[33] | 1 | #ifndef PMSM_H |
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| 2 | #define PMSM_H |
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| 3 | |
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[654] | 4 | #include <math/functions.h> |
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| 5 | #include "base/user_info.h" |
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[54] | 6 | |
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[224] | 7 | /*! \defgroup PMSM |
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| 8 | @{ |
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| 9 | */ |
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| 10 | |
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[254] | 11 | using namespace bdm; |
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| 12 | |
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[48] | 13 | //TODO hardcoded RVs!!! |
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[1243] | 14 | // RV rx ( "{ia ib om th }"); |
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| 15 | // RV ru ( "{o_ua o_ub }"); |
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| 16 | // RV ry ( "{oia oib }"); |
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[33] | 17 | |
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[128] | 18 | // class uipmsm : public uibase{ |
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| 19 | // double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 20 | // }; |
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[81] | 21 | |
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[223] | 22 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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[33] | 23 | class IMpmsm : public diffbifn { |
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[63] | 24 | protected: |
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[33] | 25 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 26 | |
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[666] | 27 | bool compensate; |
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[1160] | 28 | bool cutoff; |
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[33] | 29 | public: |
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[1160] | 30 | IMpmsm() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2; dimc=6;compensate=true;cutoff=true;}; |
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[33] | 31 | //! Set mechanical and electrical variables |
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[318] | 32 | virtual void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;} |
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[33] | 33 | |
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[332] | 34 | void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){ |
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[349] | 35 | /* ua=u0[0]; |
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| 36 | ub=u0[1]; |
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| 37 | return;*/ |
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[332] | 38 | double sq3=sqrt ( 3.0 ); |
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| 39 | double i1=x0(0); |
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| 40 | double i2=0.5* ( -i1+sq3*x0[1] ); |
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| 41 | double i3=0.5* ( -i1-sq3*x0[1] ); |
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| 42 | double u1=u0(0); |
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| 43 | double u2=0.5* ( -u1+sq3*u0(1) ); |
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| 44 | double u3=0.5* ( -u1-sq3*u0(1) ); |
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| 45 | |
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| 46 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
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| 47 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
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| 48 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
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| 49 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
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| 50 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
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| 51 | } |
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| 52 | |
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[33] | 53 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 54 | // last state |
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[283] | 55 | const double &iam = x0 ( 0 ); |
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| 56 | const double &ibm = x0 ( 1 ); |
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| 57 | const double &omm = x0 ( 2 ); |
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| 58 | const double &thm = x0 ( 3 ); |
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[332] | 59 | double uam; |
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| 60 | double ubm; |
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[33] | 61 | |
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[666] | 62 | if (compensate){ |
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| 63 | modelpwm(x0,u0,uam,ubm); |
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| 64 | } else { |
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| 65 | uam = u0(0); |
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| 66 | ubm = u0(1); |
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| 67 | } |
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[332] | 68 | |
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[666] | 69 | |
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[280] | 70 | vec xk( 4 ); |
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[33] | 71 | //ia |
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| 72 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
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| 73 | //ib |
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| 74 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
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| 75 | //om |
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[63] | 76 | xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
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| 77 | //th |
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[81] | 78 | xk ( 3 ) = thm + omm*dt; // <0..2pi> |
