1 | %simulator PMSM for PCRB, choice: Ls/Ldq & correct/incorrect expectation |
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2 | clear all; |
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3 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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4 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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5 | |
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6 | % settings |
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7 | % ON/OFF MODEL IS CORR. E INDUCT. L |
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8 | model1 = 1; % alpha-beta nE Ls |
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9 | model2 = 1; % d-q nE Ls |
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10 | model3 = 1; % 5sc nE Ls |
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11 | |
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12 | model4 = 1; % alpha-beta E Ls |
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13 | model5 = 1; % d-q E Ls |
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14 | model6 = 1; % 5sc E Ls |
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15 | |
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16 | model7 = 1; % alpha-beta nE Ldq |
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17 | model8 = 1; % d-q nE Ldq |
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18 | model9 = 1; % 5sc nE Ldq |
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19 | |
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20 | model10 = 1; % alpha-beta E Ldq |
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21 | model11 = 1; % d-q E Ldq |
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22 | model12 = 1; % 5sc E Ldq |
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23 | |
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24 | % CONTROL |
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25 | % 1 - ome = ref_ome, the = integral(ome), ial = ibe = 0 |
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26 | % 2 - PI control |
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27 | % 3 - PI + injection (sin -> dq) |
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28 | % 4 - PI + injection (rect. -> dq) |
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29 | % 5 - PI + injection (const. -> ud) *J4 ~ 3e-6 for all exc. dq |
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30 | % 6 - PI + rnd error (ref_ome) *J4: dq bad; ab,5sc Ls ~ 4e-4; ab,5sc Ldq ~5e-6 |
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31 | % 7 - PI + injection (sin -> al-be) |
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32 | % 8 - PI + injection (rect. -> al-be) |
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33 | % 9 - PI + bicrit. (sign) *J4 ~ 1e-3 for all exc. dq |
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34 | % 10 - PI + rnd bicrit. selection (5) |
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35 | control = 9; |
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36 | % param. amp*phi(injom*dt*t) //phi = sin,cos,sign(sin),sing(cos) |
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37 | amp = 10.0; |
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38 | injom = 500; |
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39 | |
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40 | %cov Q, R matrices |
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41 | % %noise |
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42 | % Q = diag([0.0013 0.0013 5.0e-6 1.0e-10]); |
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43 | % R = diag([0.0006 0.0006]); |
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44 | % %EKF |
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45 | % Q = diag([0.1 0.1 0.1 0.001]); |
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46 | % R = diag([0.05 0.05]); |
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47 | %test |
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48 | Q = diag([0.1 0.1 0.1 1]); |
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49 | R = diag([0.05 0.05]); |
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50 | |
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51 | % plot system variables |
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52 | plotsys = 0; |
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53 | |
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54 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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55 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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56 | %constants |
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57 | |
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58 | % machine parameters |
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59 | Rs = 0.28; |
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60 | Ls = 0.003465; |
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61 | psipm = 0.1989; |
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62 | B = 0; |
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63 | TL = 0; |
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64 | kp = 1.5; |
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65 | pp = 4.0; |
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66 | J = 0.04; |
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67 | |
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68 | dt = 0.000125; |
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69 | |
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70 | Lq = 1.0*Ls; |
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71 | Ld = 0.9*Ls; |
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72 | |
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73 | %aliases |
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74 | kpp = kp*pp*pp; |
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75 | kppj = kpp/J; |
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76 | psi = psipm; |
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77 | |
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78 | a = 0.9898; |
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79 | b = 0.0072; |
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80 | c = 0.0361; |
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81 | d = 1.0; |
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82 | e = 0.0149; |
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83 | |
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84 | %horizont |
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85 | T = 120000; |
