[33] | 1 | #ifndef PMSM_H |
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| 2 | #define PMSM_H |
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| 3 | |
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[54] | 4 | #include <stat/libFN.h> |
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[357] | 5 | #include "user_info.h" |
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[54] | 6 | |
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[224] | 7 | /*! \defgroup PMSM |
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| 8 | @{ |
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| 9 | */ |
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| 10 | |
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[254] | 11 | using namespace bdm; |
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| 12 | |
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[48] | 13 | //TODO hardcoded RVs!!! |
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[162] | 14 | RV rx ( "{ia ib om th }"); |
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| 15 | RV ru ( "{ua ub }"); |
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| 16 | RV ry ( "{oia oib }"); |
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[33] | 17 | |
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[128] | 18 | // class uipmsm : public uibase{ |
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| 19 | // double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 20 | // }; |
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[81] | 21 | |
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[223] | 22 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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[33] | 23 | class IMpmsm : public diffbifn { |
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[63] | 24 | protected: |
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[33] | 25 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 26 | |
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| 27 | public: |
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[279] | 28 | IMpmsm() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2;}; |
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[33] | 29 | //! Set mechanical and electrical variables |
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[318] | 30 | 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] | 31 | |
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[332] | 32 | void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){ |
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[349] | 33 | /* ua=u0[0]; |
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| 34 | ub=u0[1]; |
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| 35 | return;*/ |
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[332] | 36 | double sq3=sqrt ( 3.0 ); |
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| 37 | double i1=x0(0); |
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| 38 | double i2=0.5* ( -i1+sq3*x0[1] ); |
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| 39 | double i3=0.5* ( -i1-sq3*x0[1] ); |
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| 40 | double u1=u0(0); |
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| 41 | double u2=0.5* ( -u1+sq3*u0(1) ); |
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| 42 | double u3=0.5* ( -u1-sq3*u0(1) ); |
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| 43 | |
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| 44 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
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| 45 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
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| 46 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
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| 47 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
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| 48 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
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| 49 | } |
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| 50 | |
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[33] | 51 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 52 | // last state |
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[283] | 53 | const double &iam = x0 ( 0 ); |
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| 54 | const double &ibm = x0 ( 1 ); |
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| 55 | const double &omm = x0 ( 2 ); |
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| 56 | const double &thm = x0 ( 3 ); |
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[332] | 57 | double uam; |
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| 58 | double ubm; |
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[33] | 59 | |
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[332] | 60 | modelpwm(x0,u0,uam,ubm); |
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| 61 | |
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[280] | 62 | vec xk( 4 ); |
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[33] | 63 | //ia |
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| 64 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
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| 65 | //ib |
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| 66 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
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| 67 | //om |
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[63] | 68 | xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
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| 69 | //th |
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[81] | 70 | xk ( 3 ) = thm + omm*dt; // <0..2pi> |
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| 71 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 72 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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[63] | 73 | return xk; |
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| 74 | } |
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| 75 | |
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| 76 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[283] | 77 | const double &iam = x0 ( 0 ); |
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| 78 | const double &ibm = x0 ( 1 ); |
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| 79 | const double &omm = x0 ( 2 ); |
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| 80 | const double &thm = x0 ( 3 ); |
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[63] | 81 | // d ia |
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| 82 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 83 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 84 | // d ib |
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| 85 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 86 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 87 | // d om |
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| 88 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 89 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 90 | A ( 2,2 ) = 1.0; |
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| 91 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 92 | // d th |
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| 93 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 94 | } |
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| 95 | |
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| 96 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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[357] | 97 | |
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| 98 | void from_setting( const Setting &root ) |
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| 99 | { |
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| 100 | set_parameters ( root["params"]["Rs"], root["params"]["Ls"], 125e-6, root["params"]["Fmag"], \ |
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| 101 | root["params"]["kp"], root["params"]["p"], root["params"]["J"], 0.0 ); |
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| 102 | }; |
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| 103 | |
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| 104 | // TODO dodelat void to_setting( Setting &root ) const; |
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[63] | 105 | }; |
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| 106 | |
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[357] | 107 | UIREGISTER ( IMpmsm ); |
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[332] | 108 | |
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[232] | 109 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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[318] | 110 | class IMpmsm2o : public IMpmsm { |
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[232] | 111 | protected: |
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[318] | 112 | // double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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[240] | 113 | //! store first derivatives for the use in second derivatives |
