[1243] | 1 | #ifndef PMSM_CTR_H |
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| 2 | #define PMSM_CTR_H |
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| 3 | |
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| 4 | #include <design/ctrlbase.h> |
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[1259] | 5 | #include <design/lq_ctrl.h> |
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[1243] | 6 | #include "pmsm.h" |
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| 7 | |
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[1259] | 8 | #include <fstream> |
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| 9 | |
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[1243] | 10 | /*! \defgroup PMSM |
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| 11 | @{ |
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| 12 | */ |
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| 13 | |
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| 14 | using namespace bdm; |
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| 15 | |
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| 16 | |
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| 17 | /*! PI Controller*/ |
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| 18 | class PI_ctrl: public Controller{ |
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| 19 | public: |
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| 20 | //!integral state |
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| 21 | double S; |
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| 22 | double Pd; |
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| 23 | double Pi; |
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| 24 | double minOut; |
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| 25 | double maxOut; |
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| 26 | |
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| 27 | PI_ctrl(double Pd0, double Pi0, double minOut0, double maxOut0): S(0.0), Pd(Pd0), Pi(Pi0),minOut(minOut0),maxOut(maxOut0){} |
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| 28 | virtual vec ctrlaction ( const vec &cond ) { |
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| 29 | double tmp; |
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| 30 | tmp = Pd*cond(0)+S; |
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| 31 | |
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| 32 | S += Pi*cond(0); |
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| 33 | |
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| 34 | if (tmp>maxOut) tmp=maxOut; |
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| 35 | if (tmp<minOut) tmp=minOut; |
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| 36 | return vec_1(tmp); |
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| 37 | } |
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| 38 | }; |
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| 39 | |
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[1251] | 40 | /*! \brief Root class for controllers of PMSM |
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| 41 | * |
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| 42 | * It defines the interface for controllers that connect to the pmsmDSctrl. |
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| 43 | * The adapt() function calls bayes() of an internal BM. Note that it is assumed that the estimator is compatible with PMSM system. |
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| 44 | * I.e. it must have rv={ia, ib} and rvc={ua,ub}, any other BM will not work. |
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| 45 | * |
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| 46 | */ |
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| 47 | class PMSMCtrl: public Controller{ |
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[1243] | 48 | protected: |
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[1251] | 49 | //! Est where rv and rcv are not used! |
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[1243] | 50 | shared_ptr<BM> Est; |
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[1251] | 51 | //! switch to use or not to use the internal estimator |
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| 52 | bool estim; |
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| 53 | |
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| 54 | // internal quantities filled by PMSMCtrl::ctrlaction() |
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| 55 | double isa; |
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| 56 | double isb; |
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| 57 | double ome; |
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| 58 | double the; |
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| 59 | double Ww; |
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| 60 | |
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[1243] | 61 | public: |
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| 62 | |
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[1251] | 63 | PMSMCtrl():Controller() { |
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[1243] | 64 | rv = RV("{ua ub }"); |
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[1261] | 65 | rvc = RV("{o_ia o_ib t_ua t_ub o_om o_th Ww }"); |
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[1243] | 66 | } |
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| 67 | |
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| 68 | void adapt(const itpp::vec& data){ |
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[1251] | 69 | if (estim){ |
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| 70 | vec y=data.get(0,1); |
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| 71 | vec u=data.get(2,3); |
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| 72 | Est->bayes(y,u); |
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| 73 | } |
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[1243] | 74 | } |
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| 75 | |
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| 76 | |
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| 77 | virtual vec ctrlaction(const itpp::vec& cond) { |
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| 78 | |
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[1251] | 79 | if (estim){ |
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| 80 | vec x_est=Est->posterior().mean(); |
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| 81 | isa=x_est(0); |
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| 82 | isb=x_est(1); |
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| 83 | ome=x_est(2); |