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[1160] | 79 | if (cutoff) { |
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| 80 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 81 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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| 82 | } |
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[63] | 83 | return xk; |
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| 84 | } |
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| 85 | |
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| 86 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[283] | 87 | const double &iam = x0 ( 0 ); |
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| 88 | const double &ibm = x0 ( 1 ); |
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| 89 | const double &omm = x0 ( 2 ); |
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| 90 | const double &thm = x0 ( 3 ); |
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[63] | 91 | // d ia |
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| 92 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 93 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 94 | // d ib |
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| 95 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 96 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 97 | // d om |
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| 98 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 99 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 100 | A ( 2,2 ) = 1.0; |
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| 101 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 102 | // d th |
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| 103 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 104 | } |
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| 105 | |
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| 106 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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[357] | 107 | |
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| 108 | void from_setting( const Setting &root ) |
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| 109 | { |
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[366] | 110 | |
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[654] | 111 | const SettingResolver& params_b=root["params"]; |
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| 112 | const Setting& params=params_b.result; |
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| 113 | |
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| 114 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
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[366] | 115 | params["kp"], params["p"], params["J"], 0.0); |
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[1192] | 116 | int comp=0; |
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[666] | 117 | if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);} |
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[1192] | 118 | int cuto=0; |
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[1160] | 119 | if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);} |
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[357] | 120 | }; |
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| 121 | |
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| 122 | // TODO dodelat void to_setting( Setting &root ) const; |
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[63] | 123 | }; |
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| 124 | |
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[357] | 125 | UIREGISTER ( IMpmsm ); |
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[332] | 126 | |
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[1295] | 127 | //! Evolution model of \f$ \omega, \vartheta\f$ for a PMSM drive and its derivative with respect to \f$x\f$ |
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| 128 | class IMpmsmOT : public diffbifn { |
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| 129 | protected: |
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| 130 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 131 | |
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| 132 | bool compensate; |
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| 133 | bool cutoff; |
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| 134 | public: |
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| 135 | IMpmsmOT() :diffbifn ( ) {dimy=2; dimx = 2; dimu=4; dimc=6;compensate=true;cutoff=true;}; |
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| 136 | //! Set mechanical and electrical variables |
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| 137 | virtual void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;} |
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| 138 | |
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| 139 | void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){ |
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| 140 | /* ua=u0[0]; |
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| 141 | * ub=u0[1]; |
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| 142 | * return;*/ |
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| 143 | double sq3=sqrt ( 3.0 ); |
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| 144 | double i1=x0(0); |
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| 145 | double i2=0.5* ( -i1+sq3*x0[1] ); |
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| 146 | double i3=0.5* ( -i1-sq3*x0[1] ); |
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| 147 | double u1=u0(0); |
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| 148 | double u2=0.5* ( -u1+sq3*u0(1) ); |
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| 149 | double u3=0.5* ( -u1-sq3*u0(1) ); |
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| 150 | |
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| 151 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
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| 152 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
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| 153 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
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| 154 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
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| 155 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
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| 156 | } |