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| 114 | double dia, dib, dom, dth; |
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| 115 | //! d2t = dt^2/2, cth = cos(th), sth=sin(th) |
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| 116 | double d2t, cth, sth; |
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| 117 | double iam, ibm, omm, thm, uam, ubm; |
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[232] | 118 | public: |
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[318] | 119 | IMpmsm2o() :IMpmsm () {}; |
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[232] | 120 | //! Set mechanical and electrical variables |
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[240] | 121 | 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] | 122 | |
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| 123 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 124 | // last state |
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[240] | 125 | iam = x0 ( 0 ); |
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| 126 | ibm = x0 ( 1 ); |
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| 127 | omm = x0 ( 2 ); |
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| 128 | thm = x0 ( 3 ); |
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| 129 | uam = u0 ( 0 ); |
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| 130 | ubm = u0 ( 1 ); |
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[232] | 131 | |
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[240] | 132 | cth = cos(thm); |
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| 133 | sth = sin(thm); |
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[232] | 134 | |
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[240] | 135 | dia = (- Rs/Ls*iam + Ypm/Ls*omm * sth + uam/Ls); |
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| 136 | dib = (- Rs/Ls*ibm - Ypm/Ls*omm * cth + ubm/Ls); |
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| 137 | dom = kp*p*p * Ypm/J *( ibm * cth-iam * sth ) - p/J*Mz; |
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| 138 | dth = omm; |
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| 139 | |
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[232] | 140 | vec xk=zeros ( 4 ); |
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| 141 | xk ( 0 ) = iam + dt*dia;// +d2t*d2ia; |
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| 142 | xk ( 1 ) = ibm + dt*dib;// +d2t*d2ib; |
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| 143 | xk ( 2 ) = omm +dt*dom;// +d2t*d2om; |
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[318] | 144 | xk ( 3 ) = thm + dt*dth;// +d2t*dom; // <0..2pi> |
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[232] | 145 | |
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| 146 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 147 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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| 148 | return xk; |
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| 149 | } |
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| 150 | |
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[240] | 151 | //! eval 2nd order Taylor expansion, MUST be used only as a follow up AFTER eval()!! |
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| 152 | vec eval2o(const vec &du){ |
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| 153 | double dua = du ( 0 )/dt; |
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| 154 | double dub = du ( 1 )/dt; |
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| 155 | |
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| 156 | vec xth2o(4); |
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| 157 | xth2o(0) = (- Rs/Ls*dia + Ypm/Ls*(dom * sth + omm*cth) + dua/Ls); |
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| 158 | xth2o(1) = (- Rs/Ls*dib - Ypm/Ls*(dom * cth - omm*sth) + dub/Ls); |
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| 159 | xth2o(2) = kp*p*p * Ypm/J *( dib * cth-ibm*sth - (dia * sth + iam *cth)); |
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| 160 | xth2o(3) = dom; |
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[325] | 161 | // multiply by dt^2/2 |
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| 162 | xth2o*=d2t/2; |
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[240] | 163 | return xth2o; |
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| 164 | } |
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[232] | 165 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[240] | 166 | iam = x0 ( 0 ); |
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| 167 | ibm = x0 ( 1 ); |
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| 168 | omm = x0 ( 2 ); |
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| 169 | thm = x0 ( 3 ); |
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[232] | 170 | // d ia |
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| 171 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 172 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 173 | // d ib |
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| 174 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 175 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 176 | // d om |
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| 177 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 178 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 179 | A ( 2,2 ) = 1.0; |
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| 180 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 181 | // d th |
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| 182 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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[318] | 183 | // FOR d2t*dom!!!!!!!!! |
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| 184 | /* A ( 3,0 ) = dt* kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 185 | A ( 3,1 ) = dt* kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 186 | A ( 3,2 ) = dt; |
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| 187 | A ( 3,3 ) = 1.0 + dt* kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );*/ |
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[232] | 188 | } |
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| 189 | |
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| 190 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 191 | |
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| 192 | }; |
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| 193 | |
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[357] | 194 | |
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| 195 | UIREGISTER ( IMpmsm2o ); |
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| 196 | |
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[145] | 197 | //! 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] | 198 | class IMpmsmStat : public IMpmsm { |
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[240] | 199 | public: |
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[63] | 200 | IMpmsmStat() :IMpmsm() {}; |
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| 201 | //! Set mechanical and electrical variables |
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| 202 | 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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| 203 | |
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| 204 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 205 | // last state |
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| 206 | double iam = x0 ( 0 ); |
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| 207 | double ibm = x0 ( 1 ); |
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| 208 | double omm = x0 ( 2 ); |
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| 209 | double thm = x0 ( 3 ); |
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| 210 | double uam = u0 ( 0 ); |
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| 211 | double ubm = u0 ( 1 ); |
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| 212 | |
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| 213 | vec xk=zeros ( 4 ); |
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| 214 | //ia |
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| 215 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
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| 216 | //ib |
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| 217 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
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| 218 | //om |
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[332] | 219 | xk ( 2 ) = omm - p/J*dt*Mz;// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ); |
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[33] | 220 | //th |
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[48] | 221 | xk ( 3 ) = rem(thm + omm*dt,2*pi); // <0..2pi> |
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[33] | 222 | return xk; |
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| 223 | } |
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| 224 | |