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| 84 | the=x_est(3); |
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| 85 | } else { |
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| 86 | isa=cond(0);//x_est(0); |
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| 87 | isb=cond(1);//x_est(1); |
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| 88 | ome=cond(4);//x[2];//x_est(2); |
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| 89 | the=cond(5);//x_est(3); |
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| 90 | } |
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| 91 | Ww=cond(6); |
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| 92 | |
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| 93 | return empty_vec; // dummy return |
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| 94 | }; |
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| 95 | void from_setting(const libconfig::Setting& set){ |
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| 96 | Controller::from_setting(set); |
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| 97 | Est=UI::build<BM>(set,"estim",UI::optional); |
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| 98 | estim = Est; |
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| 99 | } |
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| 100 | void log_register ( logger &L, const string &prefix ) { |
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| 101 | Controller::log_register(L,prefix); |
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| 102 | if (estim) Est->log_register(L,prefix); |
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| 103 | } |
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| 104 | void log_write() const{ |
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| 105 | if (estim) Est->log_write(); |
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| 106 | } |
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| 107 | }; |
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| 108 | //UIREGISTER(PMSMCtrl); -- abstract |
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| 109 | |
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| 110 | class PMSM_PICtrl: public PMSMCtrl{ |
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| 111 | public: |
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| 112 | PI_ctrl Cwq; |
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| 113 | PI_ctrl Cuq; |
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| 114 | PI_ctrl Cud; |
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| 115 | |
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| 116 | PMSM_PICtrl():PMSMCtrl(), |
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| 117 | Cwq(3.0, 3.0*0.000125/0.1, -1200, 1200), |
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| 118 | Cuq(20.0, 20.0*0.000125/0.005, -1200, 1200), |
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| 119 | Cud(20.0, 20.0*0.000125/0.005, -1200, 1200) {} |
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| 120 | |
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| 121 | |
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| 122 | virtual vec ctrlaction(const itpp::vec& cond) { |
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| 123 | PMSMCtrl::ctrlaction(cond); // fills isa,isb,om,the |
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| 124 | |
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[1243] | 125 | double Isd = isa*cos(the)+isb*sin(the); |
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| 126 | double Isq = isb*cos(the)-isa*sin(the); |
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| 127 | |
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| 128 | double Iqw=(Cwq.ctrlaction(vec_1(Ww-ome)))(0); // conversion from vec |
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| 129 | |
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| 130 | double ud = (Cud.ctrlaction(vec_1(-Isd)))(0); |
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| 131 | double uq = (Cuq.ctrlaction(vec_1(Iqw-Isq)))(0); |
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| 132 | |
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| 133 | const double Ls0=0.003465; // inductance |
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| 134 | const double Fmag0= 0.1989; // Magnetic?? |
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[1251] | 135 | |
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[1243] | 136 | ud-=Ls0*ome*Iqw; // har |
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| 137 | uq+=Fmag0*ome; |
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| 138 | |
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| 139 | double Um = sqrt(ud*ud+uq*uq); |
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| 140 | double beta = atan(uq/ud); |
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| 141 | if (ud<0) beta += M_PI; |
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| 142 | beta +=the; |
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| 143 | |
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| 144 | vec uab(2); |
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| 145 | uab(0)=Um*cos(beta); // usx = usa |
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| 146 | uab(1)=Um*sin(beta); // usy |
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| 147 | |
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| 148 | return uab; |
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| 149 | }; |
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| 150 | }; |
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| 151 | UIREGISTER(PMSM_PICtrl); |
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| 152 | |
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[1259] | 153 | class PMSM_LQCtrl: public PMSMCtrl{ |
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| 154 | public: |
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| 155 | /* |
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| 156 | PMSMCtrl: |
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| 157 | double isa; |
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| 158 | double isb; |
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| 159 | double ome; |
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| 160 | double the; |
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| 161 | double Ww; |
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| 162 | */ |
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| 163 | |
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| 164 | //PMSM parameters |
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| 165 | const double a; |
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| 166 | const double b; |
