[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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[1341] | 31 | IMpmsm() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2; dimc=6;compensate=false;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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[1341] | 136 | IMpmsmOT() :diffbifn ( ) {dimy=2; dimx = 2; dimu=4; dimc=6;compensate=false;cutoff=true;}; |
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[1295] | 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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[1341] | 190 | // const double &omm = x0 ( 0 ); |
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[1295] | 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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[1341] | 226 | //! Evolution model of \f$ \omega, \vartheta\f$ for a PMSM drive and its derivative with respect to \f$x\f$ |
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| 227 | class IMpmsmOTM : 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 compensate; |
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| 232 | bool cutoff; |
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| 233 | public: |
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| 234 | IMpmsmOTM() :diffbifn ( ) {dimy=2; dimx = 3; dimu=4; dimc=6;compensate=false;cutoff=true;}; |
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| 235 | //! Set mechanical and electrical variables |
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| 236 | 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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| 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 &omm = x0 ( 0 ); |
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| 260 | const double &thm = x0 ( 1 ); |
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| 261 | const double &Mm = x0 ( 2 ); |
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| 262 | double uam; |
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| 263 | double ubm; |
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| 264 | |
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| 265 | if (compensate){ |
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| 266 | modelpwm(x0,u0,uam,ubm); |
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| 267 | } else { |
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| 268 | uam = u0(0); |
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| 269 | ubm = u0(1); |
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| 270 | } |
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| 271 | |
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| 272 | const double &iam = u0 ( 2 ); |
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| 273 | const double &ibm = u0 ( 3 ); |
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| 274 | |
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| 275 | vec xk( 3 ); |
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| 276 | //ia |
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| 277 | //om |
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| 278 | xk ( 0 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mm; |
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| 279 | //th |
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| 280 | xk ( 1 ) = thm + omm*dt; // <0..2pi> |
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| 281 | xk (2) = Mm; |
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| 282 | |
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| 283 | if (cutoff) { |
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| 284 | if ( xk ( 1 ) >pi ) xk ( 1 )-=2*pi; |
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| 285 | if ( xk ( 1 ) <-pi ) xk ( 1 ) +=2*pi; |
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| 286 | } |
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| 287 | return xk; |
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| 288 | } |
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| 289 | |
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| 290 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 291 | // const double &omm = x0 ( 0 ); |
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| 292 | const double &thm = x0 ( 1 ); |
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| 293 | // const double &Mm = x0 ( 2 ); |
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| 294 | |
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| 295 | const double &iam = u0 ( 2 ); |
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| 296 | const double &ibm = u0 ( 3 ); |
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| 297 | |
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| 298 | // d ia |
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| 299 | // d om |
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| 300 | A ( 0,0 ) = 1.0; |
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| 301 | A ( 0,1 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 302 | A ( 0,2 ) = -p/J*dt; |
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| 303 | // d th |
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| 304 | A ( 1,0 ) = dt; |
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| 305 | A ( 1,1 ) = 1.0; |
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| 306 | A ( 1,2 ) = 0.0; |
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| 307 | // d M |
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| 308 | A ( 2,0 ) = 0.0; |
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| 309 | A ( 2,1 ) = 0.0; |
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| 310 | A ( 2,2 ) = 1.0; |
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| 311 | } |
