[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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[1327] | 6 | #include "ekf_example/reference_Q15.h" |
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[54] | 7 | |
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[224] | 8 | /*! \defgroup PMSM |
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| 9 | @{ |
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| 10 | */ |
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| 11 | |
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[254] | 12 | using namespace bdm; |
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| 13 | |
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[48] | 14 | //TODO hardcoded RVs!!! |
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[1243] | 15 | // RV rx ( "{ia ib om th }"); |
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| 16 | // RV ru ( "{o_ua o_ub }"); |
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| 17 | // RV ry ( "{oia oib }"); |
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[33] | 18 | |
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[128] | 19 | // class uipmsm : public uibase{ |
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| 20 | // double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 21 | // }; |
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[81] | 22 | |
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[223] | 23 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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[33] | 24 | class IMpmsm : public diffbifn { |
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[63] | 25 | protected: |
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[33] | 26 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 27 | |
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[666] | 28 | bool compensate; |
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[1160] | 29 | bool cutoff; |
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[33] | 30 | public: |
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[1160] | 31 | IMpmsm() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2; dimc=6;compensate=true;cutoff=true;}; |
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[33] | 32 | //! Set mechanical and electrical variables |
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[318] | 33 | 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] | 34 | |
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[332] | 35 | void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){ |
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[349] | 36 | /* ua=u0[0]; |
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| 37 | ub=u0[1]; |
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| 38 | return;*/ |
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[332] | 39 | double sq3=sqrt ( 3.0 ); |
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| 40 | double i1=x0(0); |
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| 41 | double i2=0.5* ( -i1+sq3*x0[1] ); |
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| 42 | double i3=0.5* ( -i1-sq3*x0[1] ); |
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| 43 | double u1=u0(0); |
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| 44 | double u2=0.5* ( -u1+sq3*u0(1) ); |
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| 45 | double u3=0.5* ( -u1-sq3*u0(1) ); |
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| 46 | |
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| 47 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
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| 48 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
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| 49 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
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| 50 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
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| 51 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
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| 52 | } |
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| 53 | |
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[33] | 54 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 55 | // last state |
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[283] | 56 | const double &iam = x0 ( 0 ); |
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| 57 | const double &ibm = x0 ( 1 ); |
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| 58 | const double &omm = x0 ( 2 ); |
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| 59 | const double &thm = x0 ( 3 ); |
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[332] | 60 | double uam; |
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| 61 | double ubm; |
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[33] | 62 | |
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[666] | 63 | if (compensate){ |
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| 64 | modelpwm(x0,u0,uam,ubm); |
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| 65 | } else { |
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| 66 | uam = u0(0); |
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| 67 | ubm = u0(1); |
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| 68 | } |
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[332] | 69 | |
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[666] | 70 | |
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[280] | 71 | vec xk( 4 ); |
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[33] | 72 | //ia |
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| 73 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
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| 74 | //ib |
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| 75 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
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| 76 | //om |
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[63] | 77 | xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
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| 78 | //th |
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[81] | 79 | xk ( 3 ) = thm + omm*dt; // <0..2pi> |
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[1160] | 80 | if (cutoff) { |
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| 81 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 82 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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| 83 | } |
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[63] | 84 | return xk; |
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| 85 | } |
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| 86 | |
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| 87 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[283] | 88 | const double &iam = x0 ( 0 ); |
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| 89 | const double &ibm = x0 ( 1 ); |
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| 90 | const double &omm = x0 ( 2 ); |
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| 91 | const double &thm = x0 ( 3 ); |
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[63] | 92 | // d ia |