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| 167 | const double c; |
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| 168 | const double d; |
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| 169 | const double e; |
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| 170 | |
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| 171 | //input penalty |
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| 172 | double r; |
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| 173 | |
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| 174 | //time step |
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| 175 | const double Dt; |
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| 176 | |
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| 177 | //receding horizon |
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[1261] | 178 | int rec_hor; |
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[1259] | 179 | |
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| 180 | //system matrices |
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| 181 | mat A; //5x5 |
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| 182 | mat B; //5x2 |
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| 183 | //mat C; //2x5 |
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| 184 | mat Q; //5x5 |
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| 185 | mat R; //2x2 |
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| 186 | |
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| 187 | //control matrix |
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| 188 | mat L; |
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| 189 | vec uab; |
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| 190 | vec icond; |
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| 191 | |
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| 192 | //control maximum |
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| 193 | const double MAXu; |
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| 194 | |
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| 195 | //lqg controler class |
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| 196 | LQG_universal lq; |
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| 197 | |
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| 198 | //prediction |
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| 199 | vec p_isa, p_isb, p_ome, p_the; |
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| 200 | |
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| 201 | PMSM_LQCtrl():PMSMCtrl(), a(0.9898), b(0.0072), c(0.0361), d(1.0), e(0.0149), |
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| 202 | r(0.005), Dt(0.000125), rec_hor(10), //for r is a default value rewrited by pcp.txt file value |
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| 203 | A(5, 5), B(5, 2), Q(5, 5), R(2, 2), |
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[1261] | 204 | uab(2), icond(6), MAXu(100.0) { |
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[1259] | 205 | //set fix matrices elements & dimensions |
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| 206 | A.zeros(); |
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| 207 | A(0, 0) = A(1, 1) = a; |
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| 208 | A(2, 2) = d; |
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| 209 | A(2, 4) = d - 1; |
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| 210 | A(3, 2) = A(3, 4) = Dt; |
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| 211 | A(3, 3) = A(4, 4) = 1.0; |
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| 212 | B.zeros(); |
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| 213 | B(0, 0) = B(1, 1) = c; |
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| 214 | //C.zeros(); |
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| 215 | // C(0, 0) = C(1, 1) = 1.0; |
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| 216 | Q.zeros(); |
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| 217 | Q(2, 2) = 1.0; |
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| 218 | R.zeros(); |
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| 219 | |
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| 220 | } |
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| 221 | |
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| 222 | |
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| 223 | virtual vec ctrlaction(const itpp::vec& cond) { |
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| 224 | PMSMCtrl::ctrlaction(cond); // fills isa,isb,ome,the,Ww |
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| 225 | |
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| 226 | int i; |
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| 227 | lq.resetTime(); |
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| 228 | |
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| 229 | //create prediction |
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| 230 | p_isa.zeros(); |
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| 231 | p_isb.zeros(); |
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| 232 | p_ome.zeros(); |
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| 233 | p_the.zeros(); |
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| 234 | p_isa(0) = isa; |
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| 235 | p_isb(0) = isb; |
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| 236 | p_ome(0) = ome; |
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| 237 | p_the(0) = the; |
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| 238 | |
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| 239 | for(i = 0; i < rec_hor-1; i++){ |
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| 240 | p_isa(i+1) = a*p_isa(i) + b*p_ome(i)*sin(p_the(i)) + c*0;//uab(0); //use last used control |
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| 241 | p_isb(i+1) = a*p_isb(i) - b*p_ome(i)*cos(p_the(i)) + c*0;//uab(1); |
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| 242 | p_ome(i+1) = d*p_ome(i) + e*(p_isb(i)*cos(p_the(i)) - p_isa(i)*sin(p_the(i))); |
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| 243 | p_the(i+1) = p_the(i) + Dt*p_ome(i); |
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| 244 | } |
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| 245 | |
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| 246 | //create control matrix |
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| 247 | for(i = rec_hor; i > 0; i--){ |
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| 248 | //set variable matrices elements (A matrix only) |
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| 249 | A(0, 2) = b*sin(p_the(i)); |