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| 312 | |
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| 313 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 314 | |
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| 315 | void from_setting( const Setting &root ) |
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| 316 | { |
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| 317 | |
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| 318 | const SettingResolver& params_b=root["params"]; |
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| 319 | const Setting& params=params_b.result; |
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| 320 | |
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| 321 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
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| 322 | params["kp"], params["p"], params["J"], 0.0); |
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| 323 | int comp=0; |
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| 324 | if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);} |
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| 325 | int cuto=0; |
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| 326 | if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);} |
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| 327 | }; |
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| 328 | |
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| 329 | // TODO dodelat void to_setting( Setting &root ) const; |
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| 330 | }; |
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| 331 | |
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| 332 | UIREGISTER ( IMpmsmOTM ); |
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| 333 | |
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[1327] | 334 | //! 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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| 335 | class IMpmsmOTsc : public diffbifn { |
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| 336 | protected: |
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| 337 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 338 | |
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| 339 | bool cutoff; |
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| 340 | public: |
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| 341 | IMpmsmOTsc() :diffbifn ( ) {dimy=2; dimx = 2; dimu=4; dimc=6;cutoff=true;}; |
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| 342 | //! Set mechanical and electrical variables |
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| 343 | 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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| 344 | |
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| 345 | |
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| 346 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 347 | // last state |
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| 348 | const double &omm = x0 ( 0 ); |
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| 349 | const double &thm = x0 ( 1 ); |
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| 350 | double uam; |
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| 351 | double ubm; |
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| 352 | |
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| 353 | uam = u0(0); |
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| 354 | ubm = u0(1); |
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| 355 | |
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| 356 | const double &iam = u0 ( 2 ); |
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| 357 | const double &ibm = u0 ( 3 ); |
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| 358 | |
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| 359 | vec xk( 2 ); |
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| 360 | //ia |
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| 361 | //om |
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| 362 | 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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| 363 | //th |
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| 364 | xk ( 1 ) = thm + omm*Wref/Thetaref*dt; // <0..2pi> |
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| 365 | if (cutoff) { |
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| 366 | if ( xk ( 1 ) >(1<<15) ) xk ( 1 )=-(1<<15); |
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| 367 | if ( xk ( 1 ) <-(1<<15) ) xk ( 1 ) =(1<<15); |
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| 368 | } |
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| 369 | return xk; |
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| 370 | } |
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| 371 | |
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| 372 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 373 | const double &omm = x0 ( 0 ); |
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| 374 | const double &thm = x0 ( 1 ); |
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| 375 | |
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| 376 | const double &iam = u0 ( 2 ); |
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| 377 | const double &ibm = u0 ( 3 ); |
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| 378 | |
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| 379 | // d ia |
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| 380 | // d om |
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| 381 | A ( 0,0 ) = 1.0; |
