2 + q3)*psi*sht)/(Lq^2*q1) - (Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*hib*kpp^2)/(J^2*q3) - (Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*hib*kpp^2)/(J^2*q3) + (2*Ld^2*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2*sht)/(J^2*q3) - (Ld^2*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Lq^2*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2*sht)/(J^2*q3) - (Lq^2*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Ld^2*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Lq^2*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (Rs*(cht^2 + q5)*dt^2*hom*psi)/(Ld*Lq*q1) - (2*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2)/(J^2*q3) + (2*Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Ld*Lq*q1) + (Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Ld*Lq*q1) - (2*Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Ld*Lq*q2) - (2*Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Ld*Lq*q2) + (Lq^2*(cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/(Ld^2*q1) + (Ld^2*(cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/(Lq^2*q1) + (2*Ld^2*cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q1) - (Lq^2*cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q2) + (Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hom)/(Ld^2*q1) - (Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hom)/(Lq^2*q2) - (2*Ld*Rs*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (2*Lq*Rs*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (4*Ld*Lq*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2*sht)/(J^2*q3) + (2*Ld*Lq*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Ld*Lq*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (3*Ld*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Lq^2*q1) + (Ld*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Lq^2*q1) + (Lq*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Ld^2*q1) + (3*Lq*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Ld^2*q2) - (Ld*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Lq^2*q2) - (Lq*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Ld^2*q2) + (5*Ld^2*cht*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Ld^2*(cht^2 + q5)*dt^2*hia*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) + (5*Lq^2*cht*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Lq^2*(cht^2 + q5)*dt^2*hia*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) - (Ld*(cht^2 + q5)*dt^2*hia*hib*kpp^2*psi)/(J^2*q3) + (Lq*(cht^2 + q5)*dt^2*hia*hib*kpp^2*psi)/(J^2*q3) + (3*Ld*cht*dt^2*(hia^2 + q1)*kpp^2*psi*sht)/(J^2*q3) - (Ld*cht*dt^2*(hib^2 + q2)*kpp^2*psi*sht)/(J^2*q3) - (3*Lq*cht*dt^2*(hia^2 + q1)*kpp^2*psi*sht)/(J^2*q3) + (Lq*cht*dt^2*(hib^2 + q2)*kpp^2*psi*sht)/(J^2*q3) + (3*Ld*dt^2*hia*hib*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (3*Lq*dt^2*hia*hib*kpp^2*psi*(sht^2 + q4))/(J^2*q3) + (2*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*hib*kpp^2)/(J^2*q3) - (10*Ld*Lq*cht*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) + (8*Ld*Lq*(cht^2 + q5)*dt^2*hia*(hib^2 + q2)*kpp^2*sht)/(J^2*q3); |
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| 546 | D11(1,5) = (dt^2*hib*(hom^2 + q3)*(sht^3 + 3*sht*q4))/q2 - (dt^2*(hom^2 + q3)*psi)/(Lq*q2) - (2*Rs*cht*dt*hia)/(Ld*q1) - (2*cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/q1 + (2*(cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/q1 + (2*cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/q2 - ((cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/q2 - (Rs*dt*hib*sht)/(Ld*q1) + (Rs*dt*hib*sht)/(Lq*q1) + (2*Rs^2*(cht^3 + 3*cht*q5)*dt^2*hia)/(Ld^2*q1) - (Rs^2*dt^2*hib*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (dt^2*(hom^2 + q3)*psi*(sht^2 + q4))/(Ld*q2) - (dt^2*hib*kpp^2*psi^2*sht)/(J^2*q3) - (2*Rs*cht*dt^2*hib*hom)/(Lq*q2) + (Rs^2*dt^2*hib*(sht^3 + 3*sht*q4))/(Ld*Lq*q1) - (Rs*dt^2*hia*hom*sht)/(Ld*q2) + (Rs*dt^2*hia*hom*sht)/(Lq*q2) + (2*Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*(hom^2 + q3))/(Lq^2*q2) - (Lq^2*dt^2*hib*(hom^2 + q3)*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (2*Ld*cht*dt^2*hia*(hom^2 + q3))/(Lq*q2) - (Ld*dt^2*hib*(hom^2 + q3)*sht)/(Lq*q2) + (Lq*dt^2*hib*(hom^2 + q3)*sht)/(Ld*q2) + (Rs*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Ld*q1) - (Rs*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Ld*q2) - (Ld^2*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (Lq^2*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Lq*cht*dt*hib*hom)/(Ld*q1) + (Ld*dt*hia*hom*sht)/(Lq*q1) - (Lq*dt*hia*hom*sht)/(Ld*q1) + (Ld*(cht^2 + q5)*dt^2*(hom^2 + q3)*psi)/(Lq^2*q2) + (Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Ld^2*q1) + (Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Ld^2*q2) + (Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Lq^2*q2) - (2*Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Lq^2*q2) - (3*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Ld*q1) + (3*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Ld*q2) - (3*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Lq*q1) - (Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Lq*q1) + (3*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Lq*q2) + (Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Lq*q2) + (2*Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*(hib^2 + q2)*kpp^2)/(J^2*q3) + (2*Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*(hib^2 + q2)*kpp^2)/(J^2*q3) + (2*Ld^2*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^2 + q4))/(J^2*q3) + (Ld^2*(cht^2 + q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) + (2*Lq^2*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^2 + q4))/(J^2*q3) + (Lq^2*(cht^2 + q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) + (Ld^2*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (Lq^2*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Ld*Lq*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Ld*Lq*q1) - (Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Ld*Lq*q1) - (2*Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Ld*Lq*q2) + (2*Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Ld*Lq*q2) - (Rs*cht*dt^2*hom*psi*sht)/(Lq^2*q2) + (Ld*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) - (Lq*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) + (Lq^2*cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q1) + (Ld^2*cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q1) - (2*Lq^2*(cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/(Ld^2*q1) + (Ld^2*(cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/(Lq^2*q2) + (Ld*dt^2*(hia^2 + q1)*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (2*Ld*dt^2*(hib^2 + q2)*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (Lq*dt^2*(hia^2 + q1)*kpp^2*psi*(sht^2 + q4))/(J^2*q3) + (2*Lq*dt^2*(hib^2 + q2)*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (2*Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hib*hom)/(Ld^2*q1) + (2*Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hib*hom)/(Lq^2*q2) - (Ld*Rs*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (Lq*Rs*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (4*Ld*Lq*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*Lq*(cht^2 + q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) - (2*Ld*Lq*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (3*Lq*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Ld^2*q1) + (Ld*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Lq^2*q1) + (Lq*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Ld^2*q1) - (3*Ld*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Lq^2*q2) - (Ld*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Lq^2*q2) - (Lq*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Ld^2*q2) + (Rs*cht*dt^2*hom*psi*sht)/(Ld*Lq*q2) - (4*Ld^2*cht*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (5*Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hib*kpp^2*sht)/(J^2*q3) - (4*Lq^2*cht*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (5*Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hib*kpp^2*sht)/(J^2*q3) - (4*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*hia*(hib^2 + q2)*kpp^2)/(J^2*q3) + (8*Ld*Lq*cht*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (10*Ld*Lq*(cht^2 + q5)*dt^2*(hia^2 + q1)*hib*kpp^2*sht)/(J^2*q3) - (4*Ld*cht*dt^2*hia*hib*kpp^2*psi*sht)/(J^2*q3) + (4*Lq*cht*dt^2*hia*hib*kpp^2*psi*sht)/(J^2*q3); |