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| 250 | A(0, 3) = b*(p_ome(i))*cos(p_the(i)); |
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| 251 | A(0, 4) = b*sin(p_the(i)); |
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| 252 | A(1, 2) = -b*cos(p_the(i)); |
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| 253 | A(1, 3) = b*(p_ome(i))*sin(p_the(i)); |
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| 254 | A(1, 4) = -b*cos(p_the(i)); |
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| 255 | A(2, 0) = -e*sin(p_the(i)); |
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| 256 | A(2, 1) = e*cos(p_the(i)); |
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| 257 | A(2, 3) = -e*(p_isa(i)*cos(p_the(i)) + p_isb(i)*sin(p_the(i))); |
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| 258 | |
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| 259 | lq.Models(0).A = A; |
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| 260 | lq.redesign(); |
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| 261 | } |
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| 262 | lq.redesign(); |
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| 263 | |
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| 264 | L = lq.getL(); |
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| 265 | icond(0) = isa; |
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| 266 | icond(1) = isb; |
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| 267 | icond(2) = ome - Ww; |
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| 268 | icond(3) = the; |
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| 269 | icond(4) = Ww; |
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[1261] | 270 | icond(5) = 1; |
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[1259] | 271 | vec tmp = L*icond; |
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| 272 | |
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| 273 | uab = tmp(0,1); |
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| 274 | |
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| 275 | if(uab(0) > MAXu) uab(0) = MAXu; |
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| 276 | else if(uab(0) < -MAXu) uab(0) = -MAXu; |
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| 277 | if(uab(1) > MAXu) uab(1) = MAXu; |
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| 278 | else if(uab(1) < -MAXu) uab(1) = -MAXu; |
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| 279 | |
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| 280 | return uab; |
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| 281 | }; |
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[1261] | 282 | void from_setting(const Setting &set){ |
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| 283 | PMSMCtrl::from_setting(set); |
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| 284 | UI::get(r,set, "r", UI::optional); |
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| 285 | UI::get(rec_hor,set, "h", UI::optional); |
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| 286 | } |
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| 287 | |
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| 288 | void validate(){ |
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| 289 | R(0,0)=R(1,1)=r; |
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| 290 | |
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| 291 | p_isa.set_length(rec_hor+1); |
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| 292 | p_isb.set_length(rec_hor+1); |
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| 293 | p_ome.set_length(rec_hor+1); |
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| 294 | p_the.set_length(rec_hor+1); |
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| 295 | |
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| 296 | Array<quadraticfn> qloss(2); |
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| 297 | qloss(0).Q.setCh(Q); |
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| 298 | qloss(0).rv = RV("x", 5, 1); |
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| 299 | qloss(1).Q.setCh(R); |
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| 300 | qloss(1).rv = RV("u", 2, 0); |
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| 301 | lq.Losses = qloss; |
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| 302 | |
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| 303 | //set lq |
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| 304 | lq.rv = RV("u", 2, 0); |
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| 305 | lq.set_rvc(RV("x", 5, 0)); |
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| 306 | lq.horizon = rec_hor; |
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| 307 | |
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| 308 | Array<linfnEx> model(2); |
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| 309 | model(0).A = A; |
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| 310 | model(0).B = vec("0 0 0 0 0"); |
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| 311 | model(0).rv = RV("x", 5, 0); |
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| 312 | model(0).rv_ret = RV("x", 5, 1); |
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| 313 | model(1).A = B; |
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| 314 | model(1).B = vec("0 0"); |
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| 315 | model(1).rv = RV("u", 2, 0); |
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| 316 | model(1).rv_ret = RV("x", 5, 1); |
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| 317 | lq.Models = model; |
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| 318 | |
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| 319 | lq.finalLoss.Q.setCh(Q); |
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| 320 | lq.finalLoss.rv = RV("x", 5, 1); |
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| 321 | |
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| 322 | lq.validate(); |
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| 323 | |
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| 324 | uab.zeros(); |
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| 325 | |
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| 326 | } |
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[1259] | 327 | }; |
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| 328 | UIREGISTER(PMSM_LQCtrl); |
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| 329 | |
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[1243] | 330 | /*!@}*/ |
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| 331 | #endif //PMSM_CTR_H |
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