[1243] | 1 | #ifndef PMSM_CTR_H |
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| 2 | #define PMSM_CTR_H |
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| 3 | |
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[1298] | 4 | #include <estim/particles.h> |
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[1243] | 5 | #include <design/ctrlbase.h> |
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[1259] | 6 | #include <design/lq_ctrl.h> |
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[1243] | 7 | #include "pmsm.h" |
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| 8 | |
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[1259] | 9 | #include <fstream> |
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| 10 | |
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[1243] | 11 | /*! \defgroup PMSM |
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| 12 | @{ |
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| 13 | */ |
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| 14 | |
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| 15 | using namespace bdm; |
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| 16 | |
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| 17 | |
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| 18 | /*! PI Controller*/ |
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| 19 | class PI_ctrl: public Controller{ |
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| 20 | public: |
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| 21 | //!integral state |
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| 22 | double S; |
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| 23 | double Pd; |
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| 24 | double Pi; |
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| 25 | double minOut; |
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| 26 | double maxOut; |
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| 27 | |
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| 28 | 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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| 29 | virtual vec ctrlaction ( const vec &cond ) { |
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| 30 | double tmp; |
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| 31 | tmp = Pd*cond(0)+S; |
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| 32 | |
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| 33 | S += Pi*cond(0); |
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| 34 | |
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| 35 | if (tmp>maxOut) tmp=maxOut; |
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| 36 | if (tmp<minOut) tmp=minOut; |
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| 37 | return vec_1(tmp); |
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| 38 | } |
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| 39 | }; |
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| 40 | |
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[1251] | 41 | /*! \brief Root class for controllers of PMSM |
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| 42 | * |
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| 43 | * It defines the interface for controllers that connect to the pmsmDSctrl. |
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| 44 | * 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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| 45 | * I.e. it must have rv={ia, ib} and rvc={ua,ub}, any other BM will not work. |
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| 46 | * |
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[1298] | 47 | * Two cases are considered: |
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| 48 | * - 4 dimensional rv={ia, ib, om, th} and rvc={ua,ub} |
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| 49 | * - 2 dimensional rv={om, th} and rvc={ua,ub,ia_{t-1}, ib_{t-1} } |
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| 50 | * These are hardcoded and sitched based on dimensionality. |
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[1251] | 51 | */ |
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| 52 | class PMSMCtrl: public Controller{ |
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[1243] | 53 | protected: |
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[1251] | 54 | //! Est where rv and rcv are not used! |
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[1243] | 55 | shared_ptr<BM> Est; |
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[1251] | 56 | //! switch to use or not to use the internal estimator |
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| 57 | bool estim; |
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| 58 | |
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| 59 | // internal quantities filled by PMSMCtrl::ctrlaction() |
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| 60 | double isa; |
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| 61 | double isb; |
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| 62 | double ome; |
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| 63 | double the; |
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| 64 | double Ww; |
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| 65 | |
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[1243] | 66 | public: |
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| 67 | |
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[1251] | 68 | PMSMCtrl():Controller() { |
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[1243] | 69 | rv = RV("{ua ub }"); |
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[1298] | 70 | rvc = RV("{o_ia o_ib t_ua t_ub o_om o_th Ww }"); |
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[1243] | 71 | } |
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| 72 | |
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| 73 | void adapt(const itpp::vec& data){ |
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[1251] | 74 | if (estim){ |
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| 75 | vec y=data.get(0,1); |
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| 76 | vec u=data.get(2,3); |
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[1298] | 77 | if (Est->dimension()==2){ |
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| 78 | static vec cond(4); // |
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| 79 | cond.set_subvector(0,1,u); |
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| 80 | Est->bayes(y,cond); |
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| 81 | cond.set_subvector(2,3,y); // save 1-step delayed vectors |
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| 82 | |
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| 83 | } else { |
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| 84 | Est->bayes(y,u); |
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| 85 | |
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| 86 | } |