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| 547 | |
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| 548 | D11(2,1) = D11(1,2); |
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| 549 | D11(2,2) = 1/q2 + (dt^2*(hom^2 + q3))/q1 + (Rs^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2)/(Lq^2*q2) + (Rs^2*dt^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Ld^2*q2) - (2*Rs*(cht^2 + q5)*dt)/(Lq*q2) + (2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/q1 - (2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/q2 - (2*Rs*dt*(sht^2 + q4))/(Ld*q2) - (2*Lq*(cht^2 + q5)*dt^2*(hom^2 + q3))/(Ld*q1) - (2*Ld*dt^2*(hom^2 + q3)*(sht^2 + q4))/(Lq*q1) + (Lq^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hom^2 + q3))/(Ld^2*q1) + (Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Ld^2*q1) + (Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Lq^2*q1) + (Ld^2*dt^2*(hom^2 + q3)*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Lq^2*q1) + ((cht^2 + q5)*dt^2*kpp^2*psi^2)/(J^2*q3) + (2*Rs*cht*dt^2*hom*sht)/(Ld*q1) - (2*Rs*cht*dt^2*hom*sht)/(Lq*q1) - (2*Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Ld*Lq*q1) + (2*Rs^2*(cht^2 + q5)*dt^2*(sht^2 + q4))/(Ld*Lq*q2) + (2*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Ld*q1) - (2*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Ld*q2) - (2*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Lq*q1) + (2*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Lq*q2) + (Ld^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hia^2 + q1)*kpp^2)/(J^2*q3) + (Lq^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hia^2 + q1)*kpp^2)/(J^2*q3) + (Ld^2*dt^2*(hia^2 + q1)*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) + (Lq^2*dt^2*(hia^2 + q1)*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) + (Lq^2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q2) + (Ld^2*(cht^2 + q5)*dt^2*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q2) - (2*Ld*cht*dt*hom*sht)/(Lq*q2) + (2*Lq*cht*dt*hom*sht)/(Ld*q2) + (2*Ld*(cht^3 + 3*cht*q5)*dt^2*hia*kpp^2*psi)/(J^2*q3) - (2*Lq*(cht^3 + 3*cht*q5)*dt^2*hia*kpp^2*psi)/(J^2*q3) - (2*Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Ld^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Lq^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*Lq*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hia^2 + q1)*kpp^2)/(J^2*q3) - (2*Ld*Lq*dt^2*(hia^2 + q1)*kpp^2*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(J^2*q3) + (2*Ld*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (2*Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Ld^2*q1) + (2*Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hom*sht)/(Lq^2*q2) - (2*Lq*Rs*cht*dt^2*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (4*Ld^2*cht*dt^2*hia*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (4*Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*kpp^2*sht)/(J^2*q3) - (4*Lq^2*cht*dt^2*hia*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (4*Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*kpp^2*sht)/(J^2*q3) + (4*Ld*Lq*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*(sht^2 + q4))/(J^2*q3) - (8*Ld*Lq*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*cht*dt^2*hia*kpp^2*psi*(sht^2 + q4))/(J^2*q3) + (4*Ld*(cht^2 + q5)*dt^2*hib*kpp^2*psi*sht)/(J^2*q3) + (2*Lq*cht*dt^2*hia*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (4*Lq*(cht^2 + q5)*dt^2*hib*kpp^2*psi*sht)/(J^2*q3) + (8*Ld*Lq*cht*dt^2*hia*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (8*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*hia*hib*kpp^2*sht)/(J^2*q3); |
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| 550 | D11(2,3) = (dt*hia)/q2 + (dt^2*hib*hom)/q1 - (cht*dt*psi)/(Lq*q2) - (cht*dt^2*hia*hom*(sht^3 + 3*sht*q4))/q1 + ((cht^3 + 3*cht*q5)*dt^2*hia*hom*sht)/q1 + (cht*dt^2*hia*hom*(sht^3 + 3*sht*q4))/q2 - ((cht^3 + 3*cht*q5)*dt^2*hia*hom*sht)/q2 - (Rs*(cht^2 + q5)*dt^2*hia)/(Lq*q2) + (Rs*(cht^3 + 3*cht*q5)*dt^2*psi)/(Lq^2*q2) - (Rs*dt^2*hia*(sht^2 + q4))/(Ld*q2) + (2*(cht^2 + q5)*dt^2*hib*hom*(sht^2 + q4))/q1 - (2*(cht^2 + q5)*dt^2*hib*hom*(sht^2 + q4))/q2 + (cht*dt*kpp*psi)/(J*q3) - (Ld*(cht^2 + q5)*dt*hia)/(Lq*q2) - (Lq*dt*hia*(sht^2 + q4))/(Ld*q2) - (dt^2*hom*psi*sht)/(Lq*q1) + (Ld*(cht^2 + q5)*dt*hia*kpp)/(J*q3) - (Lq*(cht^2 + q5)*dt*hia*kpp)/(J*q3) - (Ld*dt*hia*kpp*(sht^2 + q4))/(J*q3) + (Lq*dt*hia*kpp*(sht^2 + q4))/(J*q3) + (Rs*cht*dt^2*hib*sht)/(Ld*q1) - (Rs*cht*dt^2*hib*sht)/(Lq*q1) + (Ld*Rs*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hia)/(Lq^2*q2) + (Lq*Rs*dt^2*hia*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Ld^2*q2) - (2*Lq*(cht^2 + q5)*dt^2*hib*hom)/(Ld*q1) + (Rs*(cht^3 + 3*cht*q5)*dt^2*hib*sht)/(Ld*q1) - (Rs*(cht^3 + 3*cht*q5)*dt^2*hib*sht)/(Ld*q2) - (Rs*cht*dt^2*hib*(sht^3 + 3*sht*q4))/(Lq*q1) + (Rs*cht*dt^2*hib*(sht^3 + 3*sht*q4))/(Lq*q2) - (2*Ld*dt^2*hib*hom*(sht^2 + q4))/(Lq*q1) + (Rs*cht*dt^2*psi*(sht^2 + q4))/(Lq^2*q1) + (Ld*dt^2*hom*psi*(sht^3 + 3*sht*q4))/(Lq^2*q1) + ((cht^2 + q5)*dt^2*hom*psi*sht)/(Ld*q1) - ((cht^2 + q5)*dt^2*hom*psi*sht)/(Ld*q2) - (Ld*cht*dt*hib*sht)/(Lq*q2) + (Lq*cht*dt*hib*sht)/(Ld*q2) + (Lq^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*hib*hom)/(Ld^2*q1) - (Rs*(cht^2 + q5)*dt^2*hia*(sht^2 + q4))/(Ld*q1) + (Rs*(cht^2 + q5)*dt^2*hia*(sht^2 + q4))/(Ld*q2) - (Rs*(cht^2 + q5)*dt^2*hia*(sht^2 + q4))/(Lq*q1) + (Rs*(cht^2 + q5)*dt^2*hia*(sht^2 + q4))/(Lq*q2) + (Ld^2*dt^2*hib*hom*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Lq^2*q1) + (Ld*(cht^2 + q5)*dt^2*hom*psi*sht)/(Lq^2*q2) + (2*Ld*cht*dt*hib*kpp*sht)/(J*q3) - (2*Lq*cht*dt*hib*kpp*sht)/(J*q3) + (Ld*Rs*(cht^2 + q5)*dt^2*hia*(sht^2 + q4))/(Lq^2*q1) + (Lq*Rs*(cht^2 + q5)*dt^2*hia*(sht^2 + q4))/(Ld^2*q1) - (Rs*cht*dt^2*psi*(sht^2 + q4))/(Ld*Lq*q1) + (Rs*cht*dt^2*psi*(sht^2 + q4))/(Ld*Lq*q2) - (Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*hom*sht)/(Ld^2*q1) + (Ld^2*cht*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Lq^2*cht*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*hom*sht)/(Lq^2*q2) - (Ld*cht*dt^2*hia*hom*sht)/(Lq*q1) + (Lq*cht*dt^2*hia*hom*sht)/(Ld*q1) - (Ld*cht*dt^2*hia*hom*sht)/(Lq*q2) + (Lq*cht*dt^2*hia*hom*sht)/(Ld*q2) + (Lq^2*(cht^2 + q5)*dt^2*hib*hom*(sht^2 + q4))/(Ld^2*q2) + (Ld^2*(cht^2 + q5)*dt^2*hib*hom*(sht^2 + q4))/(Lq^2*q2) + (Ld*Rs*cht*dt^2*hib*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hib*sht)/(Ld^2*q1) + (Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hib*sht)/(Lq^2*q2) - (Lq*Rs*cht*dt^2*hib*(sht^3 + 3*sht*q4))/(Ld^2*q2); |
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| 551 | D11(2,4) = ((cht^3 + 3*cht*q5)*dt^2*hia*(hom^2 + q3))/q1 - (dt^2*(hom^2 + q3)*psi)/(Lq*q1) - (Rs*cht*dt*hia)/(Ld*q2) + (Rs*cht*dt*hia)/(Lq*q2) - (cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/q1 + (2*(cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/q1 + (2*cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/q2 - (2*(cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/q2 - (2*Rs*dt*hib*sht)/(Ld*q2) - (Rs^2*(cht^3 + 3*cht*q5)*dt^2*hia)/(Lq^2*q2) + (2*Rs^2*dt^2*hib*(sht^3 + 3*sht*q4))/(Ld^2*q2) + ((cht^2 + q5)*dt^2*(hom^2 + q3)*psi)/(Ld*q1) - (cht*dt^2*hia*kpp^2*psi^2)/(J^2*q3) + (Rs^2*(cht^3 + 3*cht*q5)*dt^2*hia)/(Ld*Lq*q2) + (Rs*cht*dt^2*hib*hom)/(Ld*q1) - (Rs*cht*dt^2*hib*hom)/(Lq*q1) + (2*Rs*dt^2*hia*hom*sht)/(Lq*q1) - (Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*(hom^2 + q3))/(Ld^2*q1) + (2*Ld^2*dt^2*hib*(hom^2 + q3)*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Ld*cht*dt^2*hia*(hom^2 + q3))/(Lq*q1) + (Lq*cht*dt^2*hia*(hom^2 + q3))/(Ld*q1) + (Rs*(cht^3 + 3*cht*q5)*dt^2*hib*hom)/(Ld*q1) - (Rs*(cht^3 + 3*cht*q5)*dt^2*hib*hom)/(Ld*q2) - (2*Ld*dt^2*hib*(hom^2 + q3)*sht)/(Lq*q1) - (Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2)/(J^2*q3) - (Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2)/(J^2*q3) - (Ld*cht*dt*hib*hom)/(Lq*q2) + (Lq*cht*dt*hib*hom)/(Ld*q2) - (2*Lq*dt*hia*hom*sht)/(Ld*q2) + (Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Ld^2*q1) + (Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Ld^2*q2) - (2*Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Lq^2*q1) + (Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Lq^2*q1) + (Ld*dt^2*(hom^2 + q3)*psi*(sht^2 + q4))/(Lq^2*q1) - (3*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Ld*q1) + (3*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Ld*q2) - (Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Lq*q1) - (3*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Lq*q1) + (Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Lq*q2) + (3*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Lq*q2) + (Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*(hib^2 + q2)*kpp^2)/(J^2*q3) + (Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*(hib^2 + q2)*kpp^2)/(J^2*q3) + (Ld^2*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Ld^2*(cht^2 + q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) + (Lq^2*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Lq^2*(cht^2 + q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) + (2*Ld^2*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Lq^2*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (2*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2)/(J^2*q3) + (2*Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Ld*Lq*q1) - (2*Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Ld*Lq*q1) - (Rs^2*cht*dt^2*hia*(sht^2 + q4))/(Ld*Lq*q2) + (2*Rs^2*(cht^2 + q5)*dt^2*hib*sht)/(Ld*Lq*q2) + (Rs*cht*dt^2*hom*psi*sht)/(Lq^2*q1) - (2*Ld*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*psi)/(J^2*q3) + (Ld*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) + (2*Lq*(cht^2 + q5)*dt^2*(hia^2 + q1)*kpp^2*psi)/(J^2*q3) - (Lq*(cht^2 + q5)*dt^2*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) + (Ld^2*cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q1) - (2*Lq^2*cht*dt^2*hia*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q2) + (Lq^2*(cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/(Ld^2*q2) + (Ld^2*(cht^2 + q5)*dt^2*hib*(hom^2 + q3)*sht)/(Lq^2*q2) + (Ld*dt^2*(hia^2 + q1)*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (Lq*dt^2*(hia^2 + q1)*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hib*hom)/(Ld^2*q1) + (Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hib*hom)/(Lq^2*q2) - (2*Ld*Rs*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (2*Lq*Rs*dt^2*hia*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (2*Ld*Lq*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Ld*Lq*(cht^2 + q5)*dt^2*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) - (4*Ld*Lq*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (Ld*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Lq^2*q1) + (Lq*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Ld^2*q1) + (3*Ld*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Lq^2*q1) - (Ld*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Lq^2*q2) - (Lq*Rs*(cht^2 + q5)*dt^2*hia*hom*sht)/(Ld^2*q2) - (3*Lq*Rs*cht*dt^2*hib*hom*(sht^2 + q4))/(Ld^2*q2) - (Rs*cht*dt^2*hom*psi*sht)/(Ld*Lq*q1) - (5*Ld^2*cht*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hib*kpp^2*sht)/(J^2*q3) - (5*Lq^2*cht*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hib*kpp^2*sht)/(J^2*q3) - (2*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*hia*(hib^2 + q2)*kpp^2)/(J^2*q3) + (10*Ld*Lq*cht*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (8*Ld*Lq*(cht^2 + q5)*dt^2*(hia^2 + q1)*hib*kpp^2*sht)/(J^2*q3) - (4*Ld*cht*dt^2*hia*hib*kpp^2*psi*sht)/(J^2*q3) + (4*Lq*cht*dt^2*hia*hib*kpp^2*psi*sht)/(J^2*q3); |
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| 552 | D11(2,5) = ((cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/q1 - (dt^2*hia*(hom^2 + q3)*(sht^3 + 3*sht*q4))/q1 - (2*Rs*cht*dt*hib)/(Lq*q2) - (dt*hom*psi)/(Lq*q2) + (2*cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/q1 - (2*(cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/q2 - (2*cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/q2 - (Rs*dt*hia*sht)/(Ld*q2) + (Rs*dt*hia*sht)/(Lq*q2) + (2*Rs^2*(cht^3 + 3*cht*q5)*dt^2*hib)/(Lq^2*q2) + (Rs^2*dt^2*hia*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (cht*dt^2*hib*kpp^2*psi^2)/(J^2*q3) + (2*Rs*cht*dt^2*hia*hom)/(Ld*q1) - (Rs^2*dt^2*hia*(sht^3 + 3*sht*q4))/(Ld*Lq*q2) + (Rs*dt^2*hib*hom*sht)/(Ld*q1) - (Rs*dt^2*hib*hom*sht)/(Lq*q1) + (2*Lq^2*(cht^3 + 3*cht*q5)*dt^2*hib*(hom^2 + q3))/(Ld^2*q1) + (Ld^2*dt^2*hia*(hom^2 + q3)*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (2*Lq*cht*dt^2*hib*(hom^2 + q3))/(Ld*q1) + (Rs*(cht^2 + q5)*dt^2*hom*psi)/(Lq^2*q2) - (Ld*dt^2*hia*(hom^2 + q3)*sht)/(Lq*q1) + (Lq*dt^2*hia*(hom^2 + q3)*sht)/(Ld*q1) - (Rs*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Lq*q1) + (Rs*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Lq*q2) + (Ld^2*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (Lq^2*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (cht*dt^2*(hom^2 + q3)*psi*sht)/(Ld*q2) - (2*Ld*cht*dt*hia*hom)/(Lq*q2) - (Ld*dt*hib*hom*sht)/(Lq*q2) + (Lq*dt*hib*hom*sht)/(Ld*q2) + (2*Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Ld^2*q1) + (Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Ld^2*q1) + (Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Lq^2*q1) - (Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Lq^2*q2) - (Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Ld*q1) + (3*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Ld*q1) + (Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Ld*q2) - (3*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Ld*q2) - (3*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Lq*q1) + (3*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Lq*q2) + (Ld*cht*dt^2*(hom^2 + q3)*psi*sht)/(Lq^2*q2) + (2*Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*hib*kpp^2)/(J^2*q3) + (2*Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*hib*kpp^2)/(J^2*q3) - (Ld^2*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2*sht)/(J^2*q3) + (2*Ld^2*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (Lq^2*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2*sht)/(J^2*q3) + (2*Lq^2*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (Ld^2*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (Lq^2*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (Rs*dt^2*hom*psi*(sht^2 + q4))/(Ld*Lq*q2) - (2*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) - (2*Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Ld*Lq*q1) - (2*Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Ld*Lq*q1) + (Rs^2*(cht^2 + q5)*dt^2*hia*sht)/(Ld*Lq*q2) + (2*Rs^2*cht*dt^2*hib*(sht^2 + q4))/(Ld*Lq*q2) - (Lq^2*(cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/(Ld^2*q1) + (2*Ld^2*(cht^2 + q5)*dt^2*hia*(hom^2 + q3)*sht)/(Lq^2*q2) + (Lq^2*cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q2) + (Ld^2*cht*dt^2*hib*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q2) - (2*Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hom)/(Ld^2*q1) + (2*Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hom)/(Lq^2*q2) + (Ld*Rs*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Lq*Rs*dt^2*hib*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (2*Ld*Lq*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*kpp^2*sht)/(J^2*q3) - (4*Ld*Lq*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Ld*Lq*dt^2*hia*(hib^2 + q2)*kpp^2*(sht^3 + 3*sht*q4))/(J^2*q3) + (Ld*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Lq^2*q1) + (Lq*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Ld^2*q1) - (3*Lq*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Ld^2*q1) - (Ld*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Lq^2*q2) - (Lq*Rs*cht*dt^2*hia*hom*(sht^2 + q4))/(Ld^2*q2) + (3*Ld*Rs*(cht^2 + q5)*dt^2*hib*hom*sht)/(Lq^2*q2) - (4*Ld^2*cht*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) + (5*Ld^2*(cht^2 + q5)*dt^2*hia*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) - (4*Lq^2*cht*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) + (5*Lq^2*(cht^2 + q5)*dt^2*hia*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) + (3*Ld*(cht^2 + q5)*dt^2*hia*hib*kpp^2*psi)/(J^2*q3) - (3*Lq*(cht^2 + q5)*dt^2*hia*hib*kpp^2*psi)/(J^2*q3) - (Ld*cht*dt^2*(hia^2 + q1)*kpp^2*psi*sht)/(J^2*q3) + (3*Ld*cht*dt^2*(hib^2 + q2)*kpp^2*psi*sht)/(J^2*q3) + (Lq*cht*dt^2*(hia^2 + q1)*kpp^2*psi*sht)/(J^2*q3) - (3*Lq*cht*dt^2*(hib^2 + q2)*kpp^2*psi*sht)/(J^2*q3) - (Ld*dt^2*hia*hib*kpp^2*psi*(sht^2 + q4))/(J^2*q3) + (Lq*dt^2*hia*hib*kpp^2*psi*(sht^2 + q4))/(J^2*q3) - (4*Ld*Lq*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*hib*kpp^2)/(J^2*q3) + (8*Ld*Lq*cht*dt^2*(hia^2 + q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) - (10*Ld*Lq*(cht^2 + q5)*dt^2*hia*(hib^2 + q2)*kpp^2*sht)/(J^2*q3); |
