[33] | 1 | #ifndef PMSM_H |
---|
| 2 | #define PMSM_H |
---|
| 3 | |
---|
[384] | 4 | #include <stat/functions.h> |
---|
[357] | 5 | #include "user_info.h" |
---|
[54] | 6 | |
---|
[224] | 7 | /*! \defgroup PMSM |
---|
| 8 | @{ |
---|
| 9 | */ |
---|
| 10 | |
---|
[254] | 11 | using namespace bdm; |
---|
| 12 | |
---|
[48] | 13 | //TODO hardcoded RVs!!! |
---|
[162] | 14 | RV rx ( "{ia ib om th }"); |
---|
| 15 | RV ru ( "{ua ub }"); |
---|
| 16 | RV ry ( "{oia oib }"); |
---|
[33] | 17 | |
---|
[128] | 18 | // class uipmsm : public uibase{ |
---|
| 19 | // double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
---|
| 20 | // }; |
---|
[81] | 21 | |
---|
[223] | 22 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
---|
[33] | 23 | class IMpmsm : public diffbifn { |
---|
[63] | 24 | protected: |
---|
[33] | 25 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
---|
| 26 | |
---|
| 27 | public: |
---|
[279] | 28 | IMpmsm() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2;}; |
---|
[33] | 29 | //! Set mechanical and electrical variables |
---|
[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;} |
---|
[33] | 31 | |
---|
[332] | 32 | void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){ |
---|
[349] | 33 | /* ua=u0[0]; |
---|
| 34 | ub=u0[1]; |
---|
| 35 | return;*/ |
---|
[332] | 36 | double sq3=sqrt ( 3.0 ); |
---|
| 37 | double i1=x0(0); |
---|
| 38 | double i2=0.5* ( -i1+sq3*x0[1] ); |
---|
| 39 | double i3=0.5* ( -i1-sq3*x0[1] ); |
---|
| 40 | double u1=u0(0); |
---|
| 41 | double u2=0.5* ( -u1+sq3*u0(1) ); |
---|
| 42 | double u3=0.5* ( -u1-sq3*u0(1) ); |
---|
| 43 | |
---|
| 44 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
---|
| 45 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
---|
| 46 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
---|
| 47 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
---|
| 48 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
---|
| 49 | } |
---|
| 50 | |
---|
[33] | 51 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 52 | // last state |
---|
[283] | 53 | const double &iam = x0 ( 0 ); |
---|
| 54 | const double &ibm = x0 ( 1 ); |
---|
| 55 | const double &omm = x0 ( 2 ); |
---|
| 56 | const double &thm = x0 ( 3 ); |
---|
[332] | 57 | double uam; |
---|
| 58 | double ubm; |
---|
[33] | 59 | |
---|
[332] | 60 | modelpwm(x0,u0,uam,ubm); |
---|
| 61 | |
---|
[280] | 62 | vec xk( 4 ); |
---|
[33] | 63 | //ia |
---|
| 64 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
---|
| 65 | //ib |
---|
| 66 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
---|
| 67 | //om |
---|
[63] | 68 | xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
---|
| 69 | //th |
---|
[81] | 70 | xk ( 3 ) = thm + omm*dt; // <0..2pi> |
---|
| 71 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
---|
| 72 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
---|
[63] | 73 | return xk; |
---|
| 74 | } |
---|
| 75 | |
---|
| 76 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
[283] | 77 | const double &iam = x0 ( 0 ); |
---|
| 78 | const double &ibm = x0 ( 1 ); |
---|
| 79 | const double &omm = x0 ( 2 ); |
---|
| 80 | const double &thm = x0 ( 3 ); |
---|
[63] | 81 | // d ia |
---|
| 82 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
---|
| 83 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
---|
| 84 | // d ib |
---|
| 85 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
---|
| 86 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
---|
| 87 | // d om |
---|
| 88 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
---|