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| 87 | |
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[1251] | 88 | } |
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[1243] | 89 | } |
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| 90 | |
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| 91 | |
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| 92 | virtual vec ctrlaction(const itpp::vec& cond) { |
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| 93 | |
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[1251] | 94 | if (estim){ |
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[1298] | 95 | if (Est->dimension()==2){ |
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| 96 | vec x_est=Est->posterior().mean(); |
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| 97 | isa=cond(0); |
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| 98 | isb=cond(1); |
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| 99 | ome=x_est(0); |
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| 100 | the=x_est(1); |
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| 101 | } else { |
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[1251] | 102 | vec x_est=Est->posterior().mean(); |
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| 103 | isa=x_est(0); |
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| 104 | isb=x_est(1); |
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| 105 | ome=x_est(2); |
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| 106 | the=x_est(3); |
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[1298] | 107 | } |
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[1251] | 108 | } else { |
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| 109 | isa=cond(0);//x_est(0); |
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| 110 | isb=cond(1);//x_est(1); |
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| 111 | ome=cond(4);//x[2];//x_est(2); |
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| 112 | the=cond(5);//x_est(3); |
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| 113 | } |
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| 114 | Ww=cond(6); |
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| 115 | |
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| 116 | return empty_vec; // dummy return |
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| 117 | }; |
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| 118 | void from_setting(const libconfig::Setting& set){ |
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| 119 | Controller::from_setting(set); |
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| 120 | Est=UI::build<BM>(set,"estim",UI::optional); |
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| 121 | estim = Est; |
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| 122 | } |
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| 123 | void log_register ( logger &L, const string &prefix ) { |
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| 124 | Controller::log_register(L,prefix); |
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| 125 | if (estim) Est->log_register(L,prefix); |
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| 126 | } |
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| 127 | void log_write() const{ |
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| 128 | if (estim) Est->log_write(); |
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| 129 | } |
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| 130 | }; |
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| 131 | //UIREGISTER(PMSMCtrl); -- abstract |
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| 132 | |
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| 133 | class PMSM_PICtrl: public PMSMCtrl{ |
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| 134 | public: |
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| 135 | PI_ctrl Cwq; |
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| 136 | PI_ctrl Cuq; |
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| 137 | PI_ctrl Cud; |
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| 138 | |
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| 139 | PMSM_PICtrl():PMSMCtrl(), |
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| 140 | Cwq(3.0, 3.0*0.000125/0.1, -1200, 1200), |
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| 141 | Cuq(20.0, 20.0*0.000125/0.005, -1200, 1200), |
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| 142 | Cud(20.0, 20.0*0.000125/0.005, -1200, 1200) {} |
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| 143 | |
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| 144 | |
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| 145 | virtual vec ctrlaction(const itpp::vec& cond) { |
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| 146 | PMSMCtrl::ctrlaction(cond); // fills isa,isb,om,the |
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| 147 | |
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[1243] | 148 | double Isd = isa*cos(the)+isb*sin(the); |
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| 149 | double Isq = isb*cos(the)-isa*sin(the); |
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| 150 | |
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| 151 | double Iqw=(Cwq.ctrlaction(vec_1(Ww-ome)))(0); // conversion from vec |
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| 152 | |
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| 153 | double ud = (Cud.ctrlaction(vec_1(-Isd)))(0); |
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| 154 | double uq = (Cuq.ctrlaction(vec_1(Iqw-Isq)))(0); |
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| 155 | |
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| 156 | const double Ls0=0.003465; // inductance |
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| 157 | const double Fmag0= 0.1989; // Magnetic?? |
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[1251] | 158 | |
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[1243] | 159 | ud-=Ls0*ome*Iqw; // har |
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| 160 | uq+=Fmag0*ome; |
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| 161 | |
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| 162 | double Um = sqrt(ud*ud+uq*uq); |
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| 163 | double beta = atan(uq/ud); |
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| 164 | if (ud<0) beta += M_PI; |
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| 165 | beta +=the; |
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| 166 | |
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| 167 | vec uab(2); |
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| 168 | uab(0)=Um*cos(beta); // usx = usa |
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| 169 | uab(1)=Um*sin(beta); // usy |
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| 170 | |
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| 171 | return uab; |