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| 553 | |
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| 554 | D11(3,1) = D11(1,3); |
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| 555 | D11(3,2) = D11(2,3); |
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| 556 | D11(3,3) = 1/q3 + ((cht^2 + q5)*dt^2)/q4 + (dt^2*(hib^2 + q2))/q1 + (dt^2*(hia^2 + q1))/q2 + (dt^2*(sht^2 + q4))/q5 + ((cht^2 + q5)*dt^2*psi^2)/(Lq^2*q2) + (dt^2*psi^2*(sht^2 + q4))/(Lq^2*q1) - (2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(sht^2 + q4))/q1 + (2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(sht^2 + q4))/q1 + (2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(sht^2 + q4))/q2 - (2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(sht^2 + q4))/q2 - (2*Lq*(cht^2 + q5)*dt^2*(hib^2 + q2))/(Ld*q1) - (2*Ld*(cht^2 + q5)*dt^2*(hia^2 + q1))/(Lq*q2) - (2*Ld*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Lq*q1) - (2*Lq*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Ld*q2) + (Lq^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hib^2 + q2))/(Ld^2*q1) + (Ld^2*(cht^4 + 6*cht^2*q5 + 3*q5^2)*dt^2*(hia^2 + q1))/(Lq^2*q2) - (2*cht*dt^2*hia*psi)/(Lq*q2) + (Ld^2*dt^2*(hib^2 + q2)*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Lq^2*q1) + (Lq^2*dt^2*(hia^2 + q1)*(sht^4 + 6*sht^2*q4 + 3*q4^2))/(Ld^2*q2) - (2*dt^2*hib*psi*sht)/(Lq*q1) - (2*cht*dt^2*hia*hib*(sht^3 + 3*sht*q4))/q1 + (2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*sht)/q1 + (2*cht*dt^2*hia*hib*(sht^3 + 3*sht*q4))/q2 - (2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*sht)/q2 + (2*Ld*(cht^3 + 3*cht*q5)*dt^2*hia*psi)/(Lq^2*q2) + (2*Ld*dt^2*hib*psi*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Ld^2*q1) + (Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Lq^2*q1) + (Lq^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Ld^2*q2) + (Ld^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Lq^2*q2) - (2*cht*dt^2*hia*psi*(sht^2 + q4))/(Ld*q1) + (2*(cht^2 + q5)*dt^2*hib*psi*sht)/(Ld*q1) + (2*cht*dt^2*hia*psi*(sht^2 + q4))/(Ld*q2) - (2*(cht^2 + q5)*dt^2*hib*psi*sht)/(Ld*q2) - (2*Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*sht)/(Ld^2*q1) + (2*Ld^2*cht*dt^2*hia*hib*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (2*Lq^2*cht*dt^2*hia*hib*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (2*Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*sht)/(Lq^2*q2) - (2*Ld*cht*dt^2*hia*hib*sht)/(Lq*q1) + (2*Lq*cht*dt^2*hia*hib*sht)/(Ld*q1) - (2*Ld*cht*dt^2*hia*hib*sht)/(Lq*q2) + (2*Lq*cht*dt^2*hia*hib*sht)/(Ld*q2) + (2*Ld*cht*dt^2*hia*psi*(sht^2 + q4))/(Lq^2*q1) + (2*Ld*(cht^2 + q5)*dt^2*hib*psi*sht)/(Lq^2*q2); |
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| 557 | D11(3,4) = (cht*dt)/q4 + (dt^2*hom*sht)/q5 + (Rs*cht*dt^2*(hib^2 + q2))/(Ld*q1) - (Rs*cht*dt^2*(hia^2 + q1))/(Ld*q2) - (Rs*cht*dt^2*(hib^2 + q2))/(Lq*q1) + (Rs*cht*dt^2*(hia^2 + q1))/(Lq*q2) + (dt^2*hom*psi^2*sht)/(Lq^2*q1) - (2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom*sht)/q1 + (2*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom*sht)/q1 + (2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom*sht)/q2 - (2*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom*sht)/q2 + (Rs*(cht^3 + 3*cht*q5)*dt^2*(hib^2 + q2))/(Ld*q1) + (Rs*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1))/(Lq*q2) - (dt*hia*kpp*psi)/(J*q3) - (dt^2*hib*hom*psi)/(Lq*q1) + ((cht^3 + 3*cht*q5)*dt^2*hia*hib*hom)/q1 - ((cht^3 + 3*cht*q5)*dt^2*hia*hib*hom)/q2 - (Ld*cht*dt*(hia^2 + q1)*kpp)/(J*q3) + (Ld*cht*dt*(hib^2 + q2)*kpp)/(J*q3) + (Lq*cht*dt*(hia^2 + q1)*kpp)/(J*q3) - (Lq*cht*dt*(hib^2 + q2)*kpp)/(J*q3) - (2*Rs*dt^2*hia*hib*sht)/(Ld*q2) + (2*Rs*dt^2*hia*hib*sht)/(Lq*q1) + (2*Ld^2*dt^2*(hib^2 + q2)*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (2*Lq^2*dt^2*(hia^2 + q1)*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (3*cht*dt^2*hia*hib*hom*(sht^2 + q4))/q1 + (3*cht*dt^2*hia*hib*hom*(sht^2 + q4))/q2 - (Rs*(cht^2 + q5)*dt^2*hia*psi)/(Lq^2*q2) - (2*Ld*dt^2*(hib^2 + q2)*hom*sht)/(Lq*q1) - (2*Lq*dt^2*(hia^2 + q1)*hom*sht)/(Ld*q2) - (2*Rs*dt^2*hia*psi*(sht^2 + q4))/(Lq^2*q1) + ((cht^2 + q5)*dt^2*hib*hom*psi)/(Ld*q1) - ((cht^2 + q5)*dt^2*hib*hom*psi)/(Ld*q2) - (Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*(hib^2 + q2))/(Ld^2*q1) - (Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1))/(Lq^2*q2) + (2*Rs*cht*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Ld*q1) - (Rs*cht*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Ld*q2) - (Rs*cht*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Lq*q1) + (2*Rs*cht*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Lq*q2) + (3*Ld*dt^2*hib*hom*psi*(sht^2 + q4))/(Lq^2*q1) + (Rs*(cht^2 + q5)*dt^2*hia*psi)/(Ld*Lq*q2) - (2*Ld*dt*hia*hib*kpp*sht)/(J*q3) + (2*Lq*dt*hia*hib*kpp*sht)/(J*q3) - (2*Ld*Rs*cht*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Lq^2*q1) + (Ld*Rs*cht*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Lq^2*q1) + (Lq*Rs*cht*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Ld^2*q2) - (2*Lq*Rs*cht*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Ld^2*q2) - (Lq^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*hom)/(Ld^2*q1) + (Ld^2*(cht^3 + 3*cht*q5)*dt^2*hia*hib*hom)/(Lq^2*q2) - (Ld*cht*dt^2*hia*hib*hom)/(Lq*q1) + (Lq*cht*dt^2*hia*hib*hom)/(Ld*q1) - (Ld*cht*dt^2*hia*hib*hom)/(Lq*q2) + (Lq*cht*dt^2*hia*hib*hom)/(Ld*q2) + (Rs*cht*dt^2*hib*psi*sht)/(Lq^2*q1) + (Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom*sht)/(Ld^2*q1) + (Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom*sht)/(Lq^2*q1) + (Lq^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom*sht)/(Ld^2*q2) + (Ld^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom*sht)/(Lq^2*q2) - (2*cht*dt^2*hia*hom*psi*sht)/(Ld*q1) + (2*cht*dt^2*hia*hom*psi*sht)/(Ld*q2) - (2*Ld*Rs*dt^2*hia*hib*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (2*Lq*Rs*dt^2*hia*hib*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (Ld*(cht^2 + q5)*dt^2*hib*hom*psi)/(Lq^2*q2) - (3*Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Ld*q1) + (Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Ld*q2) - (Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Lq*q1) + (3*Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Lq*q2) + (2*Ld*cht*dt^2*hia*hom*psi*sht)/(Lq^2*q1) + (Ld*Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Lq^2*q1) + (Lq*Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Ld^2*q1) - (Ld*Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Lq^2*q2) - (Lq*Rs*(cht^2 + q5)*dt^2*hia*hib*sht)/(Ld^2*q2) - (Rs*cht*dt^2*hib*psi*sht)/(Ld*Lq*q1) + (2*Rs*cht*dt^2*hib*psi*sht)/(Ld*Lq*q2) + (3*Ld^2*cht*dt^2*hia*hib*hom*(sht^2 + q4))/(Lq^2*q1) - (3*Lq^2*cht*dt^2*hia*hib*hom*(sht^2 + q4))/(Ld^2*q2); |
