[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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[1403] | 23 | inline double va_drop_interp(double i){ |
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| 24 | //double va_char[16]={0,10,50,100,200,300,500,1000, 0,1,1.8,2.4,3.2,3.8,4.8,6.8}; |
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| 25 | //* |
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| 26 | double si = sign(i); |
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| 27 | i = abs(i); |
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| 28 | double du; |
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| 29 | |
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| 30 | if(i < 0.1) du = 5.0*i; |
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| 31 | else if(i < 0.5) du = 1.0*(i-0.1) + 0.5; |
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| 32 | else if(i < 1.0) du = 0.6*(i-0.5) + 0.9; |
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| 33 | else if(i < 2.0) du = 0.4*(i-1.0) + 1.2; |
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| 34 | else if(i < 3.0) du = 0.3*(i-2.0) + 1.6; |
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| 35 | else if(i < 5.0) du = 0.25*(i-3.0) + 1.9; |
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| 36 | else du = 0.2*(i - 5.0) + 2.4; |
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| 37 | |
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| 38 | return si*du*1.0; |
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| 39 | |
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| 40 | /*/ |
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| 41 | double msi = sign(i); |
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| 42 | |
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| 43 | i = abs(i) - 0.3; |
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| 44 | |
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| 45 | double si = sign(i); |
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| 46 | i = abs(i); |
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| 47 | double du; |
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| 48 | |
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| 49 | if(i < 0.0654) du = 5.0*i; |
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| 50 | else if(i < 0.3225) du = 1.0*(i-0.0654) + 0.3225; |
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| 51 | else if(i < 0.654) du = 0.6*(i-0.3225) + 0.5805; |
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| 52 | else if(i < 1.29) du = 0.4*(i-0.654) + 0.774; |
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| 53 | else if(i < 1.935) du = 0.3*(i-1.29) + 1.032; |
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| 54 | else if(i < 3.225) du = 0.25*(i-1.935) + 1.2255; |
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| 55 | else du = 0.2*(i - 3.225) + 1.548; |
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| 56 | |
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| 57 | return msi*(si*du+0.558); |
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| 58 | /*/ |
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| 59 | } |
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| 60 | |
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[223] | 61 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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[33] | 62 | class IMpmsm : public diffbifn { |
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[63] | 63 | protected: |
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[33] | 64 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 65 | |
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[666] | 66 | bool compensate; |
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[1160] | 67 | bool cutoff; |
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[33] | 68 | public: |
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[1341] | 69 | IMpmsm() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2; dimc=6;compensate=false;cutoff=true;}; |
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[33] | 70 | //! Set mechanical and electrical variables |
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[318] | 71 | 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] | 72 | |
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[332] | 73 | void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){ |
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[349] | 74 | /* ua=u0[0]; |
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| 75 | ub=u0[1]; |
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| 76 | return;*/ |
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[332] | 77 | double sq3=sqrt ( 3.0 ); |
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| 78 | double i1=x0(0); |
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| 79 | double i2=0.5* ( -i1+sq3*x0[1] ); |
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| 80 | double i3=0.5* ( -i1-sq3*x0[1] ); |
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| 81 | double u1=u0(0); |
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| 82 | double u2=0.5* ( -u1+sq3*u0(1) ); |
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| 83 | double u3=0.5* ( -u1-sq3*u0(1) ); |
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[1403] | 84 | // |
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| 85 | double du1=va_drop_interp(i1); |
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| 86 | double du2=va_drop_interp(i2); |
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| 87 | double du3=va_drop_interp(i3); |
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| 88 | /*/ |
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[332] | 89 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
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| 90 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
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| 91 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
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[1403] | 92 | */ |
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[332] | 93 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
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| 94 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
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| 95 | } |
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| 96 | |
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[33] | 97 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 98 | // last state |
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[283] | 99 | const double &iam = x0 ( 0 ); |
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| 100 | const double &ibm = x0 ( 1 ); |
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| 101 | const double &omm = x0 ( 2 ); |
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| 102 | const double &thm = x0 ( 3 ); |
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[332] | 103 | double uam; |
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| 104 | double ubm; |
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[33] | 105 | |
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[666] | 106 | if (compensate){ |
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| 107 | modelpwm(x0,u0,uam,ubm); |
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| 108 | } else { |
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| 109 | uam = u0(0); |
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| 110 | ubm = u0(1); |
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| 111 | } |
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[332] | 112 | |
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[666] | 113 | |
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[280] | 114 | vec xk( 4 ); |
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[33] | 115 | //ia |
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| 116 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
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| 117 | //ib |
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| 118 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
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| 119 | //om |
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[63] | 120 | xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
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| 121 | //th |
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[81] | 122 | xk ( 3 ) = thm + omm*dt; // <0..2pi> |
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[1160] | 123 | if (cutoff) { |
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| 124 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 125 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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| 126 | } |