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| 93 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 94 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 95 | // d ib |
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| 96 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 97 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 98 | // d om |
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| 99 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 100 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 101 | A ( 2,2 ) = 1.0; |
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| 102 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 103 | // d th |
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| 104 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 105 | } |
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| 106 | |
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| 107 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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[357] | 108 | |
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| 109 | void from_setting( const Setting &root ) |
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| 110 | { |
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[366] | 111 | |
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[654] | 112 | const SettingResolver& params_b=root["params"]; |
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| 113 | const Setting& params=params_b.result; |
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| 114 | |
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| 115 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
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[366] | 116 | params["kp"], params["p"], params["J"], 0.0); |
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[1192] | 117 | int comp=0; |
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[666] | 118 | if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);} |
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[1192] | 119 | int cuto=0; |
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[1160] | 120 | if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);} |
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[357] | 121 | }; |
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| 122 | |
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| 123 | // TODO dodelat void to_setting( Setting &root ) const; |
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[63] | 124 | }; |
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| 125 | |
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[357] | 126 | UIREGISTER ( IMpmsm ); |
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[332] | 127 | |
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[1295] | 128 | //! Evolution model of \f$ \omega, \vartheta\f$ for a PMSM drive and its derivative with respect to \f$x\f$ |
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| 129 | class IMpmsmOT : public diffbifn { |
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| 130 | protected: |
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| 131 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 132 | |
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| 133 | bool compensate; |
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| 134 | bool cutoff; |
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| 135 | public: |
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| 136 | IMpmsmOT() :diffbifn ( ) {dimy=2; dimx = 2; dimu=4; dimc=6;compensate=true;cutoff=true;}; |
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| 137 | //! Set mechanical and electrical variables |
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| 138 | 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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| 139 | |
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| 140 | void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){ |
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| 141 | /* ua=u0[0]; |
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| 142 | * ub=u0[1]; |
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| 143 | * return;*/ |
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| 144 | double sq3=sqrt ( 3.0 ); |
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| 145 | double i1=x0(0); |
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| 146 | double i2=0.5* ( -i1+sq3*x0[1] ); |
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| 147 | double i3=0.5* ( -i1-sq3*x0[1] ); |
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| 148 | double u1=u0(0); |
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| 149 | double u2=0.5* ( -u1+sq3*u0(1) ); |
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| 150 | double u3=0.5* ( -u1-sq3*u0(1) ); |
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| 151 | |
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| 152 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
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| 153 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
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| 154 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
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| 155 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
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| 156 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
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| 157 | } |
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| 158 | |
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| 159 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 160 | // last state |
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| 161 | const double &omm = x0 ( 0 ); |
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| 162 | const double &thm = x0 ( 1 ); |
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| 163 | double uam; |
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| 164 | double ubm; |
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| 165 | |
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| 166 | if (compensate){ |
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| 167 | modelpwm(x0,u0,uam,ubm); |
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| 168 | } else { |
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| 169 | uam = u0(0); |
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| 170 | ubm = u0(1); |
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| 171 | } |
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| 172 | |
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| 173 | const double &iam = u0 ( 2 ); |
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| 174 | const double &ibm = u0 ( 3 ); |
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| 175 | |
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| 176 | vec xk( 2 ); |
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| 177 | //ia |
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| 178 | //om |
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| 179 | xk ( 0 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
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| 180 | //th |