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86 | |
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87 | %reference signal |
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88 | ref_ome = zeros(1, T); |
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89 | % ref_profile = [1, 10, 50, 200, 200, 30, 0, 0, -1, -10, -50, -200, -200, -30, 0]; |
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90 | ref_profile = [0, -1, 3, 6, 9, 6, 3, 0, 0, 0, 0, 0,0,-3, -6, -3]; |
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91 | % ref_profile = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; |
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92 | % ref_profile = ones(1,16); |
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93 | |
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94 | for k = 1:T, |
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95 | index = floor(k*dt); |
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96 | if(index>0) |
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97 | lower = ref_profile(index); |
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98 | else |
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99 | lower = 0; |
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100 | end |
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101 | if(index<T*dt) |
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102 | upper = ref_profile(index+1); |
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103 | else |
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104 | upper = 0; |
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105 | end |
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106 | ref_ome(k) = lower + (upper-lower)*dt*(k-index/dt); |
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107 | end |
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108 | |
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109 | |
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110 | |
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111 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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112 | % system variables |
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113 | |
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114 | %system state and control |
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115 | x_sys = zeros(4, T); |
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116 | u_ab = zeros(2, T); |
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117 | u_dq = zeros(2, T); |
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118 | |
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119 | %covariance alternatives |
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120 | Q4 = Q; |
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121 | Q5 = zeros(5); |
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122 | Q5(1:4,1:4) = Q; |
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123 | Q5(5,5) = Q(4,4); |
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124 | q1 = Q4(1,1); |
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125 | q2 = Q4(2,2); |
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126 | q3 = Q4(3,3); |
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127 | q4 = Q4(4,4); |
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128 | q5 = Q5(5,5); |
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129 | iQ4 = inv(Q4); |
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130 | iQ5 = inv(Q5); |
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131 | iR = inv(R); |
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132 | e05q4 = exp(-1/2*q4); |
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133 | e2q4 = exp(-2*q4); |
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134 | e92q4 = exp(-9/2*q4); |
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135 | e4q4 = exp(4*q4); |
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136 | e8q4 = exp(-8*q4); |
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137 | e6q4 = exp(6*q4); |
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138 | |
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139 | %PCRB J matrices |
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140 | iJn1 = zeros(4,4,T); |
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141 | iJn2 = zeros(4,4,T); |
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142 | iJn3 = zeros(5,5,T); |
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143 | iJn4 = zeros(4,4,T); |
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144 | iJn5 = zeros(4,4,T); |
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145 | iJn6 = zeros(5,5,T); |
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146 | iJn7 = zeros(4,4,T); |
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147 | iJn8 = zeros(4,4,T); |
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148 | iJn9 = zeros(5,5,T); |
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149 | iJn10 = zeros(4,4,T); |
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150 | iJn11 = zeros(4,4,T); |
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151 | iJn12 = zeros(5,5,T); |
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152 | Jj1 = inv(Q4); |
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153 | Jj2 = inv(Q4); |
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154 | Jj3 = inv(Q5); |
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155 | Jj4 = inv(Q4); |
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156 | Jj5 = inv(Q4); |
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157 | Jj6 = inv(Q5); |
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158 | Jj7 = inv(Q4); |
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159 | Jj8 = inv(Q4); |
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160 | Jj9 = inv(Q5); |
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161 | Jj10 = inv(Q4); |
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162 | Jj11 = inv(Q4); |
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163 | Jj12 = inv(Q5); |
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164 | |
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165 | %PI control |
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166 | sum_iq = 0; |
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167 | sum_ud = 0; |
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168 | sum_uq = 0; |
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169 | kon_pi = 30.0; |
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170 | kon_ii = 0.0; |
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171 | kon_pu = 20.0; |