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[63] | 127 | return xk; |
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| 128 | } |
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| 129 | |
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| 130 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[283] | 131 | const double &iam = x0 ( 0 ); |
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| 132 | const double &ibm = x0 ( 1 ); |
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| 133 | const double &omm = x0 ( 2 ); |
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| 134 | const double &thm = x0 ( 3 ); |
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[63] | 135 | // d ia |
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| 136 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 137 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 138 | // d ib |
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| 139 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 140 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 141 | // d om |
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| 142 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 143 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 144 | A ( 2,2 ) = 1.0; |
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| 145 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 146 | // d th |
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| 147 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 148 | } |
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| 149 | |
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| 150 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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[357] | 151 | |
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| 152 | void from_setting( const Setting &root ) |
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| 153 | { |
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[366] | 154 | |
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[654] | 155 | const SettingResolver& params_b=root["params"]; |
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| 156 | const Setting& params=params_b.result; |
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| 157 | |
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| 158 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
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[366] | 159 | params["kp"], params["p"], params["J"], 0.0); |
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[1192] | 160 | int comp=0; |
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[666] | 161 | if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);} |
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[1192] | 162 | int cuto=0; |
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[1160] | 163 | if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);} |
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[357] | 164 | }; |
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| 165 | |
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| 166 | // TODO dodelat void to_setting( Setting &root ) const; |
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[63] | 167 | }; |
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| 168 | |
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[357] | 169 | UIREGISTER ( IMpmsm ); |
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[332] | 170 | |
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[1295] | 171 | //! Evolution model of \f$ \omega, \vartheta\f$ for a PMSM drive and its derivative with respect to \f$x\f$ |
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| 172 | class IMpmsmOT : public diffbifn { |
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| 173 | protected: |
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| 174 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 175 | |
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| 176 | bool compensate; |
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| 177 | bool cutoff; |
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| 178 | public: |
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[1341] | 179 | IMpmsmOT() :diffbifn ( ) {dimy=2; dimx = 2; dimu=4; dimc=6;compensate=false;cutoff=true;}; |
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[1295] | 180 | //! Set mechanical and electrical variables |
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| 181 | 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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| 182 | |
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| 183 | void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){ |
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| 184 | /* ua=u0[0]; |
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| 185 | * ub=u0[1]; |
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| 186 | * return;*/ |
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| 187 | double sq3=sqrt ( 3.0 ); |
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| 188 | double i1=x0(0); |
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| 189 | double i2=0.5* ( -i1+sq3*x0[1] ); |
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| 190 | double i3=0.5* ( -i1-sq3*x0[1] ); |
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| 191 | double u1=u0(0); |
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| 192 | double u2=0.5* ( -u1+sq3*u0(1) ); |
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| 193 | double u3=0.5* ( -u1-sq3*u0(1) ); |
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| 194 | |
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| 195 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
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| 196 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
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| 197 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
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| 198 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
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| 199 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
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| 200 | } |
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| 201 | |
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| 202 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 203 | // last state |
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| 204 | const double &omm = x0 ( 0 ); |
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| 205 | const double &thm = x0 ( 1 ); |
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| 206 | double uam; |
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| 207 | double ubm; |
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| 208 | |
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| 209 | if (compensate){ |
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| 210 | modelpwm(x0,u0,uam,ubm); |
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| 211 | } else { |
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| 212 | uam = u0(0); |
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| 213 | ubm = u0(1); |
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| 214 | } |
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| 215 | |
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| 216 | const double &iam = u0 ( 2 ); |
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| 217 | const double &ibm = u0 ( 3 ); |
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| 218 | |
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| 219 | vec xk( 2 ); |
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| 220 | //ia |
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| 221 | //om |
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| 222 | xk ( 0 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
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| 223 | //th |
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| 224 | xk ( 1 ) = thm + omm*dt; // <0..2pi> |
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| 225 | if (cutoff) { |
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| 226 | if ( xk ( 1 ) >pi ) xk ( 1 )-=2*pi; |
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| 227 | if ( xk ( 1 ) <-pi ) xk ( 1 ) +=2*pi; |
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| 228 | } |
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| 229 | return xk; |
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| 230 | } |
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| 231 | |
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| 232 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[1341] | 233 | // const double &omm = x0 ( 0 ); |