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| 181 | xk ( 1 ) = thm + omm*dt; // <0..2pi> |
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| 182 | if (cutoff) { |
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| 183 | if ( xk ( 1 ) >pi ) xk ( 1 )-=2*pi; |
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| 184 | if ( xk ( 1 ) <-pi ) xk ( 1 ) +=2*pi; |
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| 185 | } |
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| 186 | return xk; |
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| 187 | } |
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| 188 | |
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| 189 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 190 | const double &omm = x0 ( 0 ); |
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| 191 | const double &thm = x0 ( 1 ); |
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[1292] | 192 | |
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[1295] | 193 | const double &iam = u0 ( 2 ); |
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| 194 | const double &ibm = u0 ( 3 ); |
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| 195 | |
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| 196 | // d ia |
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| 197 | // d om |
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| 198 | A ( 0,0 ) = 1.0; |
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| 199 | A ( 0,1 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 200 | // d th |
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| 201 | A ( 1,0 ) = dt; |
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| 202 | A ( 1,1 ) = 1.0; |
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| 203 | } |
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| 204 | |
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| 205 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 206 | |
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| 207 | void from_setting( const Setting &root ) |
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| 208 | { |
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| 209 | |
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| 210 | const SettingResolver& params_b=root["params"]; |
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| 211 | const Setting& params=params_b.result; |
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| 212 | |
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| 213 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
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| 214 | params["kp"], params["p"], params["J"], 0.0); |
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| 215 | int comp=0; |
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| 216 | if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);} |
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| 217 | int cuto=0; |
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| 218 | if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);} |
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| 219 | }; |
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| 220 | |
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| 221 | // TODO dodelat void to_setting( Setting &root ) const; |
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| 222 | }; |
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| 223 | |
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| 224 | UIREGISTER ( IMpmsmOT ); |
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| 225 | |
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[1327] | 226 | //! Evolution model of \f$ \omega, \vartheta\f$ for a PMSM drive and its derivative with respect to \f$x\f$ -- Scaled to [-1,1] |
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| 227 | class IMpmsmOTsc : public diffbifn { |
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| 228 | protected: |
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| 229 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 230 | |
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| 231 | bool cutoff; |
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| 232 | public: |
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| 233 | IMpmsmOTsc() :diffbifn ( ) {dimy=2; dimx = 2; dimu=4; dimc=6;cutoff=true;}; |
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| 234 | //! Set mechanical and electrical variables |
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| 235 | 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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| 236 | |
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| 237 | |
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| 238 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 239 | // last state |
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| 240 | const double &omm = x0 ( 0 ); |
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| 241 | const double &thm = x0 ( 1 ); |
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| 242 | double uam; |
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| 243 | double ubm; |
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| 244 | |
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| 245 | uam = u0(0); |
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| 246 | ubm = u0(1); |
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| 247 | |
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| 248 | const double &iam = u0 ( 2 ); |
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| 249 | const double &ibm = u0 ( 3 ); |
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| 250 | |
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| 251 | vec xk( 2 ); |
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| 252 | //ia |
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| 253 | //om |
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| 254 | xk ( 0 ) = omm + kp*p*p * Ypm/J*dt *Iref/Wref* ( ibm * cos ( thm*Thetaref/(1<<15) )-iam * sin ( thm*Thetaref/(1<<15) ) ); |
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| 255 | //th |
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| 256 | xk ( 1 ) = thm + omm*Wref/Thetaref*dt; // <0..2pi> |
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| 257 | if (cutoff) { |
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| 258 | if ( xk ( 1 ) >(1<<15) ) xk ( 1 )=-(1<<15); |
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| 259 | if ( xk ( 1 ) <-(1<<15) ) xk ( 1 ) =(1<<15); |
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| 260 | } |
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| 261 | return xk; |
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| 262 | } |
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| 263 | |
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| 264 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 265 | const double &omm = x0 ( 0 ); |
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| 266 | const double &thm = x0 ( 1 ); |
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| 267 | |
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| 268 | const double &iam = u0 ( 2 ); |
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| 269 | const double &ibm = u0 ( 3 ); |
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| 270 | |