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| 382 | A ( 0,1 ) = 0.0;//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 383 | // d th |
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| 384 | A ( 1,0 ) = dt*Wref/Thetaref; |
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| 385 | A ( 1,1 ) = 1.0; |
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| 386 | } |
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| 387 | |
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| 388 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 389 | |
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| 390 | void from_setting( const Setting &root ) |
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| 391 | { |
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| 392 | |
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| 393 | const SettingResolver& params_b=root["params"]; |
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| 394 | const Setting& params=params_b.result; |
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| 395 | |
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| 396 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
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| 397 | params["kp"], params["p"], params["J"], 0.0); |
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| 398 | int cuto=0; |
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| 399 | if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);} |
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| 400 | }; |
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| 401 | |
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| 402 | // TODO dodelat void to_setting( Setting &root ) const; |
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| 403 | }; |
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[1295] | 404 | |
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[1327] | 405 | UIREGISTER ( IMpmsmOTsc ); |
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| 406 | |
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| 407 | |
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[232] | 408 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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[1292] | 409 | class IMpmsmDQ : public diffbifn { |
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| 410 | protected: |
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| 411 | double Rs, Ld, Lq, dt, Ypm, kp, p, J, Mz; |
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| 412 | |
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| 413 | bool compensate; |
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| 414 | bool cutoff; |
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| 415 | public: |
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| 416 | IMpmsmDQ() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2; dimc=6;compensate=true;cutoff=true;}; |
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| 417 | //! Set mechanical and electrical variables |
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| 418 | 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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| 419 | |
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| 420 | void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){ |
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| 421 | /* ua=u0[0]; |
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| 422 | * ub=u0[1]; |
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| 423 | * return;*/ |
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| 424 | double sq3=sqrt ( 3.0 ); |
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| 425 | double i1=x0(0); |
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| 426 | double i2=0.5* ( -i1+sq3*x0[1] ); |
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| 427 | double i3=0.5* ( -i1-sq3*x0[1] ); |
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| 428 | double u1=u0(0); |
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| 429 | double u2=0.5* ( -u1+sq3*u0(1) ); |
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| 430 | double u3=0.5* ( -u1-sq3*u0(1) ); |
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| 431 | |
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| 432 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
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| 433 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
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| 434 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
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| 435 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
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| 436 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
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| 437 | } |
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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 | const double &idm = x0 ( 0 ); |
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| 442 | const double &iqm = x0 ( 1 ); |
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| 443 | const double &omm = x0 ( 2 ); |
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| 444 | const double &thm = x0 ( 3 ); |
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| 445 | double uam; |
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| 446 | double ubm; |
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| 447 | |
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| 448 | if (compensate){ |
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| 449 | modelpwm(x0,u0,uam,ubm); |
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| 450 | } else { |