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| 157 | |
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| 158 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 159 | // last state |
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| 160 | const double &omm = x0 ( 0 ); |
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| 161 | const double &thm = x0 ( 1 ); |
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| 162 | double uam; |
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| 163 | double ubm; |
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| 164 | |
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| 165 | if (compensate){ |
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| 166 | modelpwm(x0,u0,uam,ubm); |
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| 167 | } else { |
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| 168 | uam = u0(0); |
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| 169 | ubm = u0(1); |
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| 170 | } |
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| 171 | |
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| 172 | const double &iam = u0 ( 2 ); |
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| 173 | const double &ibm = u0 ( 3 ); |
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| 174 | |
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| 175 | vec xk( 2 ); |
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| 176 | //ia |
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| 177 | //om |
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| 178 | xk ( 0 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
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| 179 | //th |
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| 180 | xk ( 1 ) = thm + omm*dt; // <0..2pi> |
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| 181 | if (cutoff) { |
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| 182 | if ( xk ( 1 ) >pi ) xk ( 1 )-=2*pi; |
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| 183 | if ( xk ( 1 ) <-pi ) xk ( 1 ) +=2*pi; |
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| 184 | } |
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| 185 | return xk; |
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| 186 | } |
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| 187 | |
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| 188 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 189 | const double &omm = x0 ( 0 ); |
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| 190 | const double &thm = x0 ( 1 ); |
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[1292] | 191 | |
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[1295] | 192 | const double &iam = u0 ( 2 ); |
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| 193 | const double &ibm = u0 ( 3 ); |
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| 194 | |
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| 195 | // d ia |
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| 196 | // d om |
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| 197 | A ( 0,0 ) = 1.0; |
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| 198 | A ( 0,1 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 199 | // d th |
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| 200 | A ( 1,0 ) = dt; |
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| 201 | A ( 1,1 ) = 1.0; |
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| 202 | } |
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| 203 | |
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| 204 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 205 | |
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| 206 | void from_setting( const Setting &root ) |
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| 207 | { |
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| 208 | |
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| 209 | const SettingResolver& params_b=root["params"]; |
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| 210 | const Setting& params=params_b.result; |
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| 211 | |
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| 212 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
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| 213 | params["kp"], params["p"], params["J"], 0.0); |
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| 214 | int comp=0; |
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| 215 | if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);} |
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| 216 | int cuto=0; |
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| 217 | if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);} |
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| 218 | }; |
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| 219 | |
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| 220 | // TODO dodelat void to_setting( Setting &root ) const; |
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| 221 | }; |
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| 222 | |
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| 223 | UIREGISTER ( IMpmsmOT ); |
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| 224 | |
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| 225 | |
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[232] | 226 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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[1292] | 227 | class IMpmsmDQ : public diffbifn { |
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| 228 | protected: |
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| 229 | double Rs, Ld, Lq, dt, Ypm, kp, p, J, Mz; |
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| 230 | |
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| 231 | bool compensate; |
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| 232 | bool cutoff; |
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| 233 | public: |
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| 234 | IMpmsmDQ() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2; dimc=6;compensate=true;cutoff=true;}; |
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| 235 | //! Set mechanical and electrical variables |
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| 236 | virtual void set_parameters ( double Rs0, double Ld0, double Lq0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ld=Ld0; Lq=Lq0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;} |