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| 271 | // d ia |
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| 272 | // d om |
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| 273 | A ( 0,0 ) = 1.0; |
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| 274 | A ( 0,1 ) = 0.0;//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 275 | // d th |
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| 276 | A ( 1,0 ) = dt*Wref/Thetaref; |
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| 277 | A ( 1,1 ) = 1.0; |
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| 278 | } |
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| 279 | |
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| 280 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 281 | |
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| 282 | void from_setting( const Setting &root ) |
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| 283 | { |
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| 284 | |
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| 285 | const SettingResolver& params_b=root["params"]; |
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| 286 | const Setting& params=params_b.result; |
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| 287 | |
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| 288 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
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| 289 | params["kp"], params["p"], params["J"], 0.0); |
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| 290 | int cuto=0; |
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| 291 | if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);} |
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| 292 | }; |
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| 293 | |
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| 294 | // TODO dodelat void to_setting( Setting &root ) const; |
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| 295 | }; |
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[1295] | 296 | |
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[1327] | 297 | UIREGISTER ( IMpmsmOTsc ); |
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| 298 | |
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| 299 | |
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[232] | 300 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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[1292] | 301 | class IMpmsmDQ : public diffbifn { |
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| 302 | protected: |
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| 303 | double Rs, Ld, Lq, dt, Ypm, kp, p, J, Mz; |
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| 304 | |
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| 305 | bool compensate; |
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| 306 | bool cutoff; |
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| 307 | public: |
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| 308 | IMpmsmDQ() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2; dimc=6;compensate=true;cutoff=true;}; |
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| 309 | //! Set mechanical and electrical variables |
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| 310 | 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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| 311 | |
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| 312 | void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){ |
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| 313 | /* ua=u0[0]; |
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| 314 | * ub=u0[1]; |
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| 315 | * return;*/ |
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| 316 | double sq3=sqrt ( 3.0 ); |
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| 317 | double i1=x0(0); |
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| 318 | double i2=0.5* ( -i1+sq3*x0[1] ); |
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| 319 | double i3=0.5* ( -i1-sq3*x0[1] ); |
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| 320 | double u1=u0(0); |
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| 321 | double u2=0.5* ( -u1+sq3*u0(1) ); |
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| 322 | double u3=0.5* ( -u1-sq3*u0(1) ); |
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| 323 | |
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| 324 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
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| 325 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
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| 326 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
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| 327 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
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| 328 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
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| 329 | } |
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| 330 | |
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| 331 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 332 | // last state |
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| 333 | const double &idm = x0 ( 0 ); |
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| 334 | const double &iqm = x0 ( 1 ); |
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| 335 | const double &omm = x0 ( 2 ); |
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| 336 | const double &thm = x0 ( 3 ); |
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| 337 | double uam; |
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| 338 | double ubm; |
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| 339 | |
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| 340 | if (compensate){ |
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| 341 | modelpwm(x0,u0,uam,ubm); |
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| 342 | } else { |
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| 343 | uam = u0(0); |
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| 344 | ubm = u0(1); |
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| 345 | } |
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| 346 | |
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| 347 | vec xk( 4 ); |
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| 348 | //id |
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| 349 | 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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| 350 | //iq |
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| 351 | 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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| 352 | //om |
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| 353 | xk ( 2 ) = omm + kp*p*p /J*dt* ( (Ld-Lq)*idm+ Ypm)*iqm - p/J*dt*Mz; |
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| 354 | //th |
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| 355 | xk ( 3 ) = thm + omm*dt; // <0..2pi> |
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| 356 | if (cutoff) { |