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| 172 | }; |
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| 173 | }; |
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| 174 | UIREGISTER(PMSM_PICtrl); |
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| 175 | |
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[1259] | 176 | class PMSM_LQCtrl: public PMSMCtrl{ |
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| 177 | public: |
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| 178 | /* |
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| 179 | PMSMCtrl: |
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| 180 | double isa; |
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| 181 | double isb; |
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| 182 | double ome; |
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| 183 | double the; |
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| 184 | double Ww; |
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| 185 | */ |
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| 186 | |
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| 187 | //PMSM parameters |
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| 188 | const double a; |
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| 189 | const double b; |
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| 190 | const double c; |
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| 191 | const double d; |
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| 192 | const double e; |
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| 193 | |
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| 194 | //input penalty |
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| 195 | double r; |
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| 196 | |
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| 197 | //time step |
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| 198 | const double Dt; |
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| 199 | |
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| 200 | //receding horizon |
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[1261] | 201 | int rec_hor; |
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[1259] | 202 | |
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| 203 | //system matrices |
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| 204 | mat A; //5x5 |
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| 205 | mat B; //5x2 |
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| 206 | //mat C; //2x5 |
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| 207 | mat Q; //5x5 |
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| 208 | mat R; //2x2 |
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| 209 | |
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| 210 | //control matrix |
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| 211 | mat L; |
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| 212 | vec uab; |
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| 213 | vec icond; |
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| 214 | |
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| 215 | //control maximum |
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| 216 | const double MAXu; |
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| 217 | |
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| 218 | //lqg controler class |
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| 219 | LQG_universal lq; |
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| 220 | |
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| 221 | //prediction |
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| 222 | vec p_isa, p_isb, p_ome, p_the; |
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| 223 | |
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| 224 | PMSM_LQCtrl():PMSMCtrl(), a(0.9898), b(0.0072), c(0.0361), d(1.0), e(0.0149), |
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| 225 | 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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| 226 | A(5, 5), B(5, 2), Q(5, 5), R(2, 2), |
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[1261] | 227 | uab(2), icond(6), MAXu(100.0) { |
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[1259] | 228 | //set fix matrices elements & dimensions |
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| 229 | A.zeros(); |
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| 230 | A(0, 0) = A(1, 1) = a; |
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| 231 | A(2, 2) = d; |
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| 232 | A(2, 4) = d - 1; |
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| 233 | A(3, 2) = A(3, 4) = Dt; |
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| 234 | A(3, 3) = A(4, 4) = 1.0; |
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| 235 | B.zeros(); |
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| 236 | B(0, 0) = B(1, 1) = c; |
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| 237 | //C.zeros(); |
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| 238 | // C(0, 0) = C(1, 1) = 1.0; |
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| 239 | Q.zeros(); |
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| 240 | Q(2, 2) = 1.0; |
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| 241 | R.zeros(); |
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| 242 | |
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| 243 | } |
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| 244 | |
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| 245 | |
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| 246 | virtual vec ctrlaction(const itpp::vec& cond) { |
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| 247 | PMSMCtrl::ctrlaction(cond); // fills isa,isb,ome,the,Ww |
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| 248 | |
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| 249 | int i; |
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| 250 | lq.resetTime(); |
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| 251 | |
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| 252 | //create prediction |
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| 253 | p_isa.zeros(); |
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| 254 | p_isb.zeros(); |
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| 255 | p_ome.zeros(); |
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| 256 | p_the.zeros(); |
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| 257 | p_isa(0) = isa; |
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| 258 | p_isb(0) = isb; |
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| 259 | p_ome(0) = ome; |
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| 260 | p_the(0) = the; |
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| 261 | |
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| 262 | for(i = 0; i < rec_hor-1; i++){ |