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172 | kon_iu = 0.0; |
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173 | |
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174 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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175 | % init |
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176 | |
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177 | % measurement function derivatives |
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178 | C4 = zeros(2,4); |
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179 | C4(1,1) = 1.0; |
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180 | C4(2,2) = 1.0; |
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181 | |
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182 | C5 = zeros(2,5); |
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183 | C5(1,1) = 1.0; |
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184 | C5(2,2) = 1.0; |
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185 | |
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186 | % system function derivatives |
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187 | %alpha-beta, equal Ls |
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188 | A14 = zeros(4); |
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189 | A14(1,1) = a; |
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190 | A14(2,2) = a; |
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191 | A14(3,3) = d; |
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192 | A14(4,3) = dt; |
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193 | A14(4,4) = 1.0; |
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194 | A4 = zeros(4); |
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195 | %d-q, equal Ls |
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196 | A25 = zeros(4); |
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197 | A25(1,1) = a; |
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198 | A25(2,2) = a; |
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199 | A25(2,3) = -b; |
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200 | A25(3,2) = e; |
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201 | A25(3,3) = d; |
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202 | A25(4,3) = dt; |
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203 | A25(4,4) = 1.0; |
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204 | %5sc, equal Ls |
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205 | A36 = zeros(5); |
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206 | A36(1,1) = a; |
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207 | A36(2,2) = a; |
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208 | A36(3,3) = d; |
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209 | A36(4,4) = 1.0; |
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210 | A36(5,5) = 1.0; |
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211 | %alpha-beta, Ldq |
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212 | A70 = zeros(4); |
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213 | % A70(4,4) = 1.0; |
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214 | % A70(5,5) = 1.0; |
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215 | %d-q, Ldq |
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216 | A81 = zeros(4); |
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217 | A81(1,1) = 1.0 - Rs*dt/Ld; |
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218 | A81(2,2) = 1.0 - Rs*dt/Lq; |
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219 | A81(3,3) = 1-B*dt/J; |
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220 | A81(4,3) = dt; |
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221 | A81(4,4) = 1.0; |
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222 | %5sc, Ldq |
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223 | A92 = zeros(5); |
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224 | A92(4,4) = 1.0; |
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225 | A92(5,5) = 1.0; |
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226 | |
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227 | |
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228 | %expectation corrections |
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229 | %cor. 2 -> 5 |
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230 | 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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231 | %cor. 3 -> 6 |
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232 | D11_cor6 = diag([e^2*q4/q3,... |
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233 | e^2*q5/q3,... |
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234 | b^2*q5/q2 + dt^2*q5/q4 + b^2*q4/q1 + dt^2*q4/q5,... |
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235 | e^2*q1/q3 + b^2*q3/q1 + dt^2*q3/q5,... |
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236 | e^2*q2/q3 + b^2*q3/q2 + dt^2*q3/q4]); |
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237 | %cor. 8 -> 11 |
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238 | 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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239 | 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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240 | Lq^2/Ld^2*dt^2*q2/q1 + Ld^2/Lq^2*dt^2*q1/q2, 0.0]); |
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241 | |
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242 | % new figure |
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243 | figure; |
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244 | |
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245 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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246 | % main loop |
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247 | |
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248 | for t = 1:T-1, |
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249 | %aliases |
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250 | ial = x_sys(1, t); |
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251 | ibe = x_sys(2, t); |
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252 | ome = x_sys(3, t); |
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253 | the = x_sys(4, t); |
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254 | |
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255 | ia = ial; |
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256 | ib = ibe; |
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257 | |