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| 357 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 358 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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| 359 | } |
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| 360 | return xk; |
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| 361 | } |
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| 362 | |
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| 363 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 364 | const double &idm = x0 ( 0 ); |
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| 365 | const double &iqm = x0 ( 1 ); |
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| 366 | const double &omm = x0 ( 2 ); |
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| 367 | const double &thm = x0 ( 3 ); |
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| 368 | |
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| 369 | double uam; |
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| 370 | double ubm; |
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| 371 | if (compensate){ |
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| 372 | modelpwm(x0,u0,uam,ubm); |
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| 373 | } else { |
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| 374 | uam = u0(0); |
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| 375 | ubm = u0(1); |
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| 376 | } |
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| 377 | // d id |
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| 378 | A ( 0,0 ) = ( 1.0- Rs/Ld*dt ); A ( 0,1 ) = Lq/Ld*dt*omm; |
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| 379 | A ( 0,2 ) = Lq/Ld*iqm*dt; A ( 0,3 ) = dt/Ld*(-sin(thm)*uam+cos(thm)*ubm); |
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| 380 | // d iq |
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| 381 | A ( 1,0 ) = -Ld/Lq*omm*dt ; A ( 1,1 ) = ( 1.0- Rs/Lq*dt ); |
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| 382 | 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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| 383 | // d om |
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| 384 | A ( 2,0 ) = kp*p*p /J*dt* ( Ld-Lq)*iqm; |
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| 385 | A ( 2,1 ) = kp*p*p /J*dt* ((Ld-Lq)*idm+Ypm); |
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| 386 | A ( 2,2 ) = 1.0; |
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| 387 | A ( 2,3 ) = 0; |
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| 388 | // d th |
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| 389 | A ( 3,0 ) = 0.0; |
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| 390 | A ( 3,1 ) = 0.0; |
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| 391 | A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 392 | } |
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| 393 | |
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| 394 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 395 | |
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| 396 | void from_setting( const Setting &root ) |
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| 397 | { |
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| 398 | |
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| 399 | const SettingResolver& params_b=root["params"]; |
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| 400 | const Setting& params=params_b.result; |
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| 401 | |
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| 402 | set_parameters ( params["Rs"], params["Ld"],params["Lq"], 125e-6, params["Fmag"], \ |
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| 403 | params["kp"], params["p"], params["J"], 0.0); |
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| 404 | int comp=0; |
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| 405 | if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);} |
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| 406 | int cuto=0; |
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[1295] | 407 | if (UI::get(cuto,root,"cutoff",UI::optional)){ |
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| 408 | cutoff=(cuto==1); |
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| 409 | } |
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[1292] | 410 | }; |
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| 411 | |
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| 412 | // TODO dodelat void to_setting( Setting &root ) const; |
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| 413 | }; |
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| 414 | |
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| 415 | UIREGISTER ( IMpmsmDQ ); |
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| 416 | |
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| 417 | |
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| 418 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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[318] | 419 | class IMpmsm2o : public IMpmsm { |
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[232] | 420 | protected: |
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[318] | 421 | // double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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[240] | 422 | //! store first derivatives for the use in second derivatives |
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| 423 | double dia, dib, dom, dth; |
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| 424 | //! d2t = dt^2/2, cth = cos(th), sth=sin(th) |
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| 425 | double d2t, cth, sth; |
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| 426 | double iam, ibm, omm, thm, uam, ubm; |
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[232] | 427 | public: |
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[318] | 428 | IMpmsm2o() :IMpmsm () {}; |
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[232] | 429 | //! Set mechanical and electrical variables |
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[240] | 430 | 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] | 431 | |
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| 432 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 433 | // last state |
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[240] | 434 | iam = x0 ( 0 ); |
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| 435 | ibm = x0 ( 1 ); |
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| 436 | omm = x0 ( 2 ); |
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| 437 | thm = x0 ( 3 ); |
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| 438 | uam = u0 ( 0 ); |
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| 439 | ubm = u0 ( 1 ); |
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[232] | 440 | |
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[240] | 441 | cth = cos(thm); |
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| 442 | sth = sin(thm); |
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[232] | 443 | |
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[240] | 444 | dia = (- Rs/Ls*iam + Ypm/Ls*omm * sth + uam/Ls); |