| 89 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
---|
| 90 | A ( 2,2 ) = 1.0; |
---|
| 91 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
---|
| 92 | // d th |
---|
| 93 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
---|
| 94 | } |
---|
| 95 | |
---|
| 96 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
---|
[357] | 97 | |
---|
| 98 | void from_setting( const Setting &root ) |
---|
| 99 | { |
---|
[377] | 100 | UI::SettingResolver params_exp(root["params"]); |
---|
| 101 | const Setting& params=params_exp.result; |
---|
[366] | 102 | |
---|
| 103 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
---|
| 104 | params["kp"], params["p"], params["J"], 0.0); |
---|
| 105 | |
---|
| 106 | /* set_parameters ( root["params"]["Rs"], root["params"]["Ls"], 125e-6, root["params"]["Fmag"], \ |
---|
| 107 | root["params"]["kp"], root["params"]["p"], root["params"]["J"], 0.0 );*/ |
---|
[357] | 108 | }; |
---|
| 109 | |
---|
| 110 | // TODO dodelat void to_setting( Setting &root ) const; |
---|
[63] | 111 | }; |
---|
| 112 | |
---|
[357] | 113 | UIREGISTER ( IMpmsm ); |
---|
[332] | 114 | |
---|
[232] | 115 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
---|
[318] | 116 | class IMpmsm2o : public IMpmsm { |
---|
[232] | 117 | protected: |
---|
[318] | 118 | // double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
---|
[240] | 119 | //! store first derivatives for the use in second derivatives |
---|
| 120 | double dia, dib, dom, dth; |
---|
| 121 | //! d2t = dt^2/2, cth = cos(th), sth=sin(th) |
---|
| 122 | double d2t, cth, sth; |
---|
| 123 | double iam, ibm, omm, thm, uam, ubm; |
---|
[232] | 124 | public: |
---|
[318] | 125 | IMpmsm2o() :IMpmsm () {}; |
---|
[232] | 126 | //! Set mechanical and electrical variables |
---|
[240] | 127 | 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;} |
---|
[232] | 128 | |
---|
| 129 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 130 | // last state |
---|
[240] | 131 | iam = x0 ( 0 ); |
---|
| 132 | ibm = x0 ( 1 ); |
---|
| 133 | omm = x0 ( 2 ); |
---|
| 134 | thm = x0 ( 3 ); |
---|
| 135 | uam = u0 ( 0 ); |
---|
| 136 | ubm = u0 ( 1 ); |
---|
[232] | 137 | |
---|
[240] | 138 | cth = cos(thm); |
---|
| 139 | sth = sin(thm); |
---|
[232] | 140 | |
---|
[240] | 141 | dia = (- Rs/Ls*iam + Ypm/Ls*omm * sth + uam/Ls); |
---|
| 142 | dib = (- Rs/Ls*ibm - Ypm/Ls*omm * cth + ubm/Ls); |
---|
| 143 | dom = kp*p*p * Ypm/J *( ibm * cth-iam * sth ) - p/J*Mz; |
---|
| 144 | dth = omm; |
---|
| 145 | |
---|
[232] | 146 | vec xk=zeros ( 4 ); |
---|
| 147 | xk ( 0 ) = iam + dt*dia;// +d2t*d2ia; |
---|
| 148 | xk ( 1 ) = ibm + dt*dib;// +d2t*d2ib; |
---|
| 149 | xk ( 2 ) = omm +dt*dom;// +d2t*d2om; |
---|
[318] | 150 | xk ( 3 ) = thm + dt*dth;// +d2t*dom; // <0..2pi> |
---|
[232] | 151 | |
---|
| 152 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
---|
| 153 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
---|
| 154 | return xk; |
---|
| 155 | } |
---|
| 156 | |
---|
[240] | 157 | //! eval 2nd order Taylor expansion, MUST be used only as a follow up AFTER eval()!! |
---|
| 158 | vec eval2o(const vec &du){ |
---|
| 159 | double dua = du ( 0 )/dt; |
---|
| 160 | double dub = du ( 1 )/dt; |
---|
| 161 | |
---|
| 162 | vec xth2o(4); |
---|
| 163 | xth2o(0) = (- Rs/Ls*dia + Ypm/Ls*(dom * sth + omm*cth) + dua/Ls); |
---|
| 164 | xth2o(1) = (- Rs/Ls*dib - Ypm/Ls*(dom * cth - omm*sth) + dub/Ls); |
---|
| 165 | xth2o(2) = kp*p*p * Ypm/J *( dib * cth-ibm*sth - (dia * sth + iam *cth)); |
---|
| 166 | xth2o(3) = dom; |
---|
[325] | 167 | // multiply by dt^2/2 |
---|
| 168 | xth2o*=d2t/2; |