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[1295] | 234 | const double &thm = x0 ( 1 ); |
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[1292] | 235 | |
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[1295] | 236 | const double &iam = u0 ( 2 ); |
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| 237 | const double &ibm = u0 ( 3 ); |
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| 238 | |
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| 239 | // d ia |
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| 240 | // d om |
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| 241 | A ( 0,0 ) = 1.0; |
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| 242 | A ( 0,1 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 243 | // d th |
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| 244 | A ( 1,0 ) = dt; |
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| 245 | A ( 1,1 ) = 1.0; |
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| 246 | } |
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| 247 | |
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| 248 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 249 | |
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| 250 | void from_setting( const Setting &root ) |
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| 251 | { |
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| 252 | |
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| 253 | const SettingResolver& params_b=root["params"]; |
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| 254 | const Setting& params=params_b.result; |
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| 255 | |
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| 256 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
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| 257 | params["kp"], params["p"], params["J"], 0.0); |
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| 258 | int comp=0; |
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| 259 | if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);} |
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| 260 | int cuto=0; |
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| 261 | if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);} |
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| 262 | }; |
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| 263 | |
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| 264 | // TODO dodelat void to_setting( Setting &root ) const; |
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| 265 | }; |
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| 266 | |
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| 267 | UIREGISTER ( IMpmsmOT ); |
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| 268 | |
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[1341] | 269 | //! Evolution model of \f$ \omega, \vartheta\f$ for a PMSM drive and its derivative with respect to \f$x\f$ |
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| 270 | class IMpmsmOTM : public diffbifn { |
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| 271 | protected: |
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| 272 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 273 | |
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| 274 | bool compensate; |
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| 275 | bool cutoff; |
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| 276 | public: |
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| 277 | IMpmsmOTM() :diffbifn ( ) {dimy=2; dimx = 3; dimu=4; dimc=6;compensate=false;cutoff=true;}; |
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| 278 | //! Set mechanical and electrical variables |
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| 279 | 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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| 280 | |
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| 281 | void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){ |
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| 282 | /* ua=u0[0]; |
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| 283 | * ub=u0[1]; |
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| 284 | * return;*/ |
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| 285 | double sq3=sqrt ( 3.0 ); |
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| 286 | double i1=x0(0); |
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| 287 | double i2=0.5* ( -i1+sq3*x0[1] ); |
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| 288 | double i3=0.5* ( -i1-sq3*x0[1] ); |
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| 289 | double u1=u0(0); |
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| 290 | double u2=0.5* ( -u1+sq3*u0(1) ); |
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| 291 | double u3=0.5* ( -u1-sq3*u0(1) ); |
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| 292 | |
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| 293 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
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| 294 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
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| 295 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
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| 296 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
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| 297 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
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| 298 | } |
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| 299 | |
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| 300 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 301 | // last state |
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| 302 | const double &omm = x0 ( 0 ); |
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| 303 | const double &thm = x0 ( 1 ); |
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| 304 | const double &Mm = x0 ( 2 ); |
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| 305 | double uam; |
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| 306 | double ubm; |
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| 307 | |
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| 308 | if (compensate){ |
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| 309 | modelpwm(x0,u0,uam,ubm); |
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| 310 | } else { |
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| 311 | uam = u0(0); |
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| 312 | ubm = u0(1); |
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| 313 | } |
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| 314 | |
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| 315 | const double &iam = u0 ( 2 ); |
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| 316 | const double &ibm = u0 ( 3 ); |
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| 317 | |
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| 318 | vec xk( 3 ); |
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| 319 | //ia |
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| 320 | //om |
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| 321 | xk ( 0 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mm; |
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| 322 | //th |
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| 323 | xk ( 1 ) = thm + omm*dt; // <0..2pi> |
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| 324 | xk (2) = Mm; |
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| 325 | |
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| 326 | if (cutoff) { |
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| 327 | if ( xk ( 1 ) >pi ) xk ( 1 )-=2*pi; |
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| 328 | if ( xk ( 1 ) <-pi ) xk ( 1 ) +=2*pi; |
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| 329 | } |
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| 330 | return xk; |
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| 331 | } |
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| 332 | |
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| 333 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 334 | // const double &omm = x0 ( 0 ); |
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| 335 | const double &thm = x0 ( 1 ); |
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| 336 | // const double &Mm = x0 ( 2 ); |
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| 337 | |
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| 338 | const double &iam = u0 ( 2 ); |
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| 339 | const double &ibm = u0 ( 3 ); |