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| 451 | uam = u0(0); |
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| 452 | ubm = u0(1); |
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| 453 | } |
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| 454 | |
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| 455 | vec xk( 4 ); |
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| 456 | //id |
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| 457 | 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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| 458 | //iq |
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| 459 | 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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| 460 | //om |
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| 461 | xk ( 2 ) = omm + kp*p*p /J*dt* ( (Ld-Lq)*idm+ Ypm)*iqm - p/J*dt*Mz; |
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| 462 | //th |
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| 463 | xk ( 3 ) = thm + omm*dt; // <0..2pi> |
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| 464 | if (cutoff) { |
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| 465 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 466 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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| 467 | } |
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| 468 | return xk; |
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| 469 | } |
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| 470 | |
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| 471 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 472 | const double &idm = x0 ( 0 ); |
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| 473 | const double &iqm = x0 ( 1 ); |
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| 474 | const double &omm = x0 ( 2 ); |
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| 475 | const double &thm = x0 ( 3 ); |
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| 476 | |
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| 477 | double uam; |
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| 478 | double ubm; |
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| 479 | if (compensate){ |
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| 480 | modelpwm(x0,u0,uam,ubm); |
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| 481 | } else { |
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| 482 | uam = u0(0); |
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| 483 | ubm = u0(1); |
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| 484 | } |
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| 485 | // d id |
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| 486 | A ( 0,0 ) = ( 1.0- Rs/Ld*dt ); A ( 0,1 ) = Lq/Ld*dt*omm; |
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| 487 | A ( 0,2 ) = Lq/Ld*iqm*dt; A ( 0,3 ) = dt/Ld*(-sin(thm)*uam+cos(thm)*ubm); |
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| 488 | // d iq |
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| 489 | A ( 1,0 ) = -Ld/Lq*omm*dt ; A ( 1,1 ) = ( 1.0- Rs/Lq*dt ); |
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| 490 | 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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| 491 | // d om |
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| 492 | A ( 2,0 ) = kp*p*p /J*dt* ( Ld-Lq)*iqm; |
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| 493 | A ( 2,1 ) = kp*p*p /J*dt* ((Ld-Lq)*idm+Ypm); |
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| 494 | A ( 2,2 ) = 1.0; |
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| 495 | A ( 2,3 ) = 0; |
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| 496 | // d th |
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| 497 | A ( 3,0 ) = 0.0; |
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| 498 | A ( 3,1 ) = 0.0; |
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| 499 | A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 500 | } |
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| 501 | |
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| 502 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 503 | |
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| 504 | void from_setting( const Setting &root ) |
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| 505 | { |
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| 506 | |
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| 507 | const SettingResolver& params_b=root["params"]; |
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| 508 | const Setting& params=params_b.result; |
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| 509 | |
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| 510 | set_parameters ( params["Rs"], params["Ld"],params["Lq"], 125e-6, params["Fmag"], \ |
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| 511 | params["kp"], params["p"], params["J"], 0.0); |
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| 512 | int comp=0; |
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| 513 | if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);} |
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| 514 | int cuto=0; |
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[1295] | 515 | if (UI::get(cuto,root,"cutoff",UI::optional)){ |
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| 516 | cutoff=(cuto==1); |
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| 517 | } |
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[1292] | 518 | }; |
---|
| 519 | |
---|
| 520 | // TODO dodelat void to_setting( Setting &root ) const; |