---|
[240] | 169 | return xth2o; |
---|
| 170 | } |
---|
[232] | 171 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
[240] | 172 | iam = x0 ( 0 ); |
---|
| 173 | ibm = x0 ( 1 ); |
---|
| 174 | omm = x0 ( 2 ); |
---|
| 175 | thm = x0 ( 3 ); |
---|
[232] | 176 | // d ia |
---|
| 177 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
---|
| 178 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
---|
| 179 | // d ib |
---|
| 180 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
---|
| 181 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
---|
| 182 | // d om |
---|
| 183 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
---|
| 184 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
---|
| 185 | A ( 2,2 ) = 1.0; |
---|
| 186 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
---|
| 187 | // d th |
---|
| 188 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
---|
[318] | 189 | // FOR d2t*dom!!!!!!!!! |
---|
| 190 | /* A ( 3,0 ) = dt* kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
---|
| 191 | A ( 3,1 ) = dt* kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
---|
| 192 | A ( 3,2 ) = dt; |
---|
| 193 | A ( 3,3 ) = 1.0 + dt* kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );*/ |
---|
[232] | 194 | } |
---|
| 195 | |
---|
| 196 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
---|
| 197 | |
---|
| 198 | }; |
---|
| 199 | |
---|
[357] | 200 | |
---|
| 201 | UIREGISTER ( IMpmsm2o ); |
---|
| 202 | |
---|
[145] | 203 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$, equation for \f$\omega\f$ is omitted.$ |
---|
[63] | 204 | class IMpmsmStat : public IMpmsm { |
---|
[240] | 205 | public: |
---|
[63] | 206 | IMpmsmStat() :IMpmsm() {}; |
---|
| 207 | //! Set mechanical and electrical variables |
---|
| 208 | 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;} |
---|
| 209 | |
---|
| 210 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 211 | // last state |
---|
| 212 | double iam = x0 ( 0 ); |
---|
| 213 | double ibm = x0 ( 1 ); |
---|
| 214 | double omm = x0 ( 2 ); |
---|
| 215 | double thm = x0 ( 3 ); |
---|
| 216 | double uam = u0 ( 0 ); |
---|
| 217 | double ubm = u0 ( 1 ); |
---|
| 218 | |
---|
| 219 | vec xk=zeros ( 4 ); |
---|
| 220 | //ia |
---|
| 221 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
---|
| 222 | //ib |
---|
| 223 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
---|
| 224 | //om |
---|
[332] | 225 | xk ( 2 ) = omm - p/J*dt*Mz;// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ); |
---|
[33] | 226 | //th |
---|
[48] | 227 | xk ( 3 ) = rem(thm + omm*dt,2*pi); // <0..2pi> |
---|
[33] | 228 | return xk; |
---|
| 229 | } |
---|
| 230 | |
---|
| 231 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
[91] | 232 | // double iam = x0 ( 0 ); |
---|
| 233 | // double ibm = x0 ( 1 ); |
---|
[33] | 234 | double omm = x0 ( 2 ); |
---|
| 235 | double thm = x0 ( 3 ); |
---|
| 236 | // d ia |
---|
| 237 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
---|
| 238 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
---|
| 239 | // d ib |
---|
| 240 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
---|
| 241 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
---|
| 242 | // d om |
---|
[62] | 243 | A ( 2,0 ) = 0.0;//kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
---|
| 244 | A ( 2,1 ) = 0.0;//kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
---|
[33] | 245 | A ( 2,2 ) = 1.0; |
---|
[62] | 246 | A ( 2,3 ) = 0.0;//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
---|
[33] | 247 | // d th |
---|