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| 340 | |
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| 341 | // d ia |
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| 342 | // d om |
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| 343 | A ( 0,0 ) = 1.0; |
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| 344 | A ( 0,1 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 345 | A ( 0,2 ) = -p/J*dt; |
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| 346 | // d th |
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| 347 | A ( 1,0 ) = dt; |
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| 348 | A ( 1,1 ) = 1.0; |
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| 349 | A ( 1,2 ) = 0.0; |
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| 350 | // d M |
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| 351 | A ( 2,0 ) = 0.0; |
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| 352 | A ( 2,1 ) = 0.0; |
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| 353 | A ( 2,2 ) = 1.0; |
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| 354 | } |
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| 355 | |
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| 356 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 357 | |
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| 358 | void from_setting( const Setting &root ) |
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| 359 | { |
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| 360 | |
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| 361 | const SettingResolver& params_b=root["params"]; |
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| 362 | const Setting& params=params_b.result; |
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| 363 | |
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| 364 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
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| 365 | params["kp"], params["p"], params["J"], 0.0); |
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| 366 | int comp=0; |
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| 367 | if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);} |
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| 368 | int cuto=0; |
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| 369 | if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);} |
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| 370 | }; |
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| 371 | |
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| 372 | // TODO dodelat void to_setting( Setting &root ) const; |
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| 373 | }; |
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| 374 | |
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| 375 | UIREGISTER ( IMpmsmOTM ); |
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| 376 | |
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[1327] | 377 | //! 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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| 378 | class IMpmsmOTsc : public diffbifn { |
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| 379 | protected: |
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| 380 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 381 | |
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| 382 | bool cutoff; |
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| 383 | public: |
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| 384 | IMpmsmOTsc() :diffbifn ( ) {dimy=2; dimx = 2; dimu=4; dimc=6;cutoff=true;}; |
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| 385 | //! Set mechanical and electrical variables |
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| 386 | 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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| 387 | |
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| 388 | |
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| 389 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 390 | // last state |
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| 391 | const double &omm = x0 ( 0 ); |
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| 392 | const double &thm = x0 ( 1 ); |
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| 393 | double uam; |
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| 394 | double ubm; |
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| 395 | |
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| 396 | uam = u0(0); |
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| 397 | ubm = u0(1); |
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| 398 | |
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| 399 | const double &iam = u0 ( 2 ); |
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| 400 | const double &ibm = u0 ( 3 ); |
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| 401 | |
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| 402 | vec xk( 2 ); |
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| 403 | //ia |
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| 404 | //om |
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| 405 | 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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| 406 | //th |
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| 407 | xk ( 1 ) = thm + omm*Wref/Thetaref*dt; // <0..2pi> |
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| 408 | if (cutoff) { |
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| 409 | if ( xk ( 1 ) >(1<<15) ) xk ( 1 )=-(1<<15); |
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| 410 | if ( xk ( 1 ) <-(1<<15) ) xk ( 1 ) =(1<<15); |
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| 411 | } |
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| 412 | return xk; |
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| 413 | } |
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| 414 | |
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| 415 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 416 | const double &omm = x0 ( 0 ); |
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| 417 | const double &thm = x0 ( 1 ); |
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| 418 | |
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| 419 | const double &iam = u0 ( 2 ); |
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| 420 | const double &ibm = u0 ( 3 ); |
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| 421 | |
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| 422 | // d ia |
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| 423 | // d om |
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| 424 | A ( 0,0 ) = 1.0; |
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| 425 | A ( 0,1 ) = 0.0;//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 426 | // d th |
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| 427 | A ( 1,0 ) = dt*Wref/Thetaref; |
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| 428 | A ( 1,1 ) = 1.0; |
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| 429 | } |
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| 430 | |
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| 431 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 432 | |
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| 433 | void from_setting( const Setting &root ) |
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| 434 | { |
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| 435 | |
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| 436 | const SettingResolver& params_b=root["params"]; |
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| 437 | const Setting& params=params_b.result; |
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| 438 | |
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| 439 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
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| 440 | params["kp"], params["p"], params["J"], 0.0); |
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| 441 | int cuto=0; |
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| 442 | if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);} |
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| 443 | }; |
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| 444 | |
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| 445 | // TODO dodelat void to_setting( Setting &root ) const; |
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| 446 | }; |
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[1295] | 447 | |
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[1327] | 448 | UIREGISTER ( IMpmsmOTsc ); |
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| 449 | |
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| 450 | |