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| 558 | D11(3,5) = (cht*dt^2*hom)/q4 - (dt*sht)/q5 - (dt^2*hia*hib*hom*(sht^3 + 3*sht*q4))/q1 + (dt^2*hia*hib*hom*(sht^3 + 3*sht*q4))/q2 + (Rs*dt^2*(hib^2 + q2)*sht)/(Ld*q1) - (Rs*dt^2*(hia^2 + q1)*sht)/(Ld*q2) - (Rs*dt^2*(hib^2 + q2)*sht)/(Lq*q1) + (Rs*dt^2*(hia^2 + q1)*sht)/(Lq*q2) + (cht*dt^2*hom*psi^2)/(Lq^2*q2) - (2*cht*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/q1 + (2*cht*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/q1 + (2*cht*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/q2 - (2*cht*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/q2 + (dt*hib*kpp*psi)/(J*q3) - (Rs*dt^2*(hia^2 + q1)*(sht^3 + 3*sht*q4))/(Ld*q2) - (Rs*dt^2*(hib^2 + q2)*(sht^3 + 3*sht*q4))/(Lq*q1) - (dt^2*hia*hom*psi)/(Lq*q2) + (2*Rs*cht*dt^2*hia*hib)/(Ld*q1) - (2*Rs*cht*dt^2*hia*hib)/(Lq*q2) - (Ld*dt*(hia^2 + q1)*kpp*sht)/(J*q3) + (Ld*dt*(hib^2 + q2)*kpp*sht)/(J*q3) + (Lq*dt*(hia^2 + q1)*kpp*sht)/(J*q3) - (Lq*dt*(hib^2 + q2)*kpp*sht)/(J*q3) + (2*Lq^2*(cht^3 + 3*cht*q5)*dt^2*(hib^2 + q2)*hom)/(Ld^2*q1) + (2*Ld^2*(cht^3 + 3*cht*q5)*dt^2*(hia^2 + q1)*hom)/(Lq^2*q2) + (3*(cht^2 + q5)*dt^2*hia*hib*hom*sht)/q1 - (3*(cht^2 + q5)*dt^2*hia*hib*hom*sht)/q2 - (2*Lq*cht*dt^2*(hib^2 + q2)*hom)/(Ld*q1) - (2*Ld*cht*dt^2*(hia^2 + q1)*hom)/(Lq*q2) + (2*Rs*(cht^2 + q5)*dt^2*hib*psi)/(Lq^2*q2) + (Rs*dt^2*hib*psi*(sht^2 + q4))/(Lq^2*q1) - (dt^2*hia*hom*psi*(sht^2 + q4))/(Ld*q1) + (dt^2*hia*hom*psi*(sht^2 + q4))/(Ld*q2) + (Ld*Rs*dt^2*(hib^2 + q2)*(sht^3 + 3*sht*q4))/(Lq^2*q1) + (Lq*Rs*dt^2*(hia^2 + q1)*(sht^3 + 3*sht*q4))/(Ld^2*q2) + (Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*sht)/(Ld*q1) - (2*Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*sht)/(Ld*q2) - (2*Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*sht)/(Lq*q1) + (Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*sht)/(Lq*q2) + (Ld*dt^2*hia*hom*psi*(sht^2 + q4))/(Lq^2*q1) + (2*Ld*cht*dt*hia*hib*kpp)/(J*q3) - (2*Lq*cht*dt*hia*hib*kpp)/(J*q3) + (2*Lq*Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*sht)/(Ld^2*q1) - (Lq*Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*sht)/(Ld^2*q1) - (Ld*Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*sht)/(Lq^2*q2) + (2*Ld*Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*sht)/(Lq^2*q2) - (Rs*dt^2*hib*psi*(sht^2 + q4))/(Ld*Lq*q1) + (Ld^2*dt^2*hia*hib*hom*(sht^3 + 3*sht*q4))/(Lq^2*q1) - (Lq^2*dt^2*hia*hib*hom*(sht^3 + 3*sht*q4))/(Ld^2*q2) - (Ld*dt^2*hia*hib*hom*sht)/(Lq*q1) + (Lq*dt^2*hia*hib*hom*sht)/(Ld*q1) - (Ld*dt^2*hia*hib*hom*sht)/(Lq*q2) + (Lq*dt^2*hia*hib*hom*sht)/(Ld*q2) - (Rs*cht*dt^2*hia*psi*sht)/(Lq^2*q2) + (Lq^2*cht*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/(Ld^2*q1) + (Ld^2*cht*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/(Lq^2*q1) + (Lq^2*cht*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/(Ld^2*q2) + (Ld^2*cht*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/(Lq^2*q2) + (2*cht*dt^2*hib*hom*psi*sht)/(Ld*q1) - (2*cht*dt^2*hib*hom*psi*sht)/(Ld*q2) - (2*Lq*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hib)/(Ld^2*q1) + (2*Ld*Rs*(cht^3 + 3*cht*q5)*dt^2*hia*hib)/(Lq^2*q2) + (3*Ld*(cht^2 + q5)*dt^2*hia*hom*psi)/(Lq^2*q2) - (Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Ld*q1) + (3*Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Ld*q2) - (3*Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Lq*q1) + (Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Lq*q2) + (2*Ld*cht*dt^2*hib*hom*psi*sht)/(Lq^2*q2) + (Ld*Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Lq^2*q1) + (Lq*Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Ld^2*q1) - (Ld*Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Lq^2*q2) - (Lq*Rs*cht*dt^2*hia*hib*(sht^2 + q4))/(Ld^2*q2) - (2*Rs*cht*dt^2*hia*psi*sht)/(Ld*Lq*q1) + (Rs*cht*dt^2*hia*psi*sht)/(Ld*Lq*q2) - (3*Lq^2*(cht^2 + q5)*dt^2*hia*hib*hom*sht)/(Ld^2*q1) + (3*Ld^2*(cht^2 + q5)*dt^2*hia*hib*hom*sht)/(Lq^2*q2); |
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| 559 | |
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| 560 | D11(4,1) = D11(1,4); |
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| 561 | D11(4,2) = D11(2,4); |
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| 562 | D11(4,3) = D11(3,4); |
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| 563 | D11(4,4) = 1/q4 + (dt^2*(hom^2 + q3))/q5 + (dt^2*(hom^2 + q3)*psi^2)/(Lq^2*q1) - (2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hom^2 + q3))/q1 - (2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(hom^2 + q3))/q2 + (dt^2*(hia^2 + q1)*kpp^2*psi^2)/(J^2*q3) + (Rs^2*(cht^2 + q5)*dt^2*(hib^2 + q2))/(Ld^2*q1) + (Rs^2*(cht^2 + q5)*dt^2*(hia^2 + q1))/(Ld^2*q2) + (Rs^2*(cht^2 + q5)*dt^2*(hib^2 + q2))/(Lq^2*q1) + (Rs^2*(cht^2 + q5)*dt^2*(hia^2 + q1))/(Lq^2*q2) + (4*Rs^2*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Ld^2*q2) + (4*Rs^2*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Lq^2*q1) - (4*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/q1 + (4*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/q2 - (2*Rs^2*(cht^2 + q5)*dt^2*(hib^2 + q2))/(Ld*Lq*q1) - (2*Rs^2*(cht^2 + q5)*dt^2*(hia^2 + q1))/(Ld*Lq*q2) + (Ld^2*(cht^2 + q5)*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2)/(J^2*q3) + (Ld^2*(cht^2 + q5)*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2)/(J^2*q3) + (Lq^2*(cht^2 + q5)*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2)/(J^2*q3) + (Lq^2*(cht^2 + q5)*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2)/(J^2*q3) + (Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hom^2 + q3))/(Ld^2*q1) + (Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hom^2 + q3))/(Lq^2*q1) + (Lq^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(hom^2 + q3))/(Ld^2*q2) + (Ld^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(hom^2 + q3))/(Lq^2*q2) - (2*cht*dt^2*hia*(hom^2 + q3)*psi)/(Ld*q1) + (4*Ld^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q1) + (4*Lq^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q2) + (4*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Ld*q1) - (4*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Ld*q2) - (4*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Lq*q1) + (4*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Lq*q2) + (4*Ld*dt^2*hib*(hom^2 + q3)*psi*sht)/(Lq^2*q1) + (2*Ld*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*psi)/(J^2*q3) - (2*Lq*cht*dt^2*(hia^3 + 3*hia*q1)*kpp^2*psi)/(J^2*q3) - (2*Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2)/(J^2*q3) - (2*Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2)/(J^2*q3) + (4*Ld^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Lq^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*Lq*(cht^2 + q5)*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2)/(J^2*q3) - (2*Ld*Lq*(cht^2 + q5)*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2)/(J^2*q3) + (2*Rs*cht*dt^2*hib*hom*psi)/(Lq^2*q1) - (4*Rs*dt^2*hia*hom*psi*sht)/(Lq^2*q1) - (2*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Ld*q1) + (2*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Ld*q2) - (2*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Lq*q1) + (2*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Lq*q2) + (2*Ld*cht*dt^2*hia*(hom^2 + q3)*psi)/(Lq^2*q1) + (4*Rs^2*cht*dt^2*hia*hib*sht)/(Ld^2*q2) - (4*Rs^2*cht*dt^2*hia*hib*sht)/(Lq^2*q1) - (4*Ld^2*cht*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) + (4*Ld^2*cht*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*sht)/(J^2*q3) - (4*Lq^2*cht*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) + (4*Lq^2*cht*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*sht)/(J^2*q3) + (2*Ld*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Lq^2*q1) + (2*Lq*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Ld^2*q1) - (2*Ld*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Lq^2*q2) - (2*Lq*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Ld^2*q2) - (2*Rs*cht*dt^2*hib*hom*psi)/(Ld*Lq*q1) - (4*Ld*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Lq^2*q1) + (4*Ld*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Lq^2*q1) + (4*Lq*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Ld^2*q2) - (4*Lq*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Ld^2*q2) - (8*Ld*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Lq^2*q1) + (8*Lq*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Ld^2*q2) + (4*Ld*Lq*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2)/(J^2*q3) - (8*Ld*Lq*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Rs^2*cht*dt^2*hia*hib*sht)/(Ld*Lq*q1) - (4*Rs^2*cht*dt^2*hia*hib*sht)/(Ld*Lq*q2) - (2*Ld*cht*dt^2*hia*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) + (2*Lq*cht*dt^2*hia*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) + (4*Ld^2*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/(Lq^2*q1) - (4*Lq^2*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/(Ld^2*q2) + (4*Ld*dt^2*(hia^2 + q1)*hib*kpp^2*psi*sht)/(J^2*q3) - (4*Lq*dt^2*(hia^2 + q1)*hib*kpp^2*psi*sht)/(J^2*q3) + (8*Ld*Lq*cht*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) - (8*Ld*Lq*cht*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*sht)/(J^2*q3); |