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| 521 | }; |
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| 522 | |
---|
| 523 | UIREGISTER ( IMpmsmDQ ); |
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| 524 | |
---|
| 525 | |
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| 526 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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[318] | 527 | class IMpmsm2o : public IMpmsm { |
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[232] | 528 | protected: |
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[318] | 529 | // double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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[240] | 530 | //! store first derivatives for the use in second derivatives |
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| 531 | double dia, dib, dom, dth; |
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| 532 | //! d2t = dt^2/2, cth = cos(th), sth=sin(th) |
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| 533 | double d2t, cth, sth; |
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| 534 | double iam, ibm, omm, thm, uam, ubm; |
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[232] | 535 | public: |
---|
[318] | 536 | IMpmsm2o() :IMpmsm () {}; |
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[232] | 537 | //! Set mechanical and electrical variables |
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[240] | 538 | 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] | 539 | |
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| 540 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 541 | // last state |
---|
[240] | 542 | iam = x0 ( 0 ); |
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| 543 | ibm = x0 ( 1 ); |
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| 544 | omm = x0 ( 2 ); |
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| 545 | thm = x0 ( 3 ); |
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| 546 | uam = u0 ( 0 ); |
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| 547 | ubm = u0 ( 1 ); |
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[232] | 548 | |
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[240] | 549 | cth = cos(thm); |
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| 550 | sth = sin(thm); |
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[232] | 551 | |
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[240] | 552 | dia = (- Rs/Ls*iam + Ypm/Ls*omm * sth + uam/Ls); |
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| 553 | dib = (- Rs/Ls*ibm - Ypm/Ls*omm * cth + ubm/Ls); |
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| 554 | dom = kp*p*p * Ypm/J *( ibm * cth-iam * sth ) - p/J*Mz; |
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| 555 | dth = omm; |
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| 556 | |
---|
[232] | 557 | vec xk=zeros ( 4 ); |
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| 558 | xk ( 0 ) = iam + dt*dia;// +d2t*d2ia; |
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| 559 | xk ( 1 ) = ibm + dt*dib;// +d2t*d2ib; |
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| 560 | xk ( 2 ) = omm +dt*dom;// +d2t*d2om; |
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[318] | 561 | xk ( 3 ) = thm + dt*dth;// +d2t*dom; // <0..2pi> |
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[232] | 562 | |
---|
| 563 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
---|
| 564 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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| 565 | return xk; |
---|
| 566 | } |
---|
| 567 | |
---|
[240] | 568 | //! eval 2nd order Taylor expansion, MUST be used only as a follow up AFTER eval()!! |
---|
| 569 | vec eval2o(const vec &du){ |
---|
| 570 | double dua = du ( 0 )/dt; |
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| 571 | double dub = du ( 1 )/dt; |
---|
| 572 | |
---|
| 573 | vec xth2o(4); |
---|
| 574 | xth2o(0) = (- Rs/Ls*dia + Ypm/Ls*(dom * sth + omm*cth) + dua/Ls); |
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| 575 | xth2o(1) = (- Rs/Ls*dib - Ypm/Ls*(dom * cth - omm*sth) + dub/Ls); |
---|
| 576 | xth2o(2) = kp*p*p * Ypm/J *( dib * cth-ibm*sth - (dia * sth + iam *cth)); |
---|
| 577 | xth2o(3) = dom; |
---|
[325] | 578 | // multiply by dt^2/2 |
---|
| 579 | xth2o*=d2t/2; |
---|
[240] | 580 | return xth2o; |
---|
| 581 | } |
---|
[232] | 582 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
[240] | 583 | iam = x0 ( 0 ); |
---|
| 584 | ibm = x0 ( 1 ); |
---|
| 585 | omm = x0 ( 2 ); |
---|
| 586 | thm = x0 ( 3 ); |
---|
[232] | 587 | // d ia |
---|
| 588 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
---|
| 589 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
---|
| 590 | // d ib |
---|
| 591 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
---|
| 592 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
---|
| 593 | // d om |
---|
| 594 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
---|
| 595 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
---|
| 596 | A ( 2,2 ) = 1.0; |
---|
| 597 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
---|
| 598 | // d th |
---|
| 599 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
---|
[318] | 600 | // FOR d2t*dom!!!!!!!!! |
---|
| 601 | /* A ( 3,0 ) = dt* kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
---|
| 602 | A ( 3,1 ) = dt* kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
---|
| 603 | A ( 3,2 ) = dt; |
---|
| 604 | A ( 3,3 ) = 1.0 + dt* kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );*/ |
---|
[232] | 605 | } |
---|
| 606 | |
---|
| 607 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
---|
| 608 | |
---|