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[232] | 451 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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[1292] | 452 | class IMpmsmDQ : public diffbifn { |
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| 453 | protected: |
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| 454 | double Rs, Ld, Lq, dt, Ypm, kp, p, J, Mz; |
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| 455 | |
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| 456 | bool compensate; |
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| 457 | bool cutoff; |
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| 458 | public: |
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| 459 | IMpmsmDQ() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2; dimc=6;compensate=true;cutoff=true;}; |
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| 460 | //! Set mechanical and electrical variables |
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| 461 | 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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| 462 | |
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| 463 | void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){ |
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| 464 | /* ua=u0[0]; |
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| 465 | * ub=u0[1]; |
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| 466 | * return;*/ |
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| 467 | double sq3=sqrt ( 3.0 ); |
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| 468 | double i1=x0(0); |
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| 469 | double i2=0.5* ( -i1+sq3*x0[1] ); |
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| 470 | double i3=0.5* ( -i1-sq3*x0[1] ); |
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| 471 | double u1=u0(0); |
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| 472 | double u2=0.5* ( -u1+sq3*u0(1) ); |
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| 473 | double u3=0.5* ( -u1-sq3*u0(1) ); |
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| 474 | |
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| 475 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
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| 476 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
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| 477 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
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| 478 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
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| 479 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
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| 480 | } |
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| 481 | |
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| 482 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 483 | // last state |
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| 484 | const double &idm = x0 ( 0 ); |
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| 485 | const double &iqm = x0 ( 1 ); |
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| 486 | const double &omm = x0 ( 2 ); |
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| 487 | const double &thm = x0 ( 3 ); |
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| 488 | double uam; |
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| 489 | double ubm; |
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| 490 | |
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| 491 | if (compensate){ |
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| 492 | modelpwm(x0,u0,uam,ubm); |
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| 493 | } else { |
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| 494 | uam = u0(0); |
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| 495 | ubm = u0(1); |
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| 496 | } |
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| 497 | |
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| 498 | vec xk( 4 ); |
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| 499 | //id |
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| 500 | 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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| 501 | //iq |
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| 502 | 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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| 503 | //om |
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| 504 | xk ( 2 ) = omm + kp*p*p /J*dt* ( (Ld-Lq)*idm+ Ypm)*iqm - p/J*dt*Mz; |
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| 505 | //th |
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| 506 | xk ( 3 ) = thm + omm*dt; // <0..2pi> |
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| 507 | if (cutoff) { |
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| 508 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 509 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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| 510 | } |
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| 511 | return xk; |
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| 512 | } |
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| 513 | |
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| 514 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 515 | const double &idm = x0 ( 0 ); |
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| 516 | const double &iqm = x0 ( 1 ); |
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| 517 | const double &omm = x0 ( 2 ); |
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| 518 | const double &thm = x0 ( 3 ); |
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| 519 | |
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| 520 | double uam; |
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| 521 | double ubm; |
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| 522 | if (compensate){ |
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| 523 | modelpwm(x0,u0,uam,ubm); |
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| 524 | } else { |
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| 525 | uam = u0(0); |
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| 526 | ubm = u0(1); |
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| 527 | } |
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| 528 | // d id |
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| 529 | A ( 0,0 ) = ( 1.0- Rs/Ld*dt ); A ( 0,1 ) = Lq/Ld*dt*omm; |
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| 530 | A ( 0,2 ) = Lq/Ld*iqm*dt; A ( 0,3 ) = dt/Ld*(-sin(thm)*uam+cos(thm)*ubm); |
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| 531 | // d iq |
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| 532 | A ( 1,0 ) = -Ld/Lq*omm*dt ; A ( 1,1 ) = ( 1.0- Rs/Lq*dt ); |
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| 533 | 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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| 534 | // d om |
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| 535 | A ( 2,0 ) = kp*p*p /J*dt* ( Ld-Lq)*iqm; |
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| 536 | A ( 2,1 ) = kp*p*p /J*dt* ((Ld-Lq)*idm+Ypm); |
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| 537 | A ( 2,2 ) = 1.0; |
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| 538 | A ( 2,3 ) = 0; |
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| 539 | // d th |
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| 540 | A ( 3,0 ) = 0.0; |
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| 541 | A ( 3,1 ) = 0.0; |
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| 542 | A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 543 | } |
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| 544 | |
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| 545 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 546 | |
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| 547 | void from_setting( const Setting &root ) |
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| 548 | { |
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| 549 | |
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| 550 | const SettingResolver& params_b=root["params"]; |
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| 551 | const Setting& params=params_b.result; |
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| 552 | |
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| 553 | set_parameters ( params["Rs"], params["Ld"],params["Lq"], 125e-6, params["Fmag"], \ |
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| 554 | params["kp"], params["p"], params["J"], 0.0); |