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258 | st = sin(the); |
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259 | ct = cos(the); |
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260 | |
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261 | id = ial*cos(the) + ibe*sin(the); |
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262 | iq = ibe*cos(the) - ial*sin(the); |
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263 | |
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264 | hia = ial; |
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265 | hib = ibe; |
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266 | hom = ome; |
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267 | sht = sin(the); |
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268 | cht = cos(the); |
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269 | sh2t = sin(2*the); |
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270 | ch2t = cos(2*the); |
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271 | sh3t = sin(3*the); |
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272 | ch3t = cos(3*the); |
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273 | ch4t = cos(4*the); |
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274 | |
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275 | %PCRB models |
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276 | if(model1 == 1) %al-be/nE/Ls |
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277 | A14(1,3) = b*sin(the); |
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278 | A14(1,4) = b*ome*cos(the); |
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279 | A14(2,3) = -b*cos(the); |
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280 | A14(2,4) = b*ome*sin(the); |
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281 | A14(3,1) = -e*sin(the); |
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282 | A14(3,2) = e*cos(the); |
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283 | A14(3,4) = -e*(ial*cos(the)+ibe*sin(the)); |
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284 | |
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285 | D11 = A14'*iQ4*A14; |
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286 | D12 = -A14'*iQ4; |
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287 | D21 = D12'; |
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288 | D22 = iQ4 + C4'*iR*C4; |
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289 | |
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290 | Jj1 = D22 - D21/(Jj1 + D11)*D12; |
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291 | iJn1(:,:,t) = inv(Jj1); |
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292 | end |
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293 | if(model2 == 1) %d-q/nE/Ls |
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294 | A25(1,2) = dt*ome; |
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295 | A25(1,3) = dt*iq; |
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296 | A25(2,1) = -dt*ome; |
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297 | A25(2,3) = -dt*id-b; |
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298 | |
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299 | D11 = A25'*iQ4*A25; |
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300 | D12 = -A25'*iQ4; |
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301 | D21 = D12'; |
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302 | D22 = iQ4 + C4'*iR*C4; |
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303 | |
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304 | Jj2 = D22 - D21/(Jj2 + D11)*D12; |
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305 | iJn2(:,:,t) = inv(Jj2); |
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306 | end |
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307 | if(model3 == 1) %5sc/nE/Ls |
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308 | A36(1,3) = b*sin(the); |
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309 | A36(1,4) = b*ome; |
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310 | A36(2,3) = -b*cos(the); |
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311 | A36(2,5) = -b*ome; |
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312 | A36(3,1) = -e*sin(the); |
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313 | A36(3,2) = e*cos(the); |
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314 | A36(3,4) = -e*ial; |
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315 | A36(3,5) = e*ibe; |
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316 | A36(4,3) = dt*cos(the); |
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317 | A36(4,5) = dt*ome; |
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318 | A36(5,3) = -dt*sin(the); |
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319 | A36(5,4) = -dt*ome; |
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320 | |
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321 | D11 = A36'*iQ5*A36; |
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322 | D12 = -A36'*iQ5; |
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323 | D21 = D12'; |
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324 | D22 = iQ5 + C5'*iR*C5; |
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325 | |
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326 | Jj3 = D22 - D21/(Jj3 + D11)*D12; |
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327 | iJn3(:,:,t) = inv(Jj3); |
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328 | end |
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329 | if(model4 == 1) %al-be/E/Ls |
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330 | D11 = zeros(4); |
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331 | D11(1, 1) = a^2/q1 + e^2/q3*(1/2 - 1/2*exp(-2*q4)*cos(2*the)); |
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332 | D11(1, 2) = -e^2/q3*sin(the)*cos(the)*exp(-2*q4); |
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333 | D11(1, 3) = (a*b/q1 - d*e/q3)*sin(the)*exp(-1/2*q4); |
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334 | 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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335 | + a*b/q1*ome*cos(the)*exp(-1/2*q4); |
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336 | D11(2, 1) = D11(1, 2); |
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337 | D11(2, 2) = a^2/q2 + e^2/q3*(1/2 + 1/2*exp(-2*q4)*cos(2*the)); |
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338 | D11(2, 3) = (d*e/q3 - a*b/q2)*cos(the)*exp(-1/2*q4); |
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339 | D11(2, 4) = a*b/q2*ome*sin(the)*exp(-1/2*q4)... |