| 609 | }; |
---|
| 610 | |
---|
[357] | 611 | |
---|
| 612 | UIREGISTER ( IMpmsm2o ); |
---|
| 613 | |
---|
[145] | 614 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$, equation for \f$\omega\f$ is omitted.$ |
---|
[63] | 615 | class IMpmsmStat : public IMpmsm { |
---|
[240] | 616 | public: |
---|
[63] | 617 | IMpmsmStat() :IMpmsm() {}; |
---|
| 618 | //! Set mechanical and electrical variables |
---|
| 619 | 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;} |
---|
| 620 | |
---|
| 621 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 622 | // last state |
---|
| 623 | double iam = x0 ( 0 ); |
---|
| 624 | double ibm = x0 ( 1 ); |
---|
| 625 | double omm = x0 ( 2 ); |
---|
| 626 | double thm = x0 ( 3 ); |
---|
| 627 | double uam = u0 ( 0 ); |
---|
| 628 | double ubm = u0 ( 1 ); |
---|
| 629 | |
---|
| 630 | vec xk=zeros ( 4 ); |
---|
| 631 | //ia |
---|
| 632 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
---|
| 633 | //ib |
---|
| 634 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
---|
| 635 | //om |
---|
[332] | 636 | xk ( 2 ) = omm - p/J*dt*Mz;// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ); |
---|
[33] | 637 | //th |
---|
[48] | 638 | xk ( 3 ) = rem(thm + omm*dt,2*pi); // <0..2pi> |
---|
[33] | 639 | return xk; |
---|
| 640 | } |
---|
| 641 | |
---|
| 642 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
[91] | 643 | // double iam = x0 ( 0 ); |
---|
| 644 | // double ibm = x0 ( 1 ); |
---|
[33] | 645 | double omm = x0 ( 2 ); |
---|
| 646 | double thm = x0 ( 3 ); |
---|
| 647 | // d ia |
---|
| 648 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
---|
| 649 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
---|
| 650 | // d ib |
---|
| 651 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
---|
| 652 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
---|
| 653 | // d om |
---|
[62] | 654 | A ( 2,0 ) = 0.0;//kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
---|
| 655 | A ( 2,1 ) = 0.0;//kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
---|
[33] | 656 | A ( 2,2 ) = 1.0; |
---|
[62] | 657 | A ( 2,3 ) = 0.0;//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
---|
[33] | 658 | // d th |
---|
| 659 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
---|
| 660 | } |
---|
| 661 | |
---|
| 662 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
---|
| 663 | |
---|
| 664 | }; |
---|
| 665 | |
---|
[357] | 666 | UIREGISTER ( IMpmsmStat ); |
---|
| 667 | |
---|
| 668 | |
---|
[332] | 669 | //! State for PMSM with unknown Mz |
---|
| 670 | class IMpmsmMz: public IMpmsm{ |
---|
| 671 | public: |
---|
| 672 | IMpmsmMz() {dimy=5; dimx = 5; dimu=2;}; |
---|
| 673 | //! extend eval by Mz |
---|
| 674 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 675 | vec x(4); |
---|
| 676 | Mz = x0(4); //last of the state is Mz |
---|
| 677 | |
---|
| 678 | //teh first 4 states are same as before (given that Mz is set) |
---|
| 679 | x=IMpmsm::eval(x0,u0); // including model of drops! |
---|
| 680 | return concat(x,Mz); |
---|
| 681 | } |
---|
| 682 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 683 | //call initial |
---|
| 684 | if (full) A.clear(); |
---|
| 685 | IMpmsm::dfdx_cond(x0,u0,A,full); |
---|
| 686 | A(2,4)=- p/J*dt; |
---|
| 687 | A(4,4)=1.0; |
---|
| 688 | } |
---|
| 689 | }; |
---|
| 690 | |
---|
[357] | 691 | UIREGISTER ( IMpmsmMz ); |
---|
| 692 | |
---|
[332] | 693 | //! State for PMSM with unknown Mz |
---|
| 694 | class IMpmsmStatMz: public IMpmsmStat{ |
---|
| 695 | public: |
---|
| 696 | IMpmsmStatMz() {dimy=5; dimx = 5; dimu=2;}; |
---|
| 697 | //! extend eval by Mz |
---|
| 698 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 699 | vec x(4); |
---|
| 700 | Mz = x0(4); //last of the state is Mz |
---|
| 701 | |
---|
| 702 | //teh first 4 states are same as before (given that Mz is set) |
---|
| 703 | x=IMpmsmStat::eval(x0,u0); // including model of drops! |
---|
| 704 | return concat(x,Mz); |
---|
| 705 | } |
---|
| 706 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 707 | //call initial |
---|
| 708 | if (full) A.clear(); |
---|
| 709 | IMpmsmStat::dfdx_cond(x0,u0,A,full); |
---|
| 710 | A(2,4)=- p/J*dt; |
---|
| 711 | A(4,4)=1.0; |
---|
| 712 | } |
---|
| 713 | }; |
---|
| 714 | |
---|
[357] | 715 | UIREGISTER ( IMpmsmStatMz ); |
---|
[332] | 716 | |
---|
[357] | 717 | |
---|
[145] | 718 | //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ |
---|
[33] | 719 | class OMpmsm: public diffbifn { |
---|
| 720 | public: |
---|
[666] | 721 | OMpmsm() :diffbifn () {dimy=2;dimx=4;dimu=0;}; |
---|
[33] | 722 | |
---|
| 723 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 724 | vec y ( 2 ); |
---|
| 725 | y ( 0 ) = x0 ( 0 ); |
---|
| 726 | y ( 1 ) = x0 ( 1 ); |
---|
| 727 | return y; |
---|
| 728 | } |
---|
| 729 | |
---|
| 730 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 731 | A.clear(); |
---|
| 732 | A ( 0,0 ) = 1.0; |
---|
| 733 | A ( 1,1 ) = 1.0; |
---|
| 734 | } |
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| 735 | }; |
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| 736 | |
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[357] | 737 | UIREGISTER ( OMpmsm ); |
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| 738 | |
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[1160] | 739 | //! Observation model for PMSM drive with roundoff-errors |
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| 740 | class OMpmsmRO: public diffbifn { |
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| 741 | public: |
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| 742 | OMpmsmRO() :diffbifn () {dimy=2;dimx=4;dimu=0;}; |
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| 743 | |
---|
| 744 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 745 | vec y ( 2 ); |