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| 237 | |
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| 238 | void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){ |
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| 239 | /* ua=u0[0]; |
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| 240 | * ub=u0[1]; |
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| 241 | * return;*/ |
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| 242 | double sq3=sqrt ( 3.0 ); |
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| 243 | double i1=x0(0); |
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| 244 | double i2=0.5* ( -i1+sq3*x0[1] ); |
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| 245 | double i3=0.5* ( -i1-sq3*x0[1] ); |
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| 246 | double u1=u0(0); |
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| 247 | double u2=0.5* ( -u1+sq3*u0(1) ); |
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| 248 | double u3=0.5* ( -u1-sq3*u0(1) ); |
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| 249 | |
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| 250 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
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| 251 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
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| 252 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
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| 253 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
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| 254 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
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| 255 | } |
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| 256 | |
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| 257 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 258 | // last state |
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| 259 | const double &idm = x0 ( 0 ); |
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| 260 | const double &iqm = x0 ( 1 ); |
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| 261 | const double &omm = x0 ( 2 ); |
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| 262 | const double &thm = x0 ( 3 ); |
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| 263 | double uam; |
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| 264 | double ubm; |
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| 265 | |
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| 266 | if (compensate){ |
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| 267 | modelpwm(x0,u0,uam,ubm); |
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| 268 | } else { |
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| 269 | uam = u0(0); |
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| 270 | ubm = u0(1); |
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| 271 | } |
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| 272 | |
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| 273 | vec xk( 4 ); |
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| 274 | //id |
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| 275 | xk ( 0 ) = ( 1.0- Rs/Ld*dt ) * idm + Lq/Ld*iqm*dt*omm + dt/Ld*(cos(thm)*uam+sin(thm)*ubm); |
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| 276 | //iq |
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| 277 | xk ( 1 ) = ( 1.0- Rs/Lq*dt ) * iqm - Ypm/Lq*dt*omm - Ld/Lq*dt*idm*omm + dt/Lq*(-sin(thm)*uam+cos(thm)*ubm); |
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| 278 | //om |
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| 279 | xk ( 2 ) = omm + kp*p*p /J*dt* ( (Ld-Lq)*idm+ Ypm)*iqm - p/J*dt*Mz; |
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| 280 | //th |
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| 281 | xk ( 3 ) = thm + omm*dt; // <0..2pi> |
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| 282 | if (cutoff) { |
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| 283 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 284 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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| 285 | } |
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| 286 | return xk; |
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| 287 | } |
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| 288 | |
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| 289 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 290 | const double &idm = x0 ( 0 ); |
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| 291 | const double &iqm = x0 ( 1 ); |
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| 292 | const double &omm = x0 ( 2 ); |
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| 293 | const double &thm = x0 ( 3 ); |
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| 294 | |
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| 295 | double uam; |
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| 296 | double ubm; |
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| 297 | if (compensate){ |
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| 298 | modelpwm(x0,u0,uam,ubm); |
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| 299 | } else { |
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| 300 | uam = u0(0); |
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| 301 | ubm = u0(1); |
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| 302 | } |
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| 303 | // d id |
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| 304 | A ( 0,0 ) = ( 1.0- Rs/Ld*dt ); A ( 0,1 ) = Lq/Ld*dt*omm; |
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| 305 | A ( 0,2 ) = Lq/Ld*iqm*dt; A ( 0,3 ) = dt/Ld*(-sin(thm)*uam+cos(thm)*ubm); |
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| 306 | // d iq |
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| 307 | A ( 1,0 ) = -Ld/Lq*omm*dt ; A ( 1,1 ) = ( 1.0- Rs/Lq*dt ); |
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| 308 | A ( 1,2 ) = -Ypm/Lq*dt- Ld/Lq*dt*idm; A ( 1,3 ) = dt/Lq*(-cos(thm)*uam-sin(thm)*ubm); |
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| 309 | // d om |
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| 310 | A ( 2,0 ) = kp*p*p /J*dt* ( Ld-Lq)*iqm; |
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| 311 | A ( 2,1 ) = kp*p*p /J*dt* ((Ld-Lq)*idm+Ypm); |