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| 263 | 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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| 264 | p_isb(i+1) = a*p_isb(i) - b*p_ome(i)*cos(p_the(i)) + c*0;//uab(1); |
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| 265 | 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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| 266 | p_the(i+1) = p_the(i) + Dt*p_ome(i); |
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| 267 | } |
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| 268 | |
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| 269 | //create control matrix |
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| 270 | for(i = rec_hor; i > 0; i--){ |
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| 271 | //set variable matrices elements (A matrix only) |
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| 272 | A(0, 2) = b*sin(p_the(i)); |
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| 273 | A(0, 3) = b*(p_ome(i))*cos(p_the(i)); |
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| 274 | A(0, 4) = b*sin(p_the(i)); |
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| 275 | A(1, 2) = -b*cos(p_the(i)); |
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| 276 | A(1, 3) = b*(p_ome(i))*sin(p_the(i)); |
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| 277 | A(1, 4) = -b*cos(p_the(i)); |
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| 278 | A(2, 0) = -e*sin(p_the(i)); |
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| 279 | A(2, 1) = e*cos(p_the(i)); |
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| 280 | A(2, 3) = -e*(p_isa(i)*cos(p_the(i)) + p_isb(i)*sin(p_the(i))); |
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| 281 | |
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| 282 | lq.Models(0).A = A; |
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| 283 | lq.redesign(); |
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| 284 | } |
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| 285 | lq.redesign(); |
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| 286 | |
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| 287 | L = lq.getL(); |
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| 288 | icond(0) = isa; |
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| 289 | icond(1) = isb; |
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| 290 | icond(2) = ome - Ww; |
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| 291 | icond(3) = the; |
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| 292 | icond(4) = Ww; |
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[1261] | 293 | icond(5) = 1; |
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[1259] | 294 | vec tmp = L*icond; |
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| 295 | |
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| 296 | uab = tmp(0,1); |
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| 297 | |
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| 298 | if(uab(0) > MAXu) uab(0) = MAXu; |
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| 299 | else if(uab(0) < -MAXu) uab(0) = -MAXu; |
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| 300 | if(uab(1) > MAXu) uab(1) = MAXu; |
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| 301 | else if(uab(1) < -MAXu) uab(1) = -MAXu; |
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| 302 | |
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| 303 | return uab; |
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| 304 | }; |
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[1261] | 305 | void from_setting(const Setting &set){ |
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| 306 | PMSMCtrl::from_setting(set); |
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| 307 | UI::get(r,set, "r", UI::optional); |
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| 308 | UI::get(rec_hor,set, "h", UI::optional); |
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| 309 | } |
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| 310 | |
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| 311 | void validate(){ |
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| 312 | R(0,0)=R(1,1)=r; |
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| 313 | |
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| 314 | p_isa.set_length(rec_hor+1); |
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| 315 | p_isb.set_length(rec_hor+1); |
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| 316 | p_ome.set_length(rec_hor+1); |
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| 317 | p_the.set_length(rec_hor+1); |
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| 318 | |
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| 319 | Array<quadraticfn> qloss(2); |
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| 320 | qloss(0).Q.setCh(Q); |
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| 321 | qloss(0).rv = RV("x", 5, 1); |
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| 322 | qloss(1).Q.setCh(R); |
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| 323 | qloss(1).rv = RV("u", 2, 0); |
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| 324 | lq.Losses = qloss; |
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| 325 | |
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| 326 | //set lq |
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| 327 | lq.rv = RV("u", 2, 0); |
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| 328 | lq.set_rvc(RV("x", 5, 0)); |
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| 329 | lq.horizon = rec_hor; |
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| 330 | |
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| 331 | Array<linfnEx> model(2); |
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| 332 | model(0).A = A; |
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| 333 | model(0).B = vec("0 0 0 0 0"); |
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| 334 | model(0).rv = RV("x", 5, 0); |
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| 335 | model(0).rv_ret = RV("x", 5, 1); |
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| 336 | model(1).A = B; |
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| 337 | model(1).B = vec("0 0"); |
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| 338 | model(1).rv = RV("u", 2, 0); |
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| 339 | model(1).rv_ret = RV("x", 5, 1); |
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| 340 | lq.Models = model; |
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| 341 | |
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| 342 | lq.finalLoss.Q.setCh(Q); |
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| 343 | lq.finalLoss.rv = RV("x", 5, 1); |
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| 344 | |
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| 345 | lq.validate(); |
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| 346 | |