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| 564 | D11(4,5) = (dt*hom)/q4 - (dt*hom)/q5 + (2*(cht^2 + q5)*dt^2*hia*hib*(hom^2 + q3))/q1 - (2*(cht^2 + q5)*dt^2*hia*hib*(hom^2 + q3))/q2 - (2*cht*dt^2*(hia^2 + q1)*(hom^2 + q3)*sht)/q1 + (4*cht*dt^2*(hib^2 + q2)*(hom^2 + q3)*sht)/q1 + (4*cht*dt^2*(hia^2 + q1)*(hom^2 + q3)*sht)/q2 - (2*cht*dt^2*(hib^2 + q2)*(hom^2 + q3)*sht)/q2 - (2*dt^2*hia*hib*(hom^2 + q3)*(sht^2 + q4))/q1 + (2*dt^2*hia*hib*(hom^2 + q3)*(sht^2 + q4))/q2 - (dt^2*hia*hib*kpp^2*psi^2)/(J^2*q3) + (2*cht*dt^2*hib*(hom^2 + q3)*psi)/(Ld*q1) - (cht*dt^2*hib*(hom^2 + q3)*psi)/(Ld*q2) - (dt^2*hia*(hom^2 + q3)*psi*sht)/(Ld*q1) + (2*dt^2*hia*(hom^2 + q3)*psi*sht)/(Ld*q2) + (2*Rs^2*(cht^2 + q5)*dt^2*hia*hib)/(Ld^2*q1) - (2*Rs^2*(cht^2 + q5)*dt^2*hia*hib)/(Lq^2*q2) + (2*Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom)/(Ld*q1) - (2*Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom)/(Ld*q2) - (2*Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom)/(Lq*q1) + (2*Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom)/(Lq*q2) + (Rs^2*cht*dt^2*(hib^2 + q2)*sht)/(Ld^2*q1) + (Rs^2*cht*dt^2*(hia^2 + q1)*sht)/(Ld^2*q2) + (Rs^2*cht*dt^2*(hib^2 + q2)*sht)/(Lq^2*q1) + (Rs^2*cht*dt^2*(hia^2 + q1)*sht)/(Lq^2*q2) + (2*Rs^2*dt^2*hia*hib*(sht^2 + q4))/(Ld^2*q2) - (2*Rs^2*dt^2*hia*hib*(sht^2 + q4))/(Lq^2*q1) + (2*Rs*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/(Ld*q1) - (2*Rs*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/(Ld*q2) - (2*Rs*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/(Lq*q1) + (2*Rs*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/(Lq*q2) + (Ld*dt^2*hia*(hom^2 + q3)*psi*sht)/(Lq^2*q1) + (2*Ld^2*(cht^2 + q5)*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2)/(J^2*q3) - (2*Ld^2*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2)/(J^2*q3) + (2*Lq^2*(cht^2 + q5)*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2)/(J^2*q3) - (2*Lq^2*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2)/(J^2*q3) - (2*Ld^2*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Ld^2*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Lq^2*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Lq^2*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) + (2*Lq*Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom)/(Ld^2*q1) - (2*Lq*Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom)/(Ld^2*q1) - (2*Ld*Rs*(cht^2 + q5)*dt^2*(hia^2 + q1)*hom)/(Lq^2*q2) + (2*Ld*Rs*(cht^2 + q5)*dt^2*(hib^2 + q2)*hom)/(Lq^2*q2) - (2*Ld*Rs*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/(Lq^2*q1) + (2*Ld*Rs*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/(Lq^2*q1) + (2*Lq*Rs*dt^2*(hia^2 + q1)*hom*(sht^2 + q4))/(Ld^2*q2) - (2*Lq*Rs*dt^2*(hib^2 + q2)*hom*(sht^2 + q4))/(Ld^2*q2) + (Ld*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*psi)/(J^2*q3) - (Lq*cht*dt^2*(hib^3 + 3*hib*q2)*kpp^2*psi)/(J^2*q3) + (Ld*dt^2*(hia^3 + 3*hia*q1)*kpp^2*psi*sht)/(J^2*q3) - (Lq*dt^2*(hia^3 + 3*hia*q1)*kpp^2*psi*sht)/(J^2*q3) - (2*Rs^2*(cht^2 + q5)*dt^2*hia*hib)/(Ld*Lq*q1) + (2*Rs^2*(cht^2 + q5)*dt^2*hia*hib)/(Ld*Lq*q2) + (4*Rs^2*cht*dt^2*(hia^2 + q1)*sht)/(Ld*Lq*q1) - (2*Rs^2*cht*dt^2*(hib^2 + q2)*sht)/(Ld*Lq*q1) - (2*Rs^2*cht*dt^2*(hia^2 + q1)*sht)/(Ld*Lq*q2) + (4*Rs^2*cht*dt^2*(hib^2 + q2)*sht)/(Ld*Lq*q2) - (Rs*cht*dt^2*hia*hom*psi)/(Lq^2*q2) + (2*Rs^2*dt^2*hia*hib*(sht^2 + q4))/(Ld*Lq*q1) - (2*Rs^2*dt^2*hia*hib*(sht^2 + q4))/(Ld*Lq*q2) + (Rs*dt^2*hib*hom*psi*sht)/(Lq^2*q1) - (2*Lq^2*(cht^2 + q5)*dt^2*hia*hib*(hom^2 + q3))/(Ld^2*q1) + (2*Ld^2*(cht^2 + q5)*dt^2*hia*hib*(hom^2 + q3))/(Lq^2*q2) + (Ld^2*cht*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2*sht)/(J^2*q3) + (Ld^2*cht*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2*sht)/(J^2*q3) + (Lq^2*cht*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2*sht)/(J^2*q3) + (Lq^2*cht*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2*sht)/(J^2*q3) + (Lq^2*cht*dt^2*(hia^2 + q1)*(hom^2 + q3)*sht)/(Ld^2*q1) + (Ld^2*cht*dt^2*(hia^2 + q1)*(hom^2 + q3)*sht)/(Lq^2*q1) + (Lq^2*cht*dt^2*(hib^2 + q2)*(hom^2 + q3)*sht)/(Ld^2*q2) + (Ld^2*cht*dt^2*(hib^2 + q2)*(hom^2 + q3)*sht)/(Lq^2*q2) + (2*Ld^2*dt^2*hia*hib*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q1) - (2*Lq^2*dt^2*hia*hib*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q2) + (Ld*cht*dt^2*hib*(hom^2 + q3)*psi)/(Lq^2*q2) + (4*Ld*Lq*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Ld*Lq*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*(sht^2 + q4))/(J^2*q3) - (6*Rs*cht*dt^2*hia*hib*hom*sht)/(Ld*q1) + (6*Rs*cht*dt^2*hia*hib*hom*sht)/(Ld*q2) - (6*Rs*cht*dt^2*hia*hib*hom*sht)/(Lq*q1) + (6*Rs*cht*dt^2*hia*hib*hom*sht)/(Lq*q2) - (2*Rs*cht*dt^2*hia*hom*psi)/(Ld*Lq*q1) + (Rs*cht*dt^2*hia*hom*psi)/(Ld*Lq*q2) - (Rs*dt^2*hib*hom*psi*sht)/(Ld*Lq*q1) + (2*Rs*dt^2*hib*hom*psi*sht)/(Ld*Lq*q2) - (6*Ld^2*cht*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) - (6*Lq^2*cht*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*sht)/(J^2*q3) - (2*Ld*Lq*cht*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2*sht)/(J^2*q3) - (2*Ld*Lq*cht*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2*sht)/(J^2*q3) - (3*Ld*cht*dt^2*(hia^2 + q1)*hib*kpp^2*psi)/(J^2*q3) + (3*Lq*cht*dt^2*(hia^2 + q1)*hib*kpp^2*psi)/(J^2*q3) - (3*Ld*dt^2*hia*(hib^2 + q2)*kpp^2*psi*sht)/(J^2*q3) + (3*Lq*dt^2*hia*(hib^2 + q2)*kpp^2*psi*sht)/(J^2*q3) - (4*Ld*Lq*(cht^2 + q5)*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2)/(J^2*q3) + (4*Ld*Lq*(cht^2 + q5)*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2)/(J^2*q3) + (2*Ld*Rs*cht*dt^2*hia*hib*hom*sht)/(Lq^2*q1) + (2*Lq*Rs*cht*dt^2*hia*hib*hom*sht)/(Ld^2*q1) - (2*Ld*Rs*cht*dt^2*hia*hib*hom*sht)/(Lq^2*q2) - (2*Lq*Rs*cht*dt^2*hia*hib*hom*sht)/(Ld^2*q2) + (12*Ld*Lq*cht*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*sht)/(J^2*q3); |
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| 565 | |
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| 566 | D11(5,1) = D11(1,5); |
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| 567 | D11(5,2) = D11(2,5); |
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| 568 | D11(5,3) = D11(3,5); |
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| 569 | D11(5,4) = D11(4,5); |
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| 570 | D11(5,5) = 1/q5 + (dt^2*(hom^2 + q3))/q4 + (dt^2*(hom^2 + q3)*psi^2)/(Lq^2*q2) - (2*dt^2*(hia^2 + q1)*(hom^2 + q3)*(sht^2 + q4))/q1 - (2*dt^2*(hib^2 + q2)*(hom^2 + q3)*(sht^2 + q4))/q2 + (dt^2*(hib^2 + q2)*kpp^2*psi^2)/(J^2*q3) + (4*Rs^2*(cht^2 + q5)*dt^2*(hia^2 + q1))/(Ld^2*q1) + (4*Rs^2*(cht^2 + q5)*dt^2*(hib^2 + q2))/(Lq^2*q2) + (Rs^2*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Ld^2*q1) + (Rs^2*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Ld^2*q2) + (Rs^2*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Lq^2*q1) + (Rs^2*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Lq^2*q2) + (4*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/q1 - (4*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/q2 - (2*Rs^2*dt^2*(hib^2 + q2)*(sht^2 + q4))/(Ld*Lq*q1) - (2*Rs^2*dt^2*(hia^2 + q1)*(sht^2 + q4))/(Ld*Lq*q2) + (4*Lq^2*(cht^2 + q5)*dt^2*(hib^2 + q2)*(hom^2 + q3))/(Ld^2*q1) + (4*Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hom^2 + q3))/(Lq^2*q2) + (Ld^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (Ld^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (Lq^2*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (Lq^2*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (Lq^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q1) + (Ld^2*dt^2*(hia^2 + q1)*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q1) + (Lq^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*(sht^2 + q4))/(Ld^2*q2) + (Ld^2*dt^2*(hib^2 + q2)*(hom^2 + q3)*(sht^2 + q4))/(Lq^2*q2) - (2*dt^2*hib*(hom^2 + q3)*psi*sht)/(Ld*q2) + (4*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Ld*q1) - (4*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Ld*q2) - (4*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Lq*q1) + (4*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Lq*q2) - (2*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Ld*q1) + (2*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Ld*q2) - (2*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Lq*q1) + (2*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Lq*q2) + (2*Ld*dt^2*hib*(hom^2 + q3)*psi*sht)/(Lq^2*q2) + (2*Ld*dt^2*(hib^3 + 3*hib*q2)*kpp^2*psi*sht)/(J^2*q3) - (2*Lq*dt^2*(hib^3 + 3*hib*q2)*kpp^2*psi*sht)/(J^2*q3) + (4*Ld^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2)/(J^2*q3) + (4*Lq^2*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2)/(J^2*q3) - (2*Ld^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Lq^2*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*Lq*dt^2*(hia^4 + 6*hia^2*q1 + 3*q1^2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (2*Ld*Lq*dt^2*(hib^4 + 6*hib^2*q2 + 3*q2^2)*kpp^2*(sht^2 + q4))/(J^2*q3) + (4*Rs*cht*dt^2*hib*hom*psi)/(Lq^2*q2) - (2*Rs*dt^2*hia*hom*psi*sht)/(Lq^2*q2) + (4*Ld*cht*dt^2*hia*(hom^2 + q3)*psi)/(Lq^2*q2) + (4*Rs^2*cht*dt^2*hia*hib*sht)/(Ld^2*q1) - (4*Rs^2*cht*dt^2*hia*hib*sht)/(Lq^2*q2) + (4*Ld^2*cht*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) - (4*Ld^2*cht*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*sht)/(J^2*q3) + (4*Lq^2*cht*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) - (4*Lq^2*cht*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*sht)/(J^2*q3) - (8*Lq*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Ld^2*q1) + (8*Ld*Rs*(cht^2 + q5)*dt^2*hia*hib*hom)/(Lq^2*q2) + (4*Lq*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Ld^2*q1) - (4*Lq*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Ld^2*q1) - (4*Ld*Rs*cht*dt^2*(hia^2 + q1)*hom*sht)/(Lq^2*q2) + (4*Ld*Rs*cht*dt^2*(hib^2 + q2)*hom*sht)/(Lq^2*q2) + (2*Ld*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Lq^2*q1) + (2*Lq*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Ld^2*q1) - (2*Ld*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Lq^2*q2) - (2*Lq*Rs*dt^2*hia*hib*hom*(sht^2 + q4))/(Ld^2*q2) - (8*Ld*Lq*(cht^2 + q5)*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2)/(J^2*q3) + (2*Rs*dt^2*hia*hom*psi*sht)/(Ld*Lq*q2) + (4*Ld*Lq*dt^2*(hia^2 + q1)*(hib^2 + q2)*kpp^2*(sht^2 + q4))/(J^2*q3) - (4*Rs^2*cht*dt^2*hia*hib*sht)/(Ld*Lq*q1) + (4*Rs^2*cht*dt^2*hia*hib*sht)/(Ld*Lq*q2) + (4*Ld*cht*dt^2*hia*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) - (4*Lq*cht*dt^2*hia*(hib^2 + q2)*kpp^2*psi)/(J^2*q3) - (4*Lq^2*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/(Ld^2*q1) + (4*Ld^2*cht*dt^2*hia*hib*(hom^2 + q3)*sht)/(Lq^2*q2) - (2*Ld*dt^2*(hia^2 + q1)*hib*kpp^2*psi*sht)/(J^2*q3) + (2*Lq*dt^2*(hia^2 + q1)*hib*kpp^2*psi*sht)/(J^2*q3) - (8*Ld*Lq*cht*dt^2*hia*(hib^3 + 3*hib*q2)*kpp^2*sht)/(J^2*q3) + (8*Ld*Lq*cht*dt^2*(hia^3 + 3*hia*q1)*hib*kpp^2*sht)/(J^2*q3); |
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| 571 | |
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| 572 | D12 = -A92'*iQ5; |
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| 573 | D21 = D12'; |
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| 574 | D22 = iQ5 + C5'*iR*C5; |
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| 575 | |
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| 576 | Jj12 = D22 - D21/(Jj12 + D11)*D12; |
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| 577 | tmp = inv(Jj12); |
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| 578 | iJn12(1,t) = tmp(3,3); |
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| 579 | iJn12(2,t) = tmp(4,4); |
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| 580 | iJn12(3,t) = tmp(5,5); |
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| 581 | end |
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| 582 | |
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| 583 | %control & simulation |
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| 584 | if(control == 1) %ome = ref_ome, the = integral(ome), ial=ibe=0 |
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| 585 | x_sys(1, t+1) = 0; |
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| 586 | x_sys(2, t+1) = 0; |
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| 587 | x_sys(3, t+1) = ref_ome(t); |
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| 588 | x_sys(4, t+1) = the + dt*ome; |
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| 589 | else |
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| 590 | if(control == 6) %rnd. err. ref_ome |
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| 591 | ref_ome(t) = ref_ome(t) + amp*randn(); |
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| 592 | end |
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| 593 | |
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| 594 | %PI (only PI for control == 2) |
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| 595 | sum_iq = sum_iq + ref_ome(t) - ome; |
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| 596 | ref_iq = kon_pi*(ref_ome(t) - ome) + kon_ii*sum_iq; |
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| 597 | sum_ud = sum_ud - id; |
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| 598 | u_dq(1, t) = kon_pu*(-id) + kon_iu*sum_ud; |
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| 599 | sum_uq = sum_uq + ref_iq - iq; |
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| 600 | u_dq(2, t) = kon_pu*(ref_iq - iq) + kon_iu*sum_uq; |
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| 601 | u_dq(1, t) = u_dq(1, t) - Ls*ome*ref_iq; |
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| 602 | u_dq(2, t) = u_dq(2, t) + psipm*ome; |
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| 603 | |
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| 604 | if(control == 3) %inj. sin -> dq |
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| 605 | u_dq(1,t) = u_dq(1,t) + amp*sin(injom*dt*t); |
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| 606 | u_dq(2,t) = u_dq(2,t) + amp*cos(injom*dt*t); |
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| 607 | elseif(control == 4) %inj. rect. -> dq |
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| 608 | u_dq(1,t) = u_dq(1,t) + amp*sign(sin(injom*dt*t)); |
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| 609 | u_dq(2,t) = u_dq(2,t) + amp*sign(cos(injom*dt*t)); |
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| 610 | elseif(control == 5) %inj. const. -> d |
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| 611 | % u_dq(1,t) = 0.1*Ld/dt - (1.0*Ld/dt - Rs)*id - Lq*ome*iq; |
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| 612 | u_dq(1,t) = amp; |
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| 613 | elseif(control == 9) %bic. sign. ome |
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| 614 | u_dq(1,t) = u_dq(1,t) - amp*sign(ome); |
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| 615 | u_dq(2,t) = u_dq(2,t) + amp*sign(ome); |
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| 616 | end |
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| 617 | |
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| 618 | ual = u_dq(1,t)*cos(the) - u_dq(2,t)*sin(the); |
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| 619 | ube = u_dq(1,t)*sin(the) + u_dq(2,t)*cos(the); |
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| 620 | |
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| 621 | if(control == 7) %inj. sin -> al-be |
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| 622 | ual = ual + amp*cos(injom*dt*t); |