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| 225 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[91] | 226 | // double iam = x0 ( 0 ); |
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| 227 | // double ibm = x0 ( 1 ); |
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[33] | 228 | double omm = x0 ( 2 ); |
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| 229 | double thm = x0 ( 3 ); |
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| 230 | // d ia |
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| 231 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 232 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 233 | // d ib |
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| 234 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 235 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 236 | // d om |
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[62] | 237 | A ( 2,0 ) = 0.0;//kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 238 | A ( 2,1 ) = 0.0;//kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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[33] | 239 | A ( 2,2 ) = 1.0; |
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[62] | 240 | A ( 2,3 ) = 0.0;//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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[33] | 241 | // d th |
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| 242 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 243 | } |
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| 244 | |
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| 245 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 246 | |
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| 247 | }; |
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| 248 | |
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[357] | 249 | UIREGISTER ( IMpmsmStat ); |
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| 250 | |
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| 251 | |
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[332] | 252 | //! State for PMSM with unknown Mz |
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| 253 | class IMpmsmMz: public IMpmsm{ |
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| 254 | public: |
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| 255 | IMpmsmMz() {dimy=5; dimx = 5; dimu=2;}; |
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| 256 | //! extend eval by Mz |
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| 257 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 258 | vec x(4); |
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| 259 | Mz = x0(4); //last of the state is Mz |
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| 260 | |
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| 261 | //teh first 4 states are same as before (given that Mz is set) |
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| 262 | x=IMpmsm::eval(x0,u0); // including model of drops! |
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| 263 | return concat(x,Mz); |
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| 264 | } |
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| 265 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 266 | //call initial |
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| 267 | if (full) A.clear(); |
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| 268 | IMpmsm::dfdx_cond(x0,u0,A,full); |
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| 269 | A(2,4)=- p/J*dt; |
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| 270 | A(4,4)=1.0; |
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| 271 | } |
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| 272 | }; |
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| 273 | |
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[357] | 274 | UIREGISTER ( IMpmsmMz ); |
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| 275 | |
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[332] | 276 | //! State for PMSM with unknown Mz |
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| 277 | class IMpmsmStatMz: public IMpmsmStat{ |
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| 278 | public: |
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| 279 | IMpmsmStatMz() {dimy=5; dimx = 5; dimu=2;}; |
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| 280 | //! extend eval by Mz |
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| 281 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 282 | vec x(4); |
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| 283 | Mz = x0(4); //last of the state is Mz |
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| 284 | |
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| 285 | //teh first 4 states are same as before (given that Mz is set) |
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| 286 | x=IMpmsmStat::eval(x0,u0); // including model of drops! |
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| 287 | return concat(x,Mz); |
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| 288 | } |
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| 289 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 290 | //call initial |
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| 291 | if (full) A.clear(); |
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| 292 | IMpmsmStat::dfdx_cond(x0,u0,A,full); |
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| 293 | A(2,4)=- p/J*dt; |
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| 294 | A(4,4)=1.0; |
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| 295 | } |
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| 296 | }; |
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| 297 | |
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[357] | 298 | UIREGISTER ( IMpmsmStatMz ); |
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[332] | 299 | |
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[357] | 300 | |
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[145] | 301 | //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ |
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[33] | 302 | class OMpmsm: public diffbifn { |
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| 303 | public: |
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[279] | 304 | OMpmsm() :diffbifn () {dimy=2;dimx=4;dimu=2;}; |
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[33] | 305 | |
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| 306 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 307 | vec y ( 2 ); |
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| 308 | y ( 0 ) = x0 ( 0 ); |
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| 309 | y ( 1 ) = x0 ( 1 ); |
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| 310 | return y; |
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| 311 | } |
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| 312 | |
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| 313 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 314 | A.clear(); |
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| 315 | A ( 0,0 ) = 1.0; |
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| 316 | A ( 1,1 ) = 1.0; |
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| 317 | } |
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| 318 | }; |
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| 319 | |
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[357] | 320 | UIREGISTER ( OMpmsm ); |
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| 321 | |
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[332] | 322 | //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ for full vector of observations |
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| 323 | class OMpmsm4: public diffbifn { |
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| 324 | public: |
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| 325 | OMpmsm4() :diffbifn () {dimy=4;dimx=4;dimu=2;}; |
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| 326 | |
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| 327 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 328 | vec y ( 4 ); |
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| 329 | y = x0 ; |
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| 330 | return y; |
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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 | if (full) A=eye(4); |
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| 335 | } |
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| 336 | }; |
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| 337 | |
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[357] | 338 | UIREGISTER ( OMpmsm4 ); |
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| 339 | |
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| 340 | |
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| 341 | |
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| 342 | |
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| 343 | |
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[224] | 344 | /*!@}*/ |
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[33] | 345 | #endif //PMSM_H |
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