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| 347 | uab.zeros(); |
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| 348 | |
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| 349 | } |
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[1259] | 350 | }; |
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| 351 | UIREGISTER(PMSM_LQCtrl); |
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| 352 | |
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[1279] | 353 | class PMSM_LQCtrl_dq: public PMSMCtrl{ |
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| 354 | public: |
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| 355 | /* |
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| 356 | PMSMCtrl: |
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| 357 | double isa; |
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| 358 | double isb; |
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| 359 | double ome; |
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| 360 | double the; |
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| 361 | double Ww; |
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| 362 | */ |
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| 363 | |
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| 364 | //PMSM parameters |
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| 365 | const double a; |
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| 366 | const double b; |
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| 367 | const double c; |
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| 368 | const double d; |
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| 369 | const double e; |
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| 370 | |
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| 371 | //input penalty |
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| 372 | double r; |
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| 373 | |
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| 374 | //time step |
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| 375 | const double Dt; |
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| 376 | |
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| 377 | //receding horizon |
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| 378 | int rec_hor; |
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| 379 | |
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| 380 | //system matrices |
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| 381 | mat A; //5x5 |
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| 382 | mat B; //5x2 |
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| 383 | //mat C; //2x5 |
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| 384 | mat Q; //5x5 |
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| 385 | mat R; //2x2 |
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| 386 | |
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| 387 | //control matrix |
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| 388 | mat L; |
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| 389 | vec uab; |
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| 390 | vec icond; |
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| 391 | |
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| 392 | //control maximum |
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| 393 | const double MAXu; |
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| 394 | |
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| 395 | //lqg controler class |
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| 396 | LQG_universal lq; |
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| 397 | |
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| 398 | //prediction |
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| 399 | vec p_isa, p_isb, p_ome, p_the; |
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| 400 | |
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| 401 | PMSM_LQCtrl_dq():PMSMCtrl(), a(0.9898), b(0.0072), c(0.0361), d(1.0), e(0.0149), |
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| 402 | 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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| 403 | A(5, 5), B(5, 2), Q(5, 5), R(2, 2), |
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| 404 | uab(2), icond(6), MAXu(100.0) { |
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| 405 | //set fix matrices elements & dimensions |
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| 406 | A.zeros(); |
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| 407 | A(0, 0) = A(1, 1) = a; |
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| 408 | A(1, 2) = A(1, 4) = -b; |
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| 409 | A(2, 1) = e; |
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| 410 | A(2, 2) = d; |
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| 411 | A(2, 4) = d - 1; |
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| 412 | A(3, 2) = A(3, 4) = Dt; |
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| 413 | A(3, 3) = A(4, 4) = 1.0; |
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| 414 | B.zeros(); |
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| 415 | B(0, 0) = B(1, 1) = c; |
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| 416 | //C.zeros(); |
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| 417 | // C(0, 0) = C(1, 1) = 1.0; |
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| 418 | Q.zeros(); |
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| 419 | Q(2, 2) = 1.0; |
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| 420 | R.zeros(); |
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| 421 | |
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| 422 | } |
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| 423 | |
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| 424 | |
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| 425 | virtual vec ctrlaction(const itpp::vec& cond) { |
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| 426 | PMSMCtrl::ctrlaction(cond); // fills isa,isb,ome,the,Ww |
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| 427 | |
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| 428 | int i; |
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| 429 | vec udq; |
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| 430 | lq.resetTime(); |
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| 431 | |
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| 432 | //create prediction |
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[1289] | 433 | /*p_isa.zeros(); |
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[1279] | 434 | p_isb.zeros(); |
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| 435 | p_ome.zeros(); |
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| 436 | p_the.zeros(); |
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| 437 | p_isa(0) = isa; |