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| 445 | dib = (- Rs/Ls*ibm - Ypm/Ls*omm * cth + ubm/Ls); |
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| 446 | dom = kp*p*p * Ypm/J *( ibm * cth-iam * sth ) - p/J*Mz; |
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| 447 | dth = omm; |
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| 448 | |
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[232] | 449 | vec xk=zeros ( 4 ); |
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| 450 | xk ( 0 ) = iam + dt*dia;// +d2t*d2ia; |
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| 451 | xk ( 1 ) = ibm + dt*dib;// +d2t*d2ib; |
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| 452 | xk ( 2 ) = omm +dt*dom;// +d2t*d2om; |
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[318] | 453 | xk ( 3 ) = thm + dt*dth;// +d2t*dom; // <0..2pi> |
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[232] | 454 | |
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| 455 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 456 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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| 457 | return xk; |
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| 458 | } |
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| 459 | |
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[240] | 460 | //! eval 2nd order Taylor expansion, MUST be used only as a follow up AFTER eval()!! |
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| 461 | vec eval2o(const vec &du){ |
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| 462 | double dua = du ( 0 )/dt; |
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| 463 | double dub = du ( 1 )/dt; |
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| 464 | |
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| 465 | vec xth2o(4); |
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| 466 | xth2o(0) = (- Rs/Ls*dia + Ypm/Ls*(dom * sth + omm*cth) + dua/Ls); |
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| 467 | xth2o(1) = (- Rs/Ls*dib - Ypm/Ls*(dom * cth - omm*sth) + dub/Ls); |
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| 468 | xth2o(2) = kp*p*p * Ypm/J *( dib * cth-ibm*sth - (dia * sth + iam *cth)); |
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| 469 | xth2o(3) = dom; |
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[325] | 470 | // multiply by dt^2/2 |
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| 471 | xth2o*=d2t/2; |
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[240] | 472 | return xth2o; |
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| 473 | } |
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[232] | 474 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[240] | 475 | iam = x0 ( 0 ); |
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| 476 | ibm = x0 ( 1 ); |
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| 477 | omm = x0 ( 2 ); |
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| 478 | thm = x0 ( 3 ); |
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[232] | 479 | // d ia |
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| 480 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 481 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 482 | // d ib |
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| 483 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 484 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 485 | // d om |
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| 486 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 487 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 488 | A ( 2,2 ) = 1.0; |
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| 489 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 490 | // d th |
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| 491 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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[318] | 492 | // FOR d2t*dom!!!!!!!!! |
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| 493 | /* A ( 3,0 ) = dt* kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 494 | A ( 3,1 ) = dt* kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 495 | A ( 3,2 ) = dt; |
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| 496 | A ( 3,3 ) = 1.0 + dt* kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );*/ |
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[232] | 497 | } |
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| 498 | |
---|
| 499 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
---|
| 500 | |
---|
| 501 | }; |
---|
| 502 | |
---|
[357] | 503 | |
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| 504 | UIREGISTER ( IMpmsm2o ); |
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| 505 | |
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[145] | 506 | //! 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] | 507 | class IMpmsmStat : public IMpmsm { |
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[240] | 508 | public: |
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[63] | 509 | IMpmsmStat() :IMpmsm() {}; |
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| 510 | //! Set mechanical and electrical variables |
---|
| 511 | 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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| 512 | |
---|
| 513 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 514 | // last state |
---|
| 515 | double iam = x0 ( 0 ); |
---|
| 516 | double ibm = x0 ( 1 ); |
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| 517 | double omm = x0 ( 2 ); |
---|
| 518 | double thm = x0 ( 3 ); |
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| 519 | double uam = u0 ( 0 ); |
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| 520 | double ubm = u0 ( 1 ); |
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| 521 | |
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| 522 | vec xk=zeros ( 4 ); |
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| 523 | //ia |
---|
| 524 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
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| 525 | //ib |
---|
| 526 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
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| 527 | //om |
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[332] | 528 | xk ( 2 ) = omm - p/J*dt*Mz;// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ); |
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[33] | 529 | //th |
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[48] | 530 | xk ( 3 ) = rem(thm + omm*dt,2*pi); // <0..2pi> |
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[33] | 531 | return xk; |
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| 532 | } |
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| 533 | |
---|
| 534 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
[91] | 535 | // double iam = x0 ( 0 ); |
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| 536 | // double ibm = x0 ( 1 ); |
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[33] | 537 | double omm = x0 ( 2 ); |
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| 538 | double thm = x0 ( 3 ); |
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| 539 | // d ia |