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340 | - 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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341 | D11(3, 1) = D11(1, 3); |
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342 | D11(3, 2) = D11(2, 3); |
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343 | 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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344 | + b^2/q1*(1/2 - 1/2*exp(-2*q4)*cos(2*the)); |
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345 | 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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346 | + 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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347 | D11(4, 1) = D11(1, 4); |
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348 | D11(4, 2) = D11(2, 4); |
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349 | D11(4, 3) = D11(3, 4); |
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350 | 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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351 | + 2*ial*ibe*sin(the)*cos(the)*exp(-2*q4)... |
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352 | + (q2 + ibe^2)*(1/2 - 1/2*exp(-2*q4)*cos(2*the)))... |
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353 | + b^2/q2*(q3 + ome^2)*(1/2 - 1/2*exp(-2*q4)*cos(2*the))... |
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354 | + b^2/q1*(q3 + ome^2)*(1/2 + 1/2*exp(-2*q4)*cos(2*the)); |
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355 | |
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356 | A4(1,1) = a; |
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357 | A4(1,2) = 0.0; |
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358 | A4(1,3) = b*sin(the)*exp(-1/2*q4); |
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359 | A4(1,4) = b*ome*cos(the)*exp(-1/2*q4); |
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360 | A4(2,1) = 0.0; |
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361 | A4(2,2) = a; |
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362 | A4(2,3) = -b*cos(the)*exp(-1/2*q4); |
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363 | A4(2,4) = b*ome*sin(the)*exp(-1/2*q4); |
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364 | A4(3,1) = -e*sin(the)*exp(-1/2*q4); |
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365 | A4(3,2) = e*cos(the)*exp(-1/2*q4); |
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366 | A4(3,3) = d; |
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367 | A4(3,4) = -e*(ial*cos(the)*exp(-1/2*q4) + ibe*sin(the)*exp(-1/2*q4)); |
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368 | A4(4,1) = 0.0; |
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369 | A4(4,2) = 0.0; |
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370 | A4(4,3) = dt; |
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371 | A4(4,4) = 1.0; |
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372 | |
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373 | D12 = -A4'*iQ4; |
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374 | D21 = D12'; |
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375 | D22 = iQ4 + C4'*iR*C4; |
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376 | |
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377 | Jj4 = D22 - D21/(Jj4 + D11)*D12; |
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378 | iJn4(:,:,t) = inv(Jj4); |
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379 | end |
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380 | if(model5 == 1) %d-q/E/Ls |
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381 | A25(1,2) = dt*ome; |
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382 | A25(1,3) = dt*iq; |
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383 | A25(2,1) = -dt*ome; |
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384 | A25(2,3) = -dt*id-b; |
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385 | |
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386 | D11 = A25'*iQ4*A25 + D11_cor5; |
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387 | D12 = -A25'*iQ4; |
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388 | D21 = D12'; |
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389 | D22 = iQ4 + C4'*iR*C4; |
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390 | |
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391 | Jj5 = D22 - D21/(Jj5 + D11)*D12; |
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392 | iJn5(:,:,t) = inv(Jj5); |
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393 | end |
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394 | if(model6 == 1) %5sc/E/Ls |
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395 | A36(1,3) = b*sin(the); |
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396 | A36(1,4) = b*ome; |
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397 | A36(2,3) = -b*cos(the); |
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398 | A36(2,5) = -b*ome; |
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399 | A36(3,1) = -e*sin(the); |
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400 | A36(3,2) = e*cos(the); |
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401 | A36(3,4) = -e*ial; |
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402 | A36(3,5) = e*ibe; |
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403 | A36(4,3) = dt*cos(the); |
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404 | A36(4,5) = dt*ome; |
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405 | A36(5,3) = -dt*sin(the); |
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406 | A36(5,4) = -dt*ome; |
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407 | |
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408 | D11 = A36'*iQ5*A36 + D11_cor6; |
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409 | D12 = -A36'*iQ5; |
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410 | D21 = D12'; |
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411 | D22 = iQ5 + C5'*iR*C5; |
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412 | |
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413 | Jj6 = D22 - D21/(Jj6 + D11)*D12; |
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414 | iJn6(:,:,t) = inv(Jj6); |
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415 | end |
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416 | if(model7 == 1) %al-be/nE/Ldq |
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417 | 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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418 | [ (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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419 | [ -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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420 | [ 0.0, 0.0, dt, 1.0]]; |