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| 555 | int comp=0; |
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| 556 | if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);} |
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| 557 | int cuto=0; |
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[1295] | 558 | if (UI::get(cuto,root,"cutoff",UI::optional)){ |
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| 559 | cutoff=(cuto==1); |
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| 560 | } |
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[1292] | 561 | }; |
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| 562 | |
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| 563 | // TODO dodelat void to_setting( Setting &root ) const; |
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| 564 | }; |
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| 565 | |
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| 566 | UIREGISTER ( IMpmsmDQ ); |
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| 567 | |
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| 568 | |
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| 569 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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[318] | 570 | class IMpmsm2o : public IMpmsm { |
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[232] | 571 | protected: |
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[318] | 572 | // double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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[240] | 573 | //! store first derivatives for the use in second derivatives |
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| 574 | double dia, dib, dom, dth; |
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| 575 | //! d2t = dt^2/2, cth = cos(th), sth=sin(th) |
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| 576 | double d2t, cth, sth; |
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| 577 | double iam, ibm, omm, thm, uam, ubm; |
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[232] | 578 | public: |
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[318] | 579 | IMpmsm2o() :IMpmsm () {}; |
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[232] | 580 | //! Set mechanical and electrical variables |
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[240] | 581 | 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] | 582 | |
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| 583 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 584 | // last state |
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[240] | 585 | iam = x0 ( 0 ); |
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| 586 | ibm = x0 ( 1 ); |
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| 587 | omm = x0 ( 2 ); |
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| 588 | thm = x0 ( 3 ); |
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| 589 | uam = u0 ( 0 ); |
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| 590 | ubm = u0 ( 1 ); |
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[232] | 591 | |
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[240] | 592 | cth = cos(thm); |
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| 593 | sth = sin(thm); |
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[232] | 594 | |
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[240] | 595 | dia = (- Rs/Ls*iam + Ypm/Ls*omm * sth + uam/Ls); |
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| 596 | dib = (- Rs/Ls*ibm - Ypm/Ls*omm * cth + ubm/Ls); |
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| 597 | dom = kp*p*p * Ypm/J *( ibm * cth-iam * sth ) - p/J*Mz; |
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| 598 | dth = omm; |
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| 599 | |
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[232] | 600 | vec xk=zeros ( 4 ); |
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| 601 | xk ( 0 ) = iam + dt*dia;// +d2t*d2ia; |
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| 602 | xk ( 1 ) = ibm + dt*dib;// +d2t*d2ib; |
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| 603 | xk ( 2 ) = omm +dt*dom;// +d2t*d2om; |
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[318] | 604 | xk ( 3 ) = thm + dt*dth;// +d2t*dom; // <0..2pi> |
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[232] | 605 | |
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| 606 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 607 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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| 608 | return xk; |
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| 609 | } |
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| 610 | |
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[240] | 611 | //! eval 2nd order Taylor expansion, MUST be used only as a follow up AFTER eval()!! |
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| 612 | vec eval2o(const vec &du){ |
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| 613 | double dua = du ( 0 )/dt; |
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| 614 | double dub = du ( 1 )/dt; |
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| 615 | |
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| 616 | vec xth2o(4); |
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| 617 | xth2o(0) = (- Rs/Ls*dia + Ypm/Ls*(dom * sth + omm*cth) + dua/Ls); |
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| 618 | xth2o(1) = (- Rs/Ls*dib - Ypm/Ls*(dom * cth - omm*sth) + dub/Ls); |
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| 619 | xth2o(2) = kp*p*p * Ypm/J *( dib * cth-ibm*sth - (dia * sth + iam *cth)); |
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| 620 | xth2o(3) = dom; |
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[325] | 621 | // multiply by dt^2/2 |
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| 622 | xth2o*=d2t/2; |
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[240] | 623 | return xth2o; |
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| 624 | } |
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[232] | 625 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[240] | 626 | iam = x0 ( 0 ); |
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| 627 | ibm = x0 ( 1 ); |
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| 628 | omm = x0 ( 2 ); |
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| 629 | thm = x0 ( 3 ); |
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[232] | 630 | // d ia |
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| 631 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 632 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 633 | // d ib |
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| 634 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 635 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 636 | // d om |
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| 637 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 638 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 639 | A ( 2,2 ) = 1.0; |
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| 640 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 641 | // d th |
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| 642 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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[318] | 643 | // FOR d2t*dom!!!!!!!!! |
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| 644 | /* A ( 3,0 ) = dt* kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 645 | A ( 3,1 ) = dt* kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 646 | A ( 3,2 ) = dt; |
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| 647 | A ( 3,3 ) = 1.0 + dt* kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );*/ |
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[232] | 648 | } |
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| 649 | |
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| 650 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 651 | |
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| 652 | }; |
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| 653 | |
---|
[357] | 654 | |
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| 655 | UIREGISTER ( IMpmsm2o ); |
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| 656 | |
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[145] | 657 | //! 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] | 658 | class IMpmsmStat : public IMpmsm { |
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[240] | 659 | public: |
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[63] | 660 | IMpmsmStat() :IMpmsm() {}; |
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| 661 | //! Set mechanical and electrical variables |