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| 312 | A ( 2,2 ) = 1.0; |
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| 313 | A ( 2,3 ) = 0; |
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| 314 | // d th |
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| 315 | A ( 3,0 ) = 0.0; |
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| 316 | A ( 3,1 ) = 0.0; |
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| 317 | A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 318 | } |
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| 319 | |
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| 320 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 321 | |
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| 322 | void from_setting( const Setting &root ) |
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| 323 | { |
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| 324 | |
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| 325 | const SettingResolver& params_b=root["params"]; |
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| 326 | const Setting& params=params_b.result; |
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| 327 | |
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| 328 | set_parameters ( params["Rs"], params["Ld"],params["Lq"], 125e-6, params["Fmag"], \ |
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| 329 | params["kp"], params["p"], params["J"], 0.0); |
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| 330 | int comp=0; |
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| 331 | if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);} |
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| 332 | int cuto=0; |
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[1295] | 333 | if (UI::get(cuto,root,"cutoff",UI::optional)){ |
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| 334 | cutoff=(cuto==1); |
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| 335 | } |
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[1292] | 336 | }; |
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| 337 | |
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| 338 | // TODO dodelat void to_setting( Setting &root ) const; |
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| 339 | }; |
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| 340 | |
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| 341 | UIREGISTER ( IMpmsmDQ ); |
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| 342 | |
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| 343 | |
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| 344 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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[318] | 345 | class IMpmsm2o : public IMpmsm { |
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[232] | 346 | protected: |
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[318] | 347 | // double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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[240] | 348 | //! store first derivatives for the use in second derivatives |
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| 349 | double dia, dib, dom, dth; |
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| 350 | //! d2t = dt^2/2, cth = cos(th), sth=sin(th) |
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| 351 | double d2t, cth, sth; |
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| 352 | double iam, ibm, omm, thm, uam, ubm; |
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[232] | 353 | public: |
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[318] | 354 | IMpmsm2o() :IMpmsm () {}; |
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[232] | 355 | //! Set mechanical and electrical variables |
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[240] | 356 | void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0; d2t=dt*dt/2;} |
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[232] | 357 | |
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| 358 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 359 | // last state |
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[240] | 360 | iam = x0 ( 0 ); |
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| 361 | ibm = x0 ( 1 ); |
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| 362 | omm = x0 ( 2 ); |
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| 363 | thm = x0 ( 3 ); |
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| 364 | uam = u0 ( 0 ); |
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| 365 | ubm = u0 ( 1 ); |
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[232] | 366 | |
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[240] | 367 | cth = cos(thm); |
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| 368 | sth = sin(thm); |
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[232] | 369 | |
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[240] | 370 | dia = (- Rs/Ls*iam + Ypm/Ls*omm * sth + uam/Ls); |
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| 371 | dib = (- Rs/Ls*ibm - Ypm/Ls*omm * cth + ubm/Ls); |
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| 372 | dom = kp*p*p * Ypm/J *( ibm * cth-iam * sth ) - p/J*Mz; |
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| 373 | dth = omm; |
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| 374 | |
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[232] | 375 | vec xk=zeros ( 4 ); |
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| 376 | xk ( 0 ) = iam + dt*dia;// +d2t*d2ia; |
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| 377 | xk ( 1 ) = ibm + dt*dib;// +d2t*d2ib; |
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| 378 | xk ( 2 ) = omm +dt*dom;// +d2t*d2om; |
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[318] | 379 | xk ( 3 ) = thm + dt*dth;// +d2t*dom; // <0..2pi> |
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[232] | 380 | |
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| 381 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 382 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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| 383 | return xk; |
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| 384 | } |
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| 385 | |
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[240] | 386 | //! eval 2nd order Taylor expansion, MUST be used only as a follow up AFTER eval()!! |
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| 387 | vec eval2o(const vec &du){ |