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421 | |
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422 | D11 = A70'*iQ4*A70; |
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423 | D12 = -A70'*iQ4; |
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424 | D21 = D12'; |
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425 | D22 = iQ4 + C4'*iR*C4; |
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426 | |
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427 | Jj7 = D22 - D21/(Jj7 + D11)*D12; |
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428 | iJn7(:,:,t) = inv(Jj7); |
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429 | end |
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430 | if(model8 == 1) %d-q/nE/Ldq |
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431 | A81(1,2) = Lq*dt/Ld*ome; |
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432 | A81(1,3) = Lq*dt/Ld*iq; |
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433 | A81(2,1) = -Ld*dt/Lq*ome; |
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434 | A81(2,3) = -Ld*dt/Lq*id-psipm*dt/Lq; |
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435 | A81(3,1) = kp*pp*pp*dt*(Ld-Lq)/J*iq; |
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436 | A81(3,2) = kp*pp*pp*dt/J*((Ld-Lq)*id+psipm); |
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437 | |
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438 | D11 = A81'*iQ4*A81; |
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439 | D12 = -A81'*iQ4; |
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440 | D21 = D12'; |
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441 | D22 = iQ4 + C4'*iR*C4; |
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442 | |
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443 | Jj8 = D22 - D21/(Jj8 + D11)*D12; |
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444 | iJn8(:,:,t) = inv(Jj8); |
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445 | end |
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446 | if(model9 == 1) %5sc/nE/Ldq |
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447 | A92(1, 1) = 1.0 + dt*(-Rs*(st^2/Lq + ct^2/Ld) + ome*st*ct*(Ld/Lq - Lq/Ld)); |
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448 | 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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449 | 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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450 | 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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451 | 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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452 | |
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453 | 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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454 | A92(2, 2) = 1 + dt*(-Rs*(st^2/Ld + ct^2/Lq) + ome*st*ct*(Lq/Ld - Ld/Lq)); |
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455 | 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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456 | 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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457 | 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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458 | |
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459 | A92(3, 1) = dt*kpp/J*((Ld - Lq)*(-2*ial*st*ct + ibe*ct^2 - ibe*st^2) - psi*st); |
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460 | A92(3, 2) = dt*kpp/J*((Ld - Lq)*(ial*ct^2 - ial*st^2 + 2*ibe*st*ct) + psi*ct); |
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461 | A92(3, 3) = 1; |
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462 | A92(3, 4) = dt*kpp/J*((Ld - Lq)*(-ial^2*ct - ial*ibe*2*st + ibe^2*ct) - psi*ial); |
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463 | A92(3, 5) = dt*kpp/J*((Ld - Lq)*(-ial^2*st + ial*ibe*2*ct + ibe^2*st) + psi*ibe); |
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464 | |
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465 | A92(4,3) = dt*cos(the); |
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466 | A92(4,5) = dt*ome; |
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467 | A92(5,3) = -dt*sin(the); |
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468 | A92(5,4) = -dt*ome; |
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469 | |
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470 | D11 = A92'*iQ5*A92; |
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471 | D12 = -A92'*iQ5; |
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472 | D21 = D12'; |
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473 | D22 = iQ5 + C5'*iR*C5; |
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474 | |
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475 | Jj9 = D22 - D21/(Jj9 + D11)*D12; |
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476 | iJn9(:,:,t) = inv(Jj9); |
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477 | end |
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478 | if(model10 == 1) %al-be/E/Ldq |
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479 | 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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480 | [ (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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481 | [ -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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482 | [ 0.0, 0.0, dt, 1.0]]; |
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483 | |
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484 | D11 = zeros(4); |
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485 | 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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486 | 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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487 | 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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488 | 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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489 | |
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490 | D11(2,1) = D11(1,2); |
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491 | 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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492 | 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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493 | 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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494 | |