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| 438 | p_isb(0) = isb; |
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| 439 | p_ome(0) = ome; |
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| 440 | p_the(0) = the; |
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| 441 | |
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| 442 | //create control matrix |
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| 443 | /*for(i = rec_hor; i > 0; i--){ |
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| 444 | lq.redesign(); |
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| 445 | } |
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| 446 | lq.redesign(); |
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| 447 | */ |
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| 448 | L = lq.getL(); |
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| 449 | icond(0) = isa*cos(the) + isb*sin(the); |
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| 450 | icond(1) = isb*cos(the) - isa*sin(the); |
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| 451 | icond(2) = ome - Ww; |
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| 452 | icond(3) = the; |
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| 453 | icond(4) = Ww; |
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| 454 | icond(5) = 1; |
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| 455 | vec tmp = L*icond; |
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| 456 | |
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| 457 | udq = tmp(0,1); |
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| 458 | |
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| 459 | uab = udq; //set size |
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| 460 | uab(0) = udq(0)*cos(the) - udq(1)*sin(the); |
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| 461 | uab(1) = udq(1)*cos(the) + udq(0)*sin(the); |
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| 462 | |
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| 463 | if(uab(0) > MAXu) uab(0) = MAXu; |
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| 464 | else if(uab(0) < -MAXu) uab(0) = -MAXu; |
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| 465 | if(uab(1) > MAXu) uab(1) = MAXu; |
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| 466 | else if(uab(1) < -MAXu) uab(1) = -MAXu; |
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| 467 | |
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| 468 | return uab; |
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| 469 | }; |
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| 470 | void from_setting(const Setting &set){ |
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| 471 | PMSMCtrl::from_setting(set); |
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| 472 | UI::get(r,set, "r", UI::optional); |
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| 473 | UI::get(rec_hor,set, "h", UI::optional); |
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| 474 | } |
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| 475 | |
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| 476 | void validate(){ |
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| 477 | R(0,0)=R(1,1)=r; |
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| 478 | |
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| 479 | p_isa.set_length(rec_hor+1); |
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| 480 | p_isb.set_length(rec_hor+1); |
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| 481 | p_ome.set_length(rec_hor+1); |
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| 482 | p_the.set_length(rec_hor+1); |
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| 483 | |
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| 484 | Array<quadraticfn> qloss(2); |
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| 485 | qloss(0).Q.setCh(Q); |
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| 486 | qloss(0).rv = RV("x", 5, 1); |
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| 487 | qloss(1).Q.setCh(R); |
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| 488 | qloss(1).rv = RV("u", 2, 0); |
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| 489 | lq.Losses = qloss; |
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| 490 | |
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| 491 | //set lq |
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| 492 | lq.rv = RV("u", 2, 0); |
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| 493 | lq.set_rvc(RV("x", 5, 0)); |
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| 494 | lq.horizon = rec_hor; |
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| 495 | |
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| 496 | Array<linfnEx> model(2); |
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| 497 | model(0).A = A; |
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| 498 | model(0).B = vec("0 0 0 0 0"); |
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| 499 | model(0).rv = RV("x", 5, 0); |
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| 500 | model(0).rv_ret = RV("x", 5, 1); |
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| 501 | model(1).A = B; |
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| 502 | model(1).B = vec("0 0"); |
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| 503 | model(1).rv = RV("u", 2, 0); |
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| 504 | model(1).rv_ret = RV("x", 5, 1); |
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| 505 | lq.Models = model; |
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| 506 | |
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| 507 | lq.finalLoss.Q.setCh(Q); |
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| 508 | lq.finalLoss.rv = RV("x", 5, 1); |
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| 509 | |
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| 510 | lq.validate(); |
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| 511 | |
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| 512 | uab.zeros(); |
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| 513 | |
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| 514 | //create control matrix |
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| 515 | for(int i = rec_hor; i > 0; i--){ |
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| 516 | lq.redesign(); |
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| 517 | } |
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| 518 | lq.redesign(); |
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| 519 | } |
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| 520 | }; |
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| 521 | UIREGISTER(PMSM_LQCtrl_dq); |
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| 522 | |
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[1289] | 523 | class PMSM_LQCtrl_dq2: public PMSMCtrl{ |
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| 524 | public: |