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| 662 | 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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| 663 | |
---|
| 664 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 665 | // last state |
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| 666 | double iam = x0 ( 0 ); |
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| 667 | double ibm = x0 ( 1 ); |
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| 668 | double omm = x0 ( 2 ); |
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| 669 | double thm = x0 ( 3 ); |
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| 670 | double uam = u0 ( 0 ); |
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| 671 | double ubm = u0 ( 1 ); |
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| 672 | |
---|
| 673 | vec xk=zeros ( 4 ); |
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| 674 | //ia |
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| 675 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
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| 676 | //ib |
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| 677 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
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| 678 | //om |
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[332] | 679 | xk ( 2 ) = omm - p/J*dt*Mz;// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ); |
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[33] | 680 | //th |
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[48] | 681 | xk ( 3 ) = rem(thm + omm*dt,2*pi); // <0..2pi> |
---|
[33] | 682 | return xk; |
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| 683 | } |
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| 684 | |
---|
| 685 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
[91] | 686 | // double iam = x0 ( 0 ); |
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| 687 | // double ibm = x0 ( 1 ); |
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[33] | 688 | double omm = x0 ( 2 ); |
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| 689 | double thm = x0 ( 3 ); |
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| 690 | // d ia |
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| 691 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 692 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 693 | // d ib |
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| 694 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 695 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 696 | // d om |
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[62] | 697 | A ( 2,0 ) = 0.0;//kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
---|
| 698 | A ( 2,1 ) = 0.0;//kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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[33] | 699 | A ( 2,2 ) = 1.0; |
---|
[62] | 700 | A ( 2,3 ) = 0.0;//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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[33] | 701 | // d th |
---|
| 702 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 703 | } |
---|
| 704 | |
---|
| 705 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
---|
| 706 | |
---|
| 707 | }; |
---|
| 708 | |
---|
[357] | 709 | UIREGISTER ( IMpmsmStat ); |
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| 710 | |
---|
| 711 | |
---|
[332] | 712 | //! State for PMSM with unknown Mz |
---|
| 713 | class IMpmsmMz: public IMpmsm{ |
---|
| 714 | public: |
---|
| 715 | IMpmsmMz() {dimy=5; dimx = 5; dimu=2;}; |
---|
| 716 | //! extend eval by Mz |
---|
| 717 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 718 | vec x(4); |
---|
| 719 | Mz = x0(4); //last of the state is Mz |
---|
| 720 | |
---|
| 721 | //teh first 4 states are same as before (given that Mz is set) |
---|
| 722 | x=IMpmsm::eval(x0,u0); // including model of drops! |
---|
| 723 | return concat(x,Mz); |
---|
| 724 | } |
---|
| 725 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 726 | //call initial |
---|
| 727 | if (full) A.clear(); |
---|
| 728 | IMpmsm::dfdx_cond(x0,u0,A,full); |
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| 729 | A(2,4)=- p/J*dt; |
---|
| 730 | A(4,4)=1.0; |
---|
| 731 | } |
---|
| 732 | }; |
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| 733 | |
---|
[357] | 734 | UIREGISTER ( IMpmsmMz ); |
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| 735 | |
---|
[332] | 736 | //! State for PMSM with unknown Mz |
---|
| 737 | class IMpmsmStatMz: public IMpmsmStat{ |
---|
| 738 | public: |
---|
| 739 | IMpmsmStatMz() {dimy=5; dimx = 5; dimu=2;}; |
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| 740 | //! extend eval by Mz |
---|
| 741 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 742 | vec x(4); |
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| 743 | Mz = x0(4); //last of the state is Mz |
---|
| 744 | |
---|
| 745 | //teh first 4 states are same as before (given that Mz is set) |
---|
| 746 | x=IMpmsmStat::eval(x0,u0); // including model of drops! |
---|
| 747 | return concat(x,Mz); |
---|
| 748 | } |
---|
| 749 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 750 | //call initial |
---|
| 751 | if (full) A.clear(); |
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| 752 | IMpmsmStat::dfdx_cond(x0,u0,A,full); |
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| 753 | A(2,4)=- p/J*dt; |
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| 754 | A(4,4)=1.0; |
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| 755 | } |
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| 756 | }; |
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| 757 | |
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[357] | 758 | UIREGISTER ( IMpmsmStatMz ); |
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[332] | 759 | |
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[357] | 760 | |
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[145] | 761 | //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ |
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[33] | 762 | class OMpmsm: public diffbifn { |
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| 763 | public: |
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[666] | 764 | OMpmsm() :diffbifn () {dimy=2;dimx=4;dimu=0;}; |
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[33] | 765 | |
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| 766 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 767 | vec y ( 2 ); |
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| 768 | y ( 0 ) = x0 ( 0 ); |
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| 769 | y ( 1 ) = x0 ( 1 ); |
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| 770 | return y; |
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| 771 | } |
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| 772 | |
---|
| 773 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 774 | A.clear(); |
---|
| 775 | A ( 0,0 ) = 1.0; |
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| 776 | A ( 1,1 ) = 1.0; |
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| 777 | } |
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| 778 | }; |
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| 779 | |
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[357] | 780 | UIREGISTER ( OMpmsm ); |
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| 781 | |
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[1160] | 782 | //! Observation model for PMSM drive with roundoff-errors |
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| 783 | class OMpmsmRO: public diffbifn { |
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| 784 | public: |
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| 785 | OMpmsmRO() :diffbifn () {dimy=2;dimx=4;dimu=0;}; |
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| 786 | |
---|
| 787 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 788 | vec y ( 2 ); |
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| 789 | /* y ( 0 ) = x0 ( 0 ); |
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| 790 | y ( 1 ) = x0 ( 1 );*/ |
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| 791 | |
---|
| 792 | double istep=0.085; |
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| 793 | y[ 0 ] = istep*itpp::round( x0[ 0 ]/ istep) ; |
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| 794 | y[ 1 ] = istep*itpp::round( x0[ 1 ]/ istep); |
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| 795 | |
---|
| 796 | return y; |
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| 797 | } |
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| 798 | |
---|
| 799 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 800 | A.clear(); |
---|
| 801 | A ( 0,0 ) = 1.0; |
---|
| 802 | A ( 1,1 ) = 1.0; |