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495 | D11(3,1) = D11(1,3); |
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496 | D11(3,2) = D11(2,3); |
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497 | 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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498 | 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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499 | |
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500 | D11(4,1) = D11(1,4); |
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501 | D11(4,2) = D11(2,4); |
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502 | D11(4,3) = D11(3,4); |
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503 | 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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504 | |
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505 | |
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506 | D12 = -A70'*iQ4; |
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507 | D21 = D12'; |
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508 | D22 = iQ4 + C4'*iR*C4; |
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509 | |
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510 | Jj10 = D22 - D21/(Jj10 + D11)*D12; |
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511 | iJn10(:,:,t) = inv(Jj10); |
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512 | end |
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513 | if(model11 == 1) %d-q/E/Ldq |
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514 | A81(1,2) = Lq*dt/Ld*ome; |
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515 | A81(1,3) = Lq*dt/Ld*iq; |
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516 | A81(2,1) = -Ld*dt/Lq*ome; |
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517 | A81(2,3) = -Ld*dt/Lq*id-psipm*dt/Lq; |
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518 | A81(3,1) = kp*pp*pp*dt*(Ld-Lq)/J*iq; |
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519 | A81(3,2) = kp*pp*pp*dt/J*((Ld-Lq)*id+psipm); |
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520 | |
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521 | D11 = A81'*iQ4*A81 + D11_cor11; |
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522 | D12 = -A81'*iQ4; |
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523 | D21 = D12'; |
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524 | D22 = iQ4 + C4'*iR*C4; |
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525 | |
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526 | Jj11 = D22 - D21/(Jj11 + D11)*D12; |
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527 | iJn11(:,:,t) = inv(Jj11); |
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528 | end |
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529 | if(model12 == 1) %5sc/E/Ldq |
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530 | 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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531 | 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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532 | 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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533 | 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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534 | 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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535 | |
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536 | 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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537 | 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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538 | 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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539 | 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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540 | 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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541 | |
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542 | 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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543 | 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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544 | A92(3, 3) = 1; |
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545 | 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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546 | 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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547 | |
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548 | A92(4,3) = dt*cht*e05q4; |
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549 | A92(4,5) = dt*hom; |
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550 | A92(5,3) = -dt*sht*e05q4; |
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551 | A92(5,4) = -dt*hom; |
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552 | |
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553 | D11 = zeros(5); |
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554 | 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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555 | 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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556 | 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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557 | 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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558 | 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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559 | |
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560 | D11(2,1) = D11(1,2); |
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561 | 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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562 | 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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563 | 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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564 | 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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565 | |
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566 | D11(3,1) = D11(1,3); |
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567 | D11(3,2) = D11(2,3); |