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| 746 | /* y ( 0 ) = x0 ( 0 ); |
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| 747 | y ( 1 ) = x0 ( 1 );*/ |
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| 748 | |
---|
| 749 | double istep=0.085; |
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| 750 | y[ 0 ] = istep*itpp::round( x0[ 0 ]/ istep) ; |
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| 751 | y[ 1 ] = istep*itpp::round( x0[ 1 ]/ istep); |
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| 752 | |
---|
| 753 | return y; |
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| 754 | } |
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| 755 | |
---|
| 756 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 757 | A.clear(); |
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| 758 | A ( 0,0 ) = 1.0; |
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| 759 | A ( 1,1 ) = 1.0; |
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| 760 | } |
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| 761 | }; |
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| 762 | |
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| 763 | UIREGISTER ( OMpmsmRO ); |
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| 764 | |
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[1184] | 765 | class OMpmsmROMz: public OMpmsmRO{ |
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| 766 | public: |
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| 767 | OMpmsmROMz() :OMpmsmRO() {dimy=2;dimx=5;dimu=0;}; |
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| 768 | }; |
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| 769 | UIREGISTER ( OMpmsmROMz ); |
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[1160] | 770 | |
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[332] | 771 | //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ for full vector of observations |
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| 772 | class OMpmsm4: public diffbifn { |
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| 773 | public: |
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| 774 | OMpmsm4() :diffbifn () {dimy=4;dimx=4;dimu=2;}; |
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| 775 | |
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| 776 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 777 | vec y ( 4 ); |
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| 778 | y = x0 ; |
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| 779 | return y; |
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| 780 | } |
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| 781 | |
---|
| 782 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[1292] | 783 | A.clear(); |
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| 784 | A(0,0)=1.0; |
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| 785 | A(1,1)=1.0; |
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[332] | 786 | } |
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| 787 | }; |
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| 788 | |
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[357] | 789 | UIREGISTER ( OMpmsm4 ); |
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| 790 | |
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[1292] | 791 | //! Observation model for PMSM drive id d-q coordinates |
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| 792 | class OMpmsmDQ: public diffbifn { |
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| 793 | public: |
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| 794 | OMpmsmDQ() :diffbifn () {dimy=2;dimx=4;dimu=2;}; |
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| 795 | |
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| 796 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 797 | vec y ( 2 ); |
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| 798 | double ct = cos(x0(3)); |
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| 799 | double st = sin(x0(3)); |
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| 800 | y(0) = ct*x0(0)-st*x0(1); |
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| 801 | y(1) = st*x0(0)+ct*x0(1); |
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| 802 | |
---|
| 803 | return y; |
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| 804 | } |
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| 805 | |
---|
| 806 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 807 | double ct = cos(x0(3)); |
---|
| 808 | double st = sin(x0(3)); |
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| 809 | A(0,0) = ct; |
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| 810 | A(1,0) = -st; |
---|
| 811 | A(0,1) = st; |
---|
| 812 | A(1,1) = ct; |
---|
| 813 | |
---|
| 814 | A(0,2) = 0.0; |
---|
| 815 | A(1,2) = 0.0; |
---|
| 816 | A(0,3) = -st*x0(0)-ct*x0(1); |
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| 817 | A(1,3) = ct*x0(0)-st*x0(1); |
---|
| 818 | } |
---|
| 819 | }; |
---|
[357] | 820 | |
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[1292] | 821 | UIREGISTER ( OMpmsmDQ ); |
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[357] | 822 | |
---|
[1295] | 823 | //! Observation model for PMSM drive in reduced form coordinates |
---|
| 824 | class OMpmsmOT: public diffbifn { |
---|
| 825 | public: |
---|
| 826 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
---|
| 827 | |
---|
| 828 | 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;} |
---|
| 829 | |
---|
| 830 | OMpmsmOT() :diffbifn () {dimy=2;dimx=2;dimu=4;}; |
---|
| 831 | |
---|
| 832 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 833 | vec y ( 2 ); |