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| 623 | ube = ube + amp*sin(injom*dt*t); |
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| 624 | elseif(control == 8) %inj. rect. -> al-be |
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| 625 | ual = ual + amp*sign(cos(injom*dt*t)); |
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| 626 | ube = ube + amp*sign(sin(injom*dt*t)); |
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| 627 | elseif((control == 10)&&(rand() > (1/5))) %bic rnd. 5 |
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| 628 | duab = sign(rand(2,1)-0.5)*amp; |
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| 629 | ual = ual + duab(1); |
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| 630 | ube = ube + duab(2); |
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| 631 | end |
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| 632 | |
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| 633 | ud = ual*cos(the) + ube*sin(the); |
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| 634 | uq = ube*cos(the) - ual*sin(the); |
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| 635 | |
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| 636 | %simulation model Ldq |
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| 637 | idpl = (1.0 - Rs*dt/Ld)*id + Lq*dt/Ld*ome*iq + dt/Ld*ud; |
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| 638 | iqpl = (1.0 - Rs*dt/Lq)*iq - psipm*dt/Lq*ome - Ld*dt/Lq*ome*id + dt/Lq*uq; |
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| 639 | |
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| 640 | x_sys(1, t+1) = idpl*cos(the) - iqpl*sin(the); |
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| 641 | x_sys(2, t+1) = idpl*sin(the) + iqpl*cos(the); |
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| 642 | x_sys(3, t+1) = (1.0-B*dt/J)*ome + kp*pp*pp*dt/J*((Ld-Lq)*id*iq + psipm*iq); |
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| 643 | x_sys(4, t+1) = the + dt*ome; |
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| 644 | end |
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| 645 | |
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| 646 | end |
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| 647 | |
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| 648 | ssz = sum(model); |
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| 649 | var_ome = zeros(T,ssz); |
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| 650 | var_th = zeros(T,ssz); |
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| 651 | var_th2 = zeros(T,ssz); |
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| 652 | ind = 1; |
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| 653 | if(model(1) == 1) |
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| 654 | var_ome(:,ind) = iJn1(1,:); |
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| 655 | var_th(:,ind) = iJn1(2,:); |
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| 656 | ind = ind+1; |
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| 657 | end |
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| 658 | if(model(2) == 1) |
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| 659 | var_ome(:,ind) = iJn2(1,:); |
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| 660 | var_th(:,ind) = iJn2(2,:); |
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| 661 | ind = ind+1; |
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| 662 | end |
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| 663 | if(model(3) == 1) |
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| 664 | var_ome(:,ind) = iJn3(1,:); |
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| 665 | var_th(:,ind) = iJn3(2,:); |
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| 666 | var_th2(:,ind) = iJn3(3,:); |
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| 667 | ind = ind+1; |
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| 668 | end |
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| 669 | if(model(4) == 1) |
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| 670 | var_ome(:,ind) = iJn4(1,:); |
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| 671 | var_th(:,ind) = iJn4(2,:); |
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| 672 | ind = ind+1; |
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| 673 | end |
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| 674 | if(model(5) == 1) |
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| 675 | var_ome(:,ind) = iJn5(1,:); |
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| 676 | var_th(:,ind) = iJn5(2,:); |
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| 677 | ind = ind+1; |
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| 678 | end |
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| 679 | if(model(6) == 1) |
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| 680 | var_ome(:,ind) = iJn6(1,:); |
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| 681 | var_th(:,ind) = iJn6(2,:); |
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| 682 | var_th2(:,ind) = iJn6(3,:); |
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| 683 | ind = ind+1; |
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| 684 | end |
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| 685 | if(model(7) == 1) |
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| 686 | var_ome(:,ind) = iJn7(1,:); |
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| 687 | var_th(:,ind) = iJn7(2,:); |
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| 688 | ind = ind+1; |
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| 689 | end |
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| 690 | if(model(8) == 1) |
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| 691 | var_ome(:,ind) = iJn8(1,:); |
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| 692 | var_th(:,ind) = iJn8(2,:); |
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| 693 | ind = ind+1; |
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| 694 | end |
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| 695 | if(model(9) == 1) |
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| 696 | var_ome(:,ind) = iJn9(1,:); |
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| 697 | var_th(:,ind) = iJn9(2,:); |
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| 698 | var_th2(:,ind) = iJn9(3,:); |
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| 699 | ind = ind+1; |
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| 700 | end |
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| 701 | if(model(10) == 1) |
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| 702 | var_ome(:,ind) = iJn10(1,:); |
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| 703 | var_th(:,ind) = iJn10(2,:); |
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| 704 | ind = ind+1; |
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| 705 | end |
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| 706 | if(model(11) == 1) |
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| 707 | var_ome(:,ind) = iJn11(1,:); |
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| 708 | var_th(:,ind) = iJn11(2,:); |
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| 709 | ind = ind+1; |
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| 710 | end |
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| 711 | if(model(12) == 1) |
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| 712 | var_ome(:,ind) = iJn12(1,:); |
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| 713 | var_th(:,ind) = iJn12(2,:); |
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| 714 | var_th2(:,ind) = iJn12(3,:); |
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| 715 | end |
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| 716 | |
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| 717 | end |
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