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| 803 | } |
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| 804 | }; |
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| 805 | |
---|
| 806 | UIREGISTER ( OMpmsmRO ); |
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| 807 | |
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[1184] | 808 | class OMpmsmROMz: public OMpmsmRO{ |
---|
| 809 | public: |
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| 810 | OMpmsmROMz() :OMpmsmRO() {dimy=2;dimx=5;dimu=0;}; |
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| 811 | }; |
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| 812 | UIREGISTER ( OMpmsmROMz ); |
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[1160] | 813 | |
---|
[332] | 814 | //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ for full vector of observations |
---|
| 815 | class OMpmsm4: public diffbifn { |
---|
| 816 | public: |
---|
| 817 | OMpmsm4() :diffbifn () {dimy=4;dimx=4;dimu=2;}; |
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| 818 | |
---|
| 819 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 820 | vec y ( 4 ); |
---|
| 821 | y = x0 ; |
---|
| 822 | return y; |
---|
| 823 | } |
---|
| 824 | |
---|
| 825 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
[1292] | 826 | A.clear(); |
---|
| 827 | A(0,0)=1.0; |
---|
| 828 | A(1,1)=1.0; |
---|
[332] | 829 | } |
---|
| 830 | }; |
---|
| 831 | |
---|
[357] | 832 | UIREGISTER ( OMpmsm4 ); |
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| 833 | |
---|
[1292] | 834 | //! Observation model for PMSM drive id d-q coordinates |
---|
| 835 | class OMpmsmDQ: public diffbifn { |
---|
| 836 | public: |
---|
| 837 | OMpmsmDQ() :diffbifn () {dimy=2;dimx=4;dimu=2;}; |
---|
| 838 | |
---|
| 839 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 840 | vec y ( 2 ); |
---|
| 841 | double ct = cos(x0(3)); |
---|
| 842 | double st = sin(x0(3)); |
---|
| 843 | y(0) = ct*x0(0)-st*x0(1); |
---|
| 844 | y(1) = st*x0(0)+ct*x0(1); |
---|
| 845 | |
---|
| 846 | return y; |
---|
| 847 | } |
---|
| 848 | |
---|
| 849 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 850 | double ct = cos(x0(3)); |
---|
| 851 | double st = sin(x0(3)); |
---|
| 852 | A(0,0) = ct; |
---|
| 853 | A(1,0) = -st; |
---|
| 854 | A(0,1) = st; |
---|
| 855 | A(1,1) = ct; |
---|
| 856 | |
---|
| 857 | A(0,2) = 0.0; |
---|
| 858 | A(1,2) = 0.0; |
---|
| 859 | A(0,3) = -st*x0(0)-ct*x0(1); |
---|
| 860 | A(1,3) = ct*x0(0)-st*x0(1); |
---|
| 861 | } |
---|
| 862 | }; |
---|
[357] | 863 | |
---|
[1292] | 864 | UIREGISTER ( OMpmsmDQ ); |
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[357] | 865 | |
---|
[1295] | 866 | //! Observation model for PMSM drive in reduced form coordinates |
---|
| 867 | class OMpmsmOT: public diffbifn { |
---|
| 868 | public: |
---|
| 869 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
---|
| 870 | |
---|
| 871 | 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;} |
---|
| 872 | |
---|
| 873 | OMpmsmOT() :diffbifn () {dimy=2;dimx=2;dimu=4;}; |
---|
| 874 | |
---|
| 875 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 876 | vec y ( 2 ); |
---|
| 877 | const double &omm = x0(0); |
---|
| 878 | const double &thm = x0(1); |
---|
| 879 | |
---|
| 880 | const double &uam = u0 ( 0 ); |
---|
| 881 | const double &ubm = u0 ( 1 ); |
---|
| 882 | const double &iam = u0 ( 2 ); |
---|
| 883 | const double &ibm = u0 ( 3 ); |
---|
| 884 | |
---|
| 885 | y ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
---|
| 886 | //ib |
---|
| 887 | y ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
---|
| 888 | |
---|
| 889 | return y; |
---|
| 890 | } |
---|
| 891 | |
---|
| 892 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 893 | const double &omm = x0(0); |
---|
| 894 | const double &thm = x0(1); |
---|
| 895 | |
---|
| 896 | A ( 0,0 ) = Ypm/Ls*dt* sin ( thm ); |
---|
| 897 | A ( 0,1 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
---|
| 898 | // d ib |
---|
| 899 | A ( 1,0 ) = -Ypm/Ls*dt* cos ( thm ); |
---|
| 900 | A ( 1,1 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
---|
| 901 | |
---|
| 902 | |
---|
| 903 | } |
---|
[1292] | 904 | |
---|
[1295] | 905 | void from_setting( const Setting &root ) |
---|
| 906 | { |
---|
| 907 | |
---|
| 908 | const SettingResolver& params_b=root["params"]; |
---|
| 909 | const Setting& params=params_b.result; |
---|
| 910 | |
---|
| 911 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
---|
| 912 | params["kp"], params["p"], params["J"], 0.0); |
---|
| 913 | }; |
---|
| 914 | |
---|
| 915 | }; |
---|
| 916 | |
---|
| 917 | UIREGISTER ( OMpmsmOT ); |
---|
| 918 | |
---|
[1341] | 919 | //! Observation model for PMSM drive in reduced form coordinates |
---|
| 920 | class OMpmsmOTM: public diffbifn { |
---|
| 921 | public: |
---|
| 922 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
---|
| 923 | |
---|
| 924 | 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;} |
---|
| 925 | |
---|
| 926 | OMpmsmOTM() :diffbifn () {dimy=2;dimx=2;dimu=4;}; |
---|
| 927 | |
---|
| 928 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 929 | vec y ( 2 ); |
---|
| 930 | const double &omm = x0(0); |
---|
| 931 | const double &thm = x0(1); |
---|
| 932 | |
---|
| 933 | const double &uam = u0 ( 0 ); |
---|
| 934 | const double &ubm = u0 ( 1 ); |
---|
| 935 | const double &iam = u0 ( 2 ); |
---|
| 936 | const double &ibm = u0 ( 3 ); |
---|
| 937 | |
---|
| 938 | y ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
---|
| 939 | //ib |
---|
| 940 | y ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
---|
| 941 | |
---|
| 942 | return y; |
---|
| 943 | } |
---|
| 944 | |
---|
| 945 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 946 | const double &omm = x0(0); |
---|
| 947 | const double &thm = x0(1); |
---|
| 948 | |
---|
| 949 | A ( 0,0 ) = Ypm/Ls*dt* sin ( thm ); |
---|
| 950 | A ( 0,1 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
---|
| 951 | A( 0,2) = 0.0; |
---|
| 952 | // d ib |
---|
| 953 | A ( 1,0 ) = -Ypm/Ls*dt* cos ( thm ); |
---|
| 954 | A ( 1,1 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
---|
| 955 | A(1,2) = 0.0; |
---|
| 956 | |
---|
| 957 | } |
---|
| 958 | |
---|
| 959 | void from_setting( const Setting &root ) |
---|
| 960 | { |
---|
| 961 | |
---|
| 962 | const SettingResolver& params_b=root["params"]; |
---|
| 963 | const Setting& params=params_b.result; |
---|
| 964 | |
---|
| 965 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
---|
| 966 | params["kp"], params["p"], params["J"], 0.0); |
---|
| 967 | }; |
---|
| 968 | |
---|
| 969 | }; |
---|
| 970 | |
---|
| 971 | UIREGISTER ( OMpmsmOTM ); |
---|
| 972 | |
---|
| 973 | |
---|
| 974 | |
---|
[1327] | 975 | //! Observation model for PMSM drive in reduced form coordinates -- scaled to [-1,1] |
---|
| 976 | class OMpmsmOTsc: public diffbifn { |
---|
| 977 | public: |
---|
| 978 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
---|
| 979 | |
---|
| 980 | 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;} |
---|
| 981 | |
---|
| 982 | OMpmsmOTsc() :diffbifn () {dimy=2;dimx=2;dimu=4;}; |
---|
| 983 | |
---|
| 984 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 985 | vec y ( 2 ); |
---|
| 986 | const double &omm = x0(0); |
---|
| 987 | const double &thm = x0(1); |
---|
| 988 | |
---|
| 989 | const double &uam = u0 ( 0 ); |
---|
| 990 | const double &ubm = u0 ( 1 ); |
---|
| 991 | const double &iam = u0 ( 2 ); |
---|
| 992 | const double &ibm = u0 ( 3 ); |
---|
| 993 | |
---|
| 994 | 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; |
---|
| 995 | //ib |
---|
| 996 | 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; |
---|
| 997 | |
---|
| 998 | return y; |
---|
| 999 | } |
---|
| 1000 | |
---|
| 1001 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 1002 | const double &omm = x0(0); |
---|
| 1003 | const double &thm = x0(1); |
---|
| 1004 | |
---|
| 1005 | A ( 0,0 ) = Ypm/Ls*dt* Wref/Iref*sin ( thm*Thetaref/(1<<15) ); |
---|
| 1006 | A ( 0,1 ) = Ypm/Ls*dt*omm *Wref/Iref*Thetaref/(1<<15)* ( cos ( thm*Thetaref/(1<<15) ) ); |
---|
| 1007 | // d ib |
---|
| 1008 | A ( 1,0 ) = -Ypm/Ls*dt* Wref/Iref*cos ( thm*Thetaref/(1<<15) ); |
---|
| 1009 | A ( 1,1 ) = Ypm/Ls*dt*omm *Wref/Iref*Thetaref/(1<<15)* ( sin ( thm*Thetaref/(1<<15) ) ); |
---|
| 1010 | |
---|
| 1011 | |
---|
| 1012 | } |
---|
| 1013 | |
---|
| 1014 | void from_setting( const Setting &root ) |
---|
| 1015 | { |
---|
| 1016 | |
---|
| 1017 | const SettingResolver& params_b=root["params"]; |
---|
| 1018 | const Setting& params=params_b.result; |
---|
| 1019 | |
---|
| 1020 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
---|
| 1021 | params["kp"], params["p"], params["J"], 0.0); |
---|
| 1022 | }; |
---|
| 1023 | |
---|
| 1024 | }; |
---|
[1295] | 1025 | |
---|
[1327] | 1026 | UIREGISTER ( OMpmsmOTsc ); |
---|
| 1027 | |
---|
| 1028 | |
---|
[224] | 1029 | /*!@}*/ |
---|
[33] | 1030 | #endif //PMSM_H |
---|