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| 388 | double dua = du ( 0 )/dt; |
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| 389 | double dub = du ( 1 )/dt; |
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| 390 | |
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| 391 | vec xth2o(4); |
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| 392 | xth2o(0) = (- Rs/Ls*dia + Ypm/Ls*(dom * sth + omm*cth) + dua/Ls); |
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| 393 | xth2o(1) = (- Rs/Ls*dib - Ypm/Ls*(dom * cth - omm*sth) + dub/Ls); |
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| 394 | xth2o(2) = kp*p*p * Ypm/J *( dib * cth-ibm*sth - (dia * sth + iam *cth)); |
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| 395 | xth2o(3) = dom; |
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[325] | 396 | // multiply by dt^2/2 |
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| 397 | xth2o*=d2t/2; |
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[240] | 398 | return xth2o; |
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| 399 | } |
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[232] | 400 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[240] | 401 | iam = x0 ( 0 ); |
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| 402 | ibm = x0 ( 1 ); |
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| 403 | omm = x0 ( 2 ); |
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| 404 | thm = x0 ( 3 ); |
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[232] | 405 | // d ia |
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| 406 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 407 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 408 | // d ib |
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| 409 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 410 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 411 | // d om |
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| 412 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 413 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 414 | A ( 2,2 ) = 1.0; |
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| 415 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 416 | // d th |
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| 417 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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[318] | 418 | // FOR d2t*dom!!!!!!!!! |
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| 419 | /* A ( 3,0 ) = dt* kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 420 | A ( 3,1 ) = dt* kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 421 | A ( 3,2 ) = dt; |
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| 422 | A ( 3,3 ) = 1.0 + dt* kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );*/ |
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[232] | 423 | } |
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| 424 | |
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| 425 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 426 | |
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| 427 | }; |
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| 428 | |
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[357] | 429 | |
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| 430 | UIREGISTER ( IMpmsm2o ); |
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| 431 | |
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[145] | 432 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$, equation for \f$\omega\f$ is omitted.$ |
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[63] | 433 | class IMpmsmStat : public IMpmsm { |
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[240] | 434 | public: |
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[63] | 435 | IMpmsmStat() :IMpmsm() {}; |
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| 436 | //! Set mechanical and electrical variables |
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| 437 | void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;} |
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| 438 | |
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| 439 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 440 | // last state |
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| 441 | double iam = x0 ( 0 ); |
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| 442 | double ibm = x0 ( 1 ); |
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| 443 | double omm = x0 ( 2 ); |
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| 444 | double thm = x0 ( 3 ); |
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| 445 | double uam = u0 ( 0 ); |
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| 446 | double ubm = u0 ( 1 ); |
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| 447 | |
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| 448 | vec xk=zeros ( 4 ); |
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| 449 | //ia |
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| 450 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
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| 451 | //ib |
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| 452 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
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| 453 | //om |
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[332] | 454 | xk ( 2 ) = omm - p/J*dt*Mz;// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ); |
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[33] | 455 | //th |
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[48] | 456 | xk ( 3 ) = rem(thm + omm*dt,2*pi); // <0..2pi> |
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[33] | 457 | return xk; |
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| 458 | } |
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| 459 | |
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| 460 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[91] | 461 | // double iam = x0 ( 0 ); |
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| 462 | // double ibm = x0 ( 1 ); |
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[33] | 463 | double omm = x0 ( 2 ); |
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| 464 | double thm = x0 ( 3 ); |
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| 465 | // d ia |
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| 466 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 467 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 468 | // d ib |