---|
| 540 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 541 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 542 | // d ib |
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| 543 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 544 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 545 | // d om |
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[62] | 546 | A ( 2,0 ) = 0.0;//kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 547 | A ( 2,1 ) = 0.0;//kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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[33] | 548 | A ( 2,2 ) = 1.0; |
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[62] | 549 | A ( 2,3 ) = 0.0;//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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[33] | 550 | // d th |
---|
| 551 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
---|
| 552 | } |
---|
| 553 | |
---|
| 554 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
---|
| 555 | |
---|
| 556 | }; |
---|
| 557 | |
---|
[357] | 558 | UIREGISTER ( IMpmsmStat ); |
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| 559 | |
---|
| 560 | |
---|
[332] | 561 | //! State for PMSM with unknown Mz |
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| 562 | class IMpmsmMz: public IMpmsm{ |
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| 563 | public: |
---|
| 564 | IMpmsmMz() {dimy=5; dimx = 5; dimu=2;}; |
---|
| 565 | //! extend eval by Mz |
---|
| 566 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 567 | vec x(4); |
---|
| 568 | Mz = x0(4); //last of the state is Mz |
---|
| 569 | |
---|
| 570 | //teh first 4 states are same as before (given that Mz is set) |
---|
| 571 | x=IMpmsm::eval(x0,u0); // including model of drops! |
---|
| 572 | return concat(x,Mz); |
---|
| 573 | } |
---|
| 574 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 575 | //call initial |
---|
| 576 | if (full) A.clear(); |
---|
| 577 | IMpmsm::dfdx_cond(x0,u0,A,full); |
---|
| 578 | A(2,4)=- p/J*dt; |
---|
| 579 | A(4,4)=1.0; |
---|
| 580 | } |
---|
| 581 | }; |
---|
| 582 | |
---|
[357] | 583 | UIREGISTER ( IMpmsmMz ); |
---|
| 584 | |
---|
[332] | 585 | //! State for PMSM with unknown Mz |
---|
| 586 | class IMpmsmStatMz: public IMpmsmStat{ |
---|
| 587 | public: |
---|
| 588 | IMpmsmStatMz() {dimy=5; dimx = 5; dimu=2;}; |
---|
| 589 | //! extend eval by Mz |
---|
| 590 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 591 | vec x(4); |
---|
| 592 | Mz = x0(4); //last of the state is Mz |
---|
| 593 | |
---|
| 594 | //teh first 4 states are same as before (given that Mz is set) |
---|
| 595 | x=IMpmsmStat::eval(x0,u0); // including model of drops! |
---|
| 596 | return concat(x,Mz); |
---|
| 597 | } |
---|
| 598 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 599 | //call initial |
---|
| 600 | if (full) A.clear(); |
---|
| 601 | IMpmsmStat::dfdx_cond(x0,u0,A,full); |
---|
| 602 | A(2,4)=- p/J*dt; |
---|
| 603 | A(4,4)=1.0; |
---|
| 604 | } |
---|
| 605 | }; |
---|
| 606 | |
---|
[357] | 607 | UIREGISTER ( IMpmsmStatMz ); |
---|
[332] | 608 | |
---|
[357] | 609 | |
---|
[145] | 610 | //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ |
---|
[33] | 611 | class OMpmsm: public diffbifn { |
---|
| 612 | public: |
---|
[666] | 613 | OMpmsm() :diffbifn () {dimy=2;dimx=4;dimu=0;}; |
---|
[33] | 614 | |
---|
| 615 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 616 | vec y ( 2 ); |
---|
| 617 | y ( 0 ) = x0 ( 0 ); |
---|
| 618 | y ( 1 ) = x0 ( 1 ); |
---|
| 619 | return y; |
---|
| 620 | } |
---|
| 621 | |
---|
| 622 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 623 | A.clear(); |
---|
| 624 | A ( 0,0 ) = 1.0; |
---|
| 625 | A ( 1,1 ) = 1.0; |
---|
| 626 | } |
---|
| 627 | }; |
---|
| 628 | |
---|
[357] | 629 | UIREGISTER ( OMpmsm ); |
---|
| 630 | |
---|
[1160] | 631 | //! Observation model for PMSM drive with roundoff-errors |
---|
| 632 | class OMpmsmRO: public diffbifn { |
---|
| 633 | public: |
---|
| 634 | OMpmsmRO() :diffbifn () {dimy=2;dimx=4;dimu=0;}; |
---|
| 635 | |
---|
| 636 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 637 | vec y ( 2 ); |
---|
| 638 | /* y ( 0 ) = x0 ( 0 ); |
---|
| 639 | y ( 1 ) = x0 ( 1 );*/ |
---|
| 640 | |
---|
| 641 | double istep=0.085; |
---|
| 642 | y[ 0 ] = istep*itpp::round( x0[ 0 ]/ istep) ; |
---|
| 643 | y[ 1 ] = istep*itpp::round( x0[ 1 ]/ istep); |
---|
| 644 | |
---|
| 645 | return y; |
---|
| 646 | } |
---|
| 647 | |
---|
| 648 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 649 | A.clear(); |
---|
| 650 | A ( 0,0 ) = 1.0; |
---|
| 651 | A ( 1,1 ) = 1.0; |
---|
| 652 | } |
---|
| 653 | }; |
---|
| 654 | |
---|
| 655 | UIREGISTER ( OMpmsmRO ); |
---|
| 656 | |
---|
[1184] | 657 | class OMpmsmROMz: public OMpmsmRO{ |
---|
| 658 | public: |
---|
| 659 | OMpmsmROMz() :OMpmsmRO() {dimy=2;dimx=5;dimu=0;}; |
---|
| 660 | }; |
---|
| 661 | UIREGISTER ( OMpmsmROMz ); |
---|
[1160] | 662 | |
---|
[332] | 663 | //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ for full vector of observations |
---|
| 664 | class OMpmsm4: public diffbifn { |
---|
| 665 | public: |
---|
| 666 | OMpmsm4() :diffbifn () {dimy=4;dimx=4;dimu=2;}; |
---|
| 667 | |
---|
| 668 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 669 | vec y ( 4 ); |
---|
| 670 | y = x0 ; |
---|
| 671 | return y; |
---|
| 672 | } |
---|
| 673 | |
---|
| 674 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
[1292] | 675 | A.clear(); |
---|
| 676 | A(0,0)=1.0; |
---|
| 677 | A(1,1)=1.0; |
---|
[332] | 678 | } |
---|
| 679 | }; |
---|
| 680 | |
---|
[357] | 681 | UIREGISTER ( OMpmsm4 ); |
---|
| 682 | |
---|
[1292] | 683 | //! Observation model for PMSM drive id d-q coordinates |
---|
| 684 | class OMpmsmDQ: public diffbifn { |
---|
| 685 | public: |
---|
| 686 | OMpmsmDQ() :diffbifn () {dimy=2;dimx=4;dimu=2;}; |
---|
| 687 | |
---|
| 688 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 689 | vec y ( 2 ); |
---|
| 690 | double ct = cos(x0(3)); |
---|
| 691 | double st = sin(x0(3)); |
---|
| 692 | y(0) = ct*x0(0)-st*x0(1); |
---|
| 693 | y(1) = st*x0(0)+ct*x0(1); |
---|
| 694 | |
---|
| 695 | return y; |
---|
| 696 | } |
---|
| 697 | |
---|
| 698 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 699 | double ct = cos(x0(3)); |
---|
| 700 | double st = sin(x0(3)); |
---|
| 701 | A(0,0) = ct; |
---|
| 702 | A(1,0) = -st; |
---|
| 703 | A(0,1) = st; |
---|
| 704 | A(1,1) = ct; |
---|
| 705 | |
---|
| 706 | A(0,2) = 0.0; |
---|
| 707 | A(1,2) = 0.0; |
---|
| 708 | A(0,3) = -st*x0(0)-ct*x0(1); |
---|
| 709 | A(1,3) = ct*x0(0)-st*x0(1); |
---|
| 710 | } |
---|
| 711 | }; |
---|
[357] | 712 | |
---|
[1292] | 713 | UIREGISTER ( OMpmsmDQ ); |
---|
[357] | 714 | |
---|
[1295] | 715 | //! Observation model for PMSM drive in reduced form coordinates |
---|
| 716 | class OMpmsmOT: public diffbifn { |
---|
| 717 | public: |
---|
| 718 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
---|
| 719 | |
---|
| 720 | 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;} |
---|
| 721 | |
---|
| 722 | OMpmsmOT() :diffbifn () {dimy=2;dimx=2;dimu=4;}; |
---|
| 723 | |
---|
| 724 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 725 | vec y ( 2 ); |
---|
| 726 | const double &omm = x0(0); |
---|
| 727 | const double &thm = x0(1); |
---|
| 728 | |
---|
| 729 | const double &uam = u0 ( 0 ); |