---|
| 834 | const double &omm = x0(0); |
---|
| 835 | const double &thm = x0(1); |
---|
| 836 | |
---|
| 837 | const double &uam = u0 ( 0 ); |
---|
| 838 | const double &ubm = u0 ( 1 ); |
---|
| 839 | const double &iam = u0 ( 2 ); |
---|
| 840 | const double &ibm = u0 ( 3 ); |
---|
| 841 | |
---|
| 842 | y ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
---|
| 843 | //ib |
---|
| 844 | y ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
---|
| 845 | |
---|
| 846 | return y; |
---|
| 847 | } |
---|
| 848 | |
---|
| 849 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 850 | const double &omm = x0(0); |
---|
| 851 | const double &thm = x0(1); |
---|
| 852 | |
---|
| 853 | A ( 0,0 ) = Ypm/Ls*dt* sin ( thm ); |
---|
| 854 | A ( 0,1 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
---|
| 855 | // d ib |
---|
| 856 | A ( 1,0 ) = -Ypm/Ls*dt* cos ( thm ); |
---|
| 857 | A ( 1,1 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
---|
| 858 | |
---|
| 859 | |
---|
| 860 | } |
---|
[1292] | 861 | |
---|
[1295] | 862 | void from_setting( const Setting &root ) |
---|
| 863 | { |
---|
| 864 | |
---|
| 865 | const SettingResolver& params_b=root["params"]; |
---|
| 866 | const Setting& params=params_b.result; |
---|
| 867 | |
---|
| 868 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
---|
| 869 | params["kp"], params["p"], params["J"], 0.0); |
---|
| 870 | }; |
---|
| 871 | |
---|
| 872 | }; |
---|
| 873 | |
---|
| 874 | UIREGISTER ( OMpmsmOT ); |
---|
| 875 | |
---|
[1341] | 876 | //! Observation model for PMSM drive in reduced form coordinates |
---|
| 877 | class OMpmsmOTM: public diffbifn { |
---|
| 878 | public: |
---|
| 879 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
---|
| 880 | |
---|
| 881 | 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;} |
---|
| 882 | |
---|
| 883 | OMpmsmOTM() :diffbifn () {dimy=2;dimx=2;dimu=4;}; |
---|
| 884 | |
---|
| 885 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 886 | vec y ( 2 ); |
---|
| 887 | const double &omm = x0(0); |
---|
| 888 | const double &thm = x0(1); |
---|
| 889 | |
---|
| 890 | const double &uam = u0 ( 0 ); |
---|
| 891 | const double &ubm = u0 ( 1 ); |
---|
| 892 | const double &iam = u0 ( 2 ); |
---|
| 893 | const double &ibm = u0 ( 3 ); |
---|
| 894 | |
---|
| 895 | y ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
---|
| 896 | //ib |
---|
| 897 | y ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
---|
| 898 | |
---|
| 899 | return y; |
---|
| 900 | } |
---|
| 901 | |
---|
| 902 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 903 | const double &omm = x0(0); |
---|
| 904 | const double &thm = x0(1); |
---|
| 905 | |
---|
| 906 | A ( 0,0 ) = Ypm/Ls*dt* sin ( thm ); |
---|
| 907 | A ( 0,1 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
---|
| 908 | A( 0,2) = 0.0; |
---|
| 909 | // d ib |
---|
| 910 | A ( 1,0 ) = -Ypm/Ls*dt* cos ( thm ); |
---|
| 911 | A ( 1,1 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
---|
| 912 | A(1,2) = 0.0; |
---|
| 913 | |
---|
| 914 | } |
---|
| 915 | |
---|
| 916 | void from_setting( const Setting &root ) |
---|
| 917 | { |
---|
| 918 | |
---|
| 919 | const SettingResolver& params_b=root["params"]; |
---|
| 920 | const Setting& params=params_b.result; |
---|
| 921 | |
---|
| 922 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
---|
| 923 | params["kp"], params["p"], params["J"], 0.0); |
---|
| 924 | }; |
---|
| 925 | |
---|
| 926 | }; |
---|
| 927 | |
---|
| 928 | UIREGISTER ( OMpmsmOTM ); |
---|
| 929 | |
---|
| 930 | |
---|
| 931 | |
---|
[1327] | 932 | //! Observation model for PMSM drive in reduced form coordinates -- scaled to [-1,1] |
---|
| 933 | class OMpmsmOTsc: public diffbifn { |
---|
| 934 | public: |
---|
| 935 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
---|
| 936 | |
---|
| 937 | 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;} |
---|
| 938 | |
---|
| 939 | OMpmsmOTsc() :diffbifn () {dimy=2;dimx=2;dimu=4;}; |
---|
| 940 | |
---|
| 941 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 942 | vec y ( 2 ); |
---|
| 943 | const double &omm = x0(0); |
---|
| 944 | const double &thm = x0(1); |
---|
| 945 | |
---|
| 946 | const double &uam = u0 ( 0 ); |
---|
| 947 | const double &ubm = u0 ( 1 ); |
---|
| 948 | const double &iam = u0 ( 2 ); |
---|
| 949 | const double &ibm = u0 ( 3 ); |
---|
| 950 | |
---|
| 951 | 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; |
---|
| 952 | //ib |
---|
| 953 | 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; |
---|
| 954 | |
---|
| 955 | return y; |
---|
| 956 | } |
---|
| 957 | |
---|
| 958 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 959 | const double &omm = x0(0); |
---|
| 960 | const double &thm = x0(1); |
---|
| 961 | |
---|
| 962 | A ( 0,0 ) = Ypm/Ls*dt* Wref/Iref*sin ( thm*Thetaref/(1<<15) ); |
---|
| 963 | A ( 0,1 ) = Ypm/Ls*dt*omm *Wref/Iref*Thetaref/(1<<15)* ( cos ( thm*Thetaref/(1<<15) ) ); |
---|
| 964 | // d ib |
---|
| 965 | A ( 1,0 ) = -Ypm/Ls*dt* Wref/Iref*cos ( thm*Thetaref/(1<<15) ); |
---|
| 966 | A ( 1,1 ) = Ypm/Ls*dt*omm *Wref/Iref*Thetaref/(1<<15)* ( sin ( thm*Thetaref/(1<<15) ) ); |
---|
| 967 | |
---|
| 968 | |
---|
| 969 | } |
---|
| 970 | |
---|
| 971 | void from_setting( const Setting &root ) |
---|
| 972 | { |
---|
| 973 | |
---|
| 974 | const SettingResolver& params_b=root["params"]; |
---|
| 975 | const Setting& params=params_b.result; |
---|
| 976 | |
---|
| 977 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
---|
| 978 | params["kp"], params["p"], params["J"], 0.0); |
---|
| 979 | }; |
---|
| 980 | |
---|
| 981 | }; |
---|
[1295] | 982 | |
---|
[1327] | 983 | UIREGISTER ( OMpmsmOTsc ); |
---|
| 984 | |
---|
| 985 | |
---|
[224] | 986 | /*!@}*/ |
---|
[33] | 987 | #endif //PMSM_H |
---|