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| 469 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 470 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 471 | // d om |
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[62] | 472 | A ( 2,0 ) = 0.0;//kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 473 | A ( 2,1 ) = 0.0;//kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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[33] | 474 | A ( 2,2 ) = 1.0; |
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[62] | 475 | A ( 2,3 ) = 0.0;//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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[33] | 476 | // d th |
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| 477 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 478 | } |
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| 479 | |
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| 480 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 481 | |
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| 482 | }; |
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| 483 | |
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[357] | 484 | UIREGISTER ( IMpmsmStat ); |
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| 485 | |
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| 486 | |
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[332] | 487 | //! State for PMSM with unknown Mz |
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| 488 | class IMpmsmMz: public IMpmsm{ |
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| 489 | public: |
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| 490 | IMpmsmMz() {dimy=5; dimx = 5; dimu=2;}; |
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| 491 | //! extend eval by Mz |
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| 492 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 493 | vec x(4); |
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| 494 | Mz = x0(4); //last of the state is Mz |
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| 495 | |
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| 496 | //teh first 4 states are same as before (given that Mz is set) |
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| 497 | x=IMpmsm::eval(x0,u0); // including model of drops! |
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| 498 | return concat(x,Mz); |
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| 499 | } |
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| 500 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 501 | //call initial |
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| 502 | if (full) A.clear(); |
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| 503 | IMpmsm::dfdx_cond(x0,u0,A,full); |
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| 504 | A(2,4)=- p/J*dt; |
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| 505 | A(4,4)=1.0; |
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| 506 | } |
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| 507 | }; |
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| 508 | |
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[357] | 509 | UIREGISTER ( IMpmsmMz ); |
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| 510 | |
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[332] | 511 | //! State for PMSM with unknown Mz |
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| 512 | class IMpmsmStatMz: public IMpmsmStat{ |
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| 513 | public: |
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| 514 | IMpmsmStatMz() {dimy=5; dimx = 5; dimu=2;}; |
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| 515 | //! extend eval by Mz |
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| 516 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 517 | vec x(4); |
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| 518 | Mz = x0(4); //last of the state is Mz |
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| 519 | |
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| 520 | //teh first 4 states are same as before (given that Mz is set) |
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| 521 | x=IMpmsmStat::eval(x0,u0); // including model of drops! |
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| 522 | return concat(x,Mz); |
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| 523 | } |
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| 524 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 525 | //call initial |
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| 526 | if (full) A.clear(); |
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| 527 | IMpmsmStat::dfdx_cond(x0,u0,A,full); |
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| 528 | A(2,4)=- p/J*dt; |
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| 529 | A(4,4)=1.0; |
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| 530 | } |
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| 531 | }; |
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| 532 | |
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[357] | 533 | UIREGISTER ( IMpmsmStatMz ); |
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[332] | 534 | |
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[357] | 535 | |
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[145] | 536 | //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ |
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[33] | 537 | class OMpmsm: public diffbifn { |
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| 538 | public: |
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[666] | 539 | OMpmsm() :diffbifn () {dimy=2;dimx=4;dimu=0;}; |
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[33] | 540 | |
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| 541 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 542 | vec y ( 2 ); |
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| 543 | y ( 0 ) = x0 ( 0 ); |
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| 544 | y ( 1 ) = x0 ( 1 ); |
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| 545 | return y; |
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| 546 | } |
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| 547 | |
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| 548 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 549 | A.clear(); |
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| 550 | A ( 0,0 ) = 1.0; |