---|
| 730 | const double &ubm = u0 ( 1 ); |
---|
| 731 | const double &iam = u0 ( 2 ); |
---|
| 732 | const double &ibm = u0 ( 3 ); |
---|
| 733 | |
---|
| 734 | y ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
---|
| 735 | //ib |
---|
| 736 | y ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
---|
| 737 | |
---|
| 738 | return y; |
---|
| 739 | } |
---|
| 740 | |
---|
| 741 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 742 | const double &omm = x0(0); |
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| 743 | const double &thm = x0(1); |
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| 744 | |
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| 745 | A ( 0,0 ) = Ypm/Ls*dt* sin ( thm ); |
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| 746 | A ( 0,1 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 747 | // d ib |
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| 748 | A ( 1,0 ) = -Ypm/Ls*dt* cos ( thm ); |
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| 749 | A ( 1,1 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 750 | |
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| 751 | |
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| 752 | } |
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[1292] | 753 | |
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[1295] | 754 | void from_setting( const Setting &root ) |
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| 755 | { |
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| 756 | |
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| 757 | const SettingResolver& params_b=root["params"]; |
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| 758 | const Setting& params=params_b.result; |
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| 759 | |
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| 760 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
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| 761 | params["kp"], params["p"], params["J"], 0.0); |
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| 762 | }; |
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| 763 | |
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| 764 | }; |
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| 765 | |
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| 766 | UIREGISTER ( OMpmsmOT ); |
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| 767 | |
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[1327] | 768 | //! Observation model for PMSM drive in reduced form coordinates -- scaled to [-1,1] |
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| 769 | class OMpmsmOTsc: public diffbifn { |
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| 770 | public: |
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| 771 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 772 | |
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| 773 | 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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| 774 | |
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| 775 | OMpmsmOTsc() :diffbifn () {dimy=2;dimx=2;dimu=4;}; |
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| 776 | |
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| 777 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 778 | vec y ( 2 ); |
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| 779 | const double &omm = x0(0); |
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| 780 | const double &thm = x0(1); |
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| 781 | |
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| 782 | const double &uam = u0 ( 0 ); |
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| 783 | const double &ubm = u0 ( 1 ); |
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| 784 | const double &iam = u0 ( 2 ); |
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| 785 | const double &ibm = u0 ( 3 ); |
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| 786 | |
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| 787 | y ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm *Wref/Iref* sin ( thm*Thetaref/(1<<15) ) + (1<<15)*uam*dt/Ls /Iref; |
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| 788 | //ib |
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| 789 | y ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm *Wref/Iref* cos ( thm*Thetaref/(1<<15) ) + (1<<15)*ubm*dt/Ls /Iref; |
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| 790 | |
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| 791 | return y; |
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| 792 | } |
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| 793 | |
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| 794 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 795 | const double &omm = x0(0); |
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| 796 | const double &thm = x0(1); |
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| 797 | |
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| 798 | A ( 0,0 ) = Ypm/Ls*dt* Wref/Iref*sin ( thm*Thetaref/(1<<15) ); |
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| 799 | A ( 0,1 ) = Ypm/Ls*dt*omm *Wref/Iref*Thetaref/(1<<15)* ( cos ( thm*Thetaref/(1<<15) ) ); |
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| 800 | // d ib |
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| 801 | A ( 1,0 ) = -Ypm/Ls*dt* Wref/Iref*cos ( thm*Thetaref/(1<<15) ); |
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| 802 | A ( 1,1 ) = Ypm/Ls*dt*omm *Wref/Iref*Thetaref/(1<<15)* ( sin ( thm*Thetaref/(1<<15) ) ); |
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| 803 | |
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| 804 | |
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| 805 | } |
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| 806 | |
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| 807 | void from_setting( const Setting &root ) |
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| 808 | { |
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| 809 | |
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| 810 | const SettingResolver& params_b=root["params"]; |
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| 811 | const Setting& params=params_b.result; |
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| 812 | |
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| 813 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
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| 814 | params["kp"], params["p"], params["J"], 0.0); |
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| 815 | }; |
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| 816 | |
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| 817 | }; |
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[1295] | 818 | |
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[1327] | 819 | UIREGISTER ( OMpmsmOTsc ); |
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| 820 | |
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| 821 | |
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[224] | 822 | /*!@}*/ |
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[33] | 823 | #endif //PMSM_H |
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