| 248 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
---|
| 249 | } |
---|
| 250 | |
---|
| 251 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
---|
| 252 | |
---|
| 253 | }; |
---|
| 254 | |
---|
[357] | 255 | UIREGISTER ( IMpmsmStat ); |
---|
| 256 | |
---|
| 257 | |
---|
[332] | 258 | //! State for PMSM with unknown Mz |
---|
| 259 | class IMpmsmMz: public IMpmsm{ |
---|
| 260 | public: |
---|
| 261 | IMpmsmMz() {dimy=5; dimx = 5; dimu=2;}; |
---|
| 262 | //! extend eval by Mz |
---|
| 263 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 264 | vec x(4); |
---|
| 265 | Mz = x0(4); //last of the state is Mz |
---|
| 266 | |
---|
| 267 | //teh first 4 states are same as before (given that Mz is set) |
---|
| 268 | x=IMpmsm::eval(x0,u0); // including model of drops! |
---|
| 269 | return concat(x,Mz); |
---|
| 270 | } |
---|
| 271 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 272 | //call initial |
---|
| 273 | if (full) A.clear(); |
---|
| 274 | IMpmsm::dfdx_cond(x0,u0,A,full); |
---|
| 275 | A(2,4)=- p/J*dt; |
---|
| 276 | A(4,4)=1.0; |
---|
| 277 | } |
---|
| 278 | }; |
---|
| 279 | |
---|
[357] | 280 | UIREGISTER ( IMpmsmMz ); |
---|
| 281 | |
---|
[332] | 282 | //! State for PMSM with unknown Mz |
---|
| 283 | class IMpmsmStatMz: public IMpmsmStat{ |
---|
| 284 | public: |
---|
| 285 | IMpmsmStatMz() {dimy=5; dimx = 5; dimu=2;}; |
---|
| 286 | //! extend eval by Mz |
---|
| 287 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 288 | vec x(4); |
---|
| 289 | Mz = x0(4); //last of the state is Mz |
---|
| 290 | |
---|
| 291 | //teh first 4 states are same as before (given that Mz is set) |
---|
| 292 | x=IMpmsmStat::eval(x0,u0); // including model of drops! |
---|
| 293 | return concat(x,Mz); |
---|
| 294 | } |
---|
| 295 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 296 | //call initial |
---|
| 297 | if (full) A.clear(); |
---|
| 298 | IMpmsmStat::dfdx_cond(x0,u0,A,full); |
---|
| 299 | A(2,4)=- p/J*dt; |
---|
| 300 | A(4,4)=1.0; |
---|
| 301 | } |
---|
| 302 | }; |
---|
| 303 | |
---|
[357] | 304 | UIREGISTER ( IMpmsmStatMz ); |
---|
[332] | 305 | |
---|
[357] | 306 | |
---|
[145] | 307 | //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ |
---|
[33] | 308 | class OMpmsm: public diffbifn { |
---|
| 309 | public: |
---|
[279] | 310 | OMpmsm() :diffbifn () {dimy=2;dimx=4;dimu=2;}; |
---|
[33] | 311 | |
---|
| 312 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 313 | vec y ( 2 ); |
---|
| 314 | y ( 0 ) = x0 ( 0 ); |
---|
| 315 | y ( 1 ) = x0 ( 1 ); |
---|
| 316 | return y; |
---|
| 317 | } |
---|
| 318 | |
---|
| 319 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 320 | A.clear(); |
---|
| 321 | A ( 0,0 ) = 1.0; |
---|
| 322 | A ( 1,1 ) = 1.0; |
---|
| 323 | } |
---|
| 324 | }; |
---|
| 325 | |
---|
[357] | 326 | UIREGISTER ( OMpmsm ); |
---|
| 327 | |
---|
[332] | 328 | //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ for full vector of observations |
---|
| 329 | class OMpmsm4: public diffbifn { |
---|
| 330 | public: |
---|
| 331 | OMpmsm4() :diffbifn () {dimy=4;dimx=4;dimu=2;}; |
---|
| 332 | |
---|
| 333 | vec eval ( const vec &x0, const vec &u0 ) { |
---|
| 334 | vec y ( 4 ); |
---|
| 335 | y = x0 ; |
---|
| 336 | return y; |
---|
| 337 | } |
---|
| 338 | |
---|
| 339 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
---|
| 340 | if (full) A=eye(4); |
---|
| 341 | } |
---|
| 342 | }; |
---|
| 343 | |
---|
[357] | 344 | UIREGISTER ( OMpmsm4 ); |
---|
| 345 | |
---|
| 346 | |
---|
| 347 | |
---|
| 348 | |
---|
| 349 | |
---|
[224] | 350 | /*!@}*/ |
---|
[33] | 351 | #endif //PMSM_H |
---|