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| 551 | A ( 1,1 ) = 1.0; |
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| 552 | } |
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| 553 | }; |
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| 554 | |
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[357] | 555 | UIREGISTER ( OMpmsm ); |
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| 556 | |
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[1160] | 557 | //! Observation model for PMSM drive with roundoff-errors |
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| 558 | class OMpmsmRO: public diffbifn { |
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| 559 | public: |
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| 560 | OMpmsmRO() :diffbifn () {dimy=2;dimx=4;dimu=0;}; |
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| 561 | |
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| 562 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 563 | vec y ( 2 ); |
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| 564 | /* y ( 0 ) = x0 ( 0 ); |
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| 565 | y ( 1 ) = x0 ( 1 );*/ |
---|
| 566 | |
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| 567 | double istep=0.085; |
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| 568 | y[ 0 ] = istep*itpp::round( x0[ 0 ]/ istep) ; |
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| 569 | y[ 1 ] = istep*itpp::round( x0[ 1 ]/ istep); |
---|
| 570 | |
---|
| 571 | return y; |
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| 572 | } |
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| 573 | |
---|
| 574 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 575 | A.clear(); |
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| 576 | A ( 0,0 ) = 1.0; |
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| 577 | A ( 1,1 ) = 1.0; |
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| 578 | } |
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| 579 | }; |
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| 580 | |
---|
| 581 | UIREGISTER ( OMpmsmRO ); |
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| 582 | |
---|
[1184] | 583 | class OMpmsmROMz: public OMpmsmRO{ |
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| 584 | public: |
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| 585 | OMpmsmROMz() :OMpmsmRO() {dimy=2;dimx=5;dimu=0;}; |
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| 586 | }; |
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| 587 | UIREGISTER ( OMpmsmROMz ); |
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[1160] | 588 | |
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[332] | 589 | //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ for full vector of observations |
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| 590 | class OMpmsm4: public diffbifn { |
---|
| 591 | public: |
---|
| 592 | OMpmsm4() :diffbifn () {dimy=4;dimx=4;dimu=2;}; |
---|
| 593 | |
---|
| 594 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 595 | vec y ( 4 ); |
---|
| 596 | y = x0 ; |
---|
| 597 | return y; |
---|
| 598 | } |
---|
| 599 | |
---|
| 600 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
[1292] | 601 | A.clear(); |
---|
| 602 | A(0,0)=1.0; |
---|
| 603 | A(1,1)=1.0; |
---|
[332] | 604 | } |
---|
| 605 | }; |
---|
| 606 | |
---|
[357] | 607 | UIREGISTER ( OMpmsm4 ); |
---|
| 608 | |
---|
[1292] | 609 | //! Observation model for PMSM drive id d-q coordinates |
---|
| 610 | class OMpmsmDQ: public diffbifn { |
---|
| 611 | public: |
---|
| 612 | OMpmsmDQ() :diffbifn () {dimy=2;dimx=4;dimu=2;}; |
---|
| 613 | |
---|
| 614 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 615 | vec y ( 2 ); |
---|
| 616 | double ct = cos(x0(3)); |
---|
| 617 | double st = sin(x0(3)); |
---|
| 618 | y(0) = ct*x0(0)-st*x0(1); |
---|
| 619 | y(1) = st*x0(0)+ct*x0(1); |
---|
| 620 | |
---|
| 621 | return y; |
---|
| 622 | } |
---|
| 623 | |
---|
| 624 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 625 | double ct = cos(x0(3)); |
---|
| 626 | double st = sin(x0(3)); |
---|
| 627 | A(0,0) = ct; |
---|
| 628 | A(1,0) = -st; |
---|
| 629 | A(0,1) = st; |
---|
| 630 | A(1,1) = ct; |
---|
| 631 | |
---|
| 632 | A(0,2) = 0.0; |
---|
| 633 | A(1,2) = 0.0; |
---|
| 634 | A(0,3) = -st*x0(0)-ct*x0(1); |
---|
| 635 | A(1,3) = ct*x0(0)-st*x0(1); |
---|
| 636 | } |
---|
| 637 | }; |
---|
[357] | 638 | |
---|
[1292] | 639 | UIREGISTER ( OMpmsmDQ ); |
---|
[357] | 640 | |
---|
[1295] | 641 | //! Observation model for PMSM drive in reduced form coordinates |
---|
| 642 | class OMpmsmOT: public diffbifn { |
---|
| 643 | public: |
---|
| 644 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
---|
| 645 | |
---|
| 646 | virtual void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;} |
---|
| 647 | |
---|
| 648 | OMpmsmOT() :diffbifn () {dimy=2;dimx=2;dimu=4;}; |
---|
| 649 | |
---|
| 650 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 651 | vec y ( 2 ); |
---|
| 652 | const double &omm = x0(0); |
---|
| 653 | const double &thm = x0(1); |
---|
| 654 | |
---|
| 655 | const double &uam = u0 ( 0 ); |
---|
| 656 | const double &ubm = u0 ( 1 ); |
---|
| 657 | const double &iam = u0 ( 2 ); |
---|
| 658 | const double &ibm = u0 ( 3 ); |
---|
| 659 | |
---|
| 660 | y ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
---|
| 661 | //ib |
---|
| 662 | y ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
---|
| 663 | |
---|
| 664 | return y; |
---|
| 665 | } |
---|
| 666 | |
---|
| 667 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 668 | const double &omm = x0(0); |
---|
| 669 | const double &thm = x0(1); |
---|
| 670 | |
---|
| 671 | A ( 0,0 ) = Ypm/Ls*dt* sin ( thm ); |
---|
| 672 | A ( 0,1 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
---|
| 673 | // d ib |
---|
| 674 | A ( 1,0 ) = -Ypm/Ls*dt* cos ( thm ); |
---|
| 675 | A ( 1,1 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
---|
| 676 | |
---|
| 677 | |
---|
| 678 | } |
---|
[1292] | 679 | |
---|
[1295] | 680 | void from_setting( const Setting &root ) |
---|
| 681 | { |
---|
| 682 | |
---|
| 683 | const SettingResolver& params_b=root["params"]; |
---|
| 684 | const Setting& params=params_b.result; |
---|
| 685 | |
---|
| 686 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
---|
| 687 | params["kp"], params["p"], params["J"], 0.0); |
---|
| 688 | }; |
---|
| 689 | |
---|
| 690 | }; |
---|
| 691 | |
---|
| 692 | UIREGISTER ( OMpmsmOT ); |
---|
| 693 | |
---|
| 694 | |
---|
[224] | 695 | /*!@}*/ |
---|
[33] | 696 | #endif //PMSM_H |
---|