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| 525 | /* |
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| 526 | PMSMCtrl: |
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| 527 | double isa; |
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| 528 | double isb; |
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| 529 | double ome; |
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| 530 | double the; |
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| 531 | double Ww; |
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| 532 | */ |
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| 533 | |
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| 534 | //PMSM parameters |
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| 535 | const double a; |
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| 536 | const double b; |
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| 537 | const double c; |
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| 538 | const double d; |
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| 539 | const double e; |
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| 540 | |
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| 541 | //input penalty |
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| 542 | double r; |
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| 543 | |
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| 544 | //time step |
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| 545 | const double Dt; |
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| 546 | |
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| 547 | //receding horizon |
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| 548 | int rec_hor; |
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| 549 | |
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| 550 | //system matrices |
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| 551 | mat A; //5x5 |
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| 552 | mat B; //5x2 |
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| 553 | //mat C; //2x5 |
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| 554 | mat Q; //5x5 |
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| 555 | mat R; //2x2 |
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| 556 | |
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| 557 | //control matrix |
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| 558 | mat L; |
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| 559 | vec uab,udq; |
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| 560 | vec icond; |
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| 561 | |
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| 562 | //control maximum |
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| 563 | const double MAXu; |
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| 564 | |
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| 565 | //lqg controler class |
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| 566 | LQG_universal lq; |
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| 567 | |
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| 568 | //prediction |
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| 569 | vec p_isd, p_isq, p_ome, p_the; |
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| 570 | |
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| 571 | PMSM_LQCtrl_dq2():PMSMCtrl(), a(0.9898), b(0.0072), c(0.0361), d(1.0), e(0.0149), |
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| 572 | 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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| 573 | A(5, 5), B(5, 2), Q(5, 5), R(2, 2), |
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| 574 | uab(2), udq(2), icond(6), MAXu(100.0) { |
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| 575 | //set fix matrices elements & dimensions |
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| 576 | A.zeros(); |
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| 577 | A(0, 0) = A(1, 1) = a; |
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| 578 | A(2, 1) = e; |
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| 579 | A(2, 2) = d; |
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| 580 | A(2, 4) = d - 1; |
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| 581 | A(3, 2) = A(3, 4) = Dt; |
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| 582 | A(3, 3) = A(4, 4) = 1.0; |
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| 583 | B.zeros(); |
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| 584 | B(0, 0) = B(1, 1) = c; |
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| 585 | //C.zeros(); |
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| 586 | // C(0, 0) = C(1, 1) = 1.0; |
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| 587 | Q.zeros(); |
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| 588 | Q(2, 2) = 1.0; |
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| 589 | R.zeros(); |
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| 590 | |
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| 591 | } |
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| 592 | |
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| 593 | |
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| 594 | virtual vec ctrlaction(const itpp::vec& cond) { |
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| 595 | PMSMCtrl::ctrlaction(cond); // fills isa,isb,ome,the,Ww |
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| 596 | |
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| 597 | int i; |
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| 598 | |
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| 599 | lq.resetTime(); |
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| 600 | //cout << "OK" << endl; |
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| 601 | //create prediction |
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| 602 | p_isd.zeros(); |
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| 603 | p_isq.zeros(); |
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| 604 | p_ome.zeros(); |
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| 605 | p_the.zeros(); |
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| 606 | p_isd(0) = isa*cos(the) + isb*sin(the);//isa; |
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| 607 | p_isq(0) = isb*cos(the) - isa*sin(the);//isb; |
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| 608 | p_ome(0) = ome; |
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| 609 | p_the(0) = the; |
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| 610 | //cout << "OKkkk" << endl; |
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| 611 | for(i = 0; i < rec_hor-1; i++){ |
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| 612 | /*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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| 613 | p_isb(i+1) = a*p_isb(i) - b*p_ome(i)*cos(p_the(i)) + c*0;//uab