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568 | 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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569 | 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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570 | 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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571 | |
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572 | D11(4,1) = D11(1,4); |
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573 | D11(4,2) = D11(2,4); |
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574 | D11(4,3) = D11(3,4); |
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575 | 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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576 | 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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577 | |
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578 | D11(5,1) = D11(1,5); |
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579 | D11(5,2) = D11(2,5); |
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580 | D11(5,3) = D11(3,5); |
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581 | D11(5,4) = D11(4,5); |
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582 | 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); |
---|
583 | |
---|
584 | D12 = -A92'*iQ5; |
---|
585 | D21 = D12'; |
---|
586 | D22 = iQ5 + C5'*iR*C5; |
---|
587 | |
---|
588 | Jj12 = D22 - D21/(Jj12 + D11)*D12; |
---|
589 | iJn12(:,:,t) = inv(Jj12); |
---|
590 | end |
---|
591 | |
---|
592 | %control & simulation |
---|
593 | if(control == 1) %ome = ref_ome, the = integral(ome), ial=ibe=0 |
---|
594 | x_sys(1, t+1) = 0; |
---|
595 | x_sys(2, t+1) = 0; |
---|
596 | x_sys(3, t+1) = ref_ome(t); |
---|
597 | x_sys(4, t+1) = the + dt*ome; |
---|
598 | else |
---|
599 | if(control == 6) %rnd. err. ref_ome |
---|
600 | ref_ome(t) = ref_ome(t) + amp*randn(); |
---|
601 | end |
---|
602 | |
---|
603 | %PI (only PI for control == 2) |
---|
604 | sum_iq = sum_iq + ref_ome(t) - ome; |
---|
605 | ref_iq = kon_pi*(ref_ome(t) - ome) + kon_ii*sum_iq; |
---|
606 | sum_ud = sum_ud - id; |
---|
607 | u_dq(1, t) = kon_pu*(-id) + kon_iu*sum_ud; |
---|
608 | sum_uq = sum_uq + ref_iq - iq; |
---|
609 | u_dq(2, t) = kon_pu*(ref_iq - iq) + kon_iu*sum_uq; |
---|
610 | u_dq(1, t) = u_dq(1, t) - Ls*ome*ref_iq; |
---|
611 | u_dq(2, t) = u_dq(2, t) + psipm*ome; |
---|
612 | |
---|
613 | if(control == 3) %inj. sin -> dq |
---|
614 | u_dq(1,t) = u_dq(1,t) + amp*sin(injom*dt*t); |
---|
615 | u_dq(2,t) = u_dq(2,t) + amp*cos(injom*dt*t); |
---|
616 | elseif(control == 4) %inj. rect. -> dq |
---|
617 | u_dq(1,t) = u_dq(1,t) + amp*sign(sin(injom*dt*t)); |
---|
618 | u_dq(2,t) = u_dq(2,t) + amp*sign(cos(injom*dt*t)); |
---|
619 | elseif(control == 5) %inj. const. -> d |
---|
620 | % u_dq(1,t) = 0.1*Ld/dt - (1.0*Ld/dt - Rs)*id - Lq*ome*iq; |
---|
621 | u_dq(1,t) = amp; |
---|
622 | elseif(control == 9) %bic. sign. ome |
---|
623 | u_dq(1,t) = u_dq(1,t) - amp*sign(ome); |
---|
624 | u_dq(2,t) = u_dq(2,t) + amp*sign(ome); |
---|
625 | end |
---|
626 | |
---|
627 | ual = u_dq(1,t)*cos(the) - u_dq(2,t)*sin(the); |
---|
628 | ube = u_dq(1,t)*sin(the) + u_dq(2,t)*cos(the); |
---|
629 | |
---|
630 | if(control == 7) %inj. sin -> al-be |
---|
631 | ual = ual + amp*cos(injom*dt*t); |
---|
632 | ube = ube + amp*sin(injom*dt*t); |
---|
633 | elseif(control == 8) %inj. rect. -> al-be |
---|
634 | ual = ual + amp*sign(cos(injom*dt*t)); |
---|
635 | ube = ube + amp*sign(sin(injom*dt*t)); |
---|
636 | elseif((control == 10)&&(rand() > (1/5))) %bic rnd. 5 |
---|
637 | duab = sign(rand(2,1)-0.5)*amp; |
---|
638 | ual = ual + duab(1); |
---|
639 | ube = ube + duab(2); |
---|
640 | end |
---|
641 | |
---|
642 | ud = ual*cos(the) + ube*sin(the); |
---|
643 | uq = ube*cos(the) - ual*sin(the); |
---|
644 | |
---|
645 | %simulation model Ldq |
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646 | idpl = (1.0 - Rs*dt/Ld)*id + Lq*dt/Ld*ome*iq + dt/Ld*ud; |
---|
647 | iqpl = (1.0 - Rs*dt/Lq)*iq - psipm*dt/Lq*ome - Ld*dt/Lq*ome*id + dt/Lq*uq; |
---|
648 | |
---|
649 | x_sys(1, t+1) = idpl*cos(the) - iqpl*sin(the); |
---|
650 | x_sys(2, t+1) = idpl*sin(the) + iqpl*cos(the); |
---|
651 | x_sys(3, t+1) = (1.0-B*dt/J)*ome + kp*pp*pp*dt/J*((Ld-Lq)*id*iq + psipm*iq); |
---|
652 | x_sys(4, t+1) = the + dt*ome; |
---|
653 | end |
---|
654 | |
---|
655 | end |
---|
656 | |
---|
657 | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
---|
658 | % plot |
---|
659 | |
---|
660 | %axis |
---|
661 | xax = 1:T-1; |
---|
662 | timex = (xax)*dt; |
---|
663 | |
---|
664 | if(plotsys == 1) |
---|
665 | subplot(2, 2, 1); |
---|
666 | plot(timex, x_sys(1, xax)); |
---|
667 | subplot(2, 2, 2); |
---|
668 | plot(timex, x_sys(2, xax)); |
---|
669 | subplot(2, 2, 3); |
---|
670 | plot(timex, x_sys(3, xax), timex, ref_ome(xax)); |
---|
671 | subplot(2, 2, 4); |
---|
672 | plot(timex, atan2(sin(x_sys(4, xax)),cos(x_sys(4, xax)))); |
---|
673 | figure; |
---|
674 | end |
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675 | |
---|
676 | if(model1 == 1) |
---|
677 | hold on; |
---|
678 | plot(timex, squeeze(iJn1(4,4,xax)), '-b'); |
---|
679 | end |
---|
680 | if(model2 == 1) |
---|
681 | hold on; |
---|
682 | plot(timex, squeeze(iJn2(4,4,xax)), '-r'); |
---|
683 | end |
---|
684 | if(model3 == 1) |
---|
685 | hold on; |
---|
686 | plot(timex, squeeze(iJn3(4,4,xax)), '-g',timex, squeeze(iJn3(5,5,xax)), '-g'); |
---|
687 | end |
---|
688 | if(model4 == 1) |
---|
689 | hold on; |
---|
690 | plot(timex, squeeze(iJn4(4,4,xax)), '--b'); |
---|
691 | end |
---|
692 | if(model5 == 1) |
---|
693 | hold on; |
---|
694 | plot(timex, squeeze(iJn5(4,4,xax)), '--r'); |
---|
695 | end |
---|
696 | if(model6 == 1) |
---|
697 | hold on; |
---|
698 | plot(timex, squeeze(iJn6(4,4,xax)), '--g',timex, squeeze(iJn6(5,5,xax)), '--g'); |
---|
699 | end |
---|
700 | if(model7 == 1) |
---|
701 | hold on; |
---|
702 | plot(timex, squeeze(iJn7(4,4,xax)), '-c'); |
---|
703 | end |
---|
704 | if(model8 == 1) |
---|
705 | hold on; |
---|
706 | plot(timex, squeeze(iJn8(4,4,xax)), '-m'); |
---|
707 | end |
---|
708 | if(model9 == 1) |
---|
709 | hold on; |
---|
710 | plot(timex, squeeze(iJn9(4,4,xax)), '-y',timex, squeeze(iJn9(5,5,xax)), '-y'); |
---|
711 | end |
---|
712 | if(model10 == 1) |
---|
713 | hold on; |
---|
714 | plot(timex, squeeze(iJn10(4,4,xax)), '--c'); |
---|
715 | end |
---|
716 | if(model11 == 1) |
---|
717 | hold on; |
---|
718 | plot(timex, squeeze(iJn11(4,4,xax)), '--m'); |
---|
719 | end |
---|
720 | if(model12 == 1) |
---|
721 | hold on; |
---|
722 | plot(timex, squeeze(iJn12(4,4,xax)), '--y',timex, squeeze(iJn12(5,5,xax)), '--y'); |
---|
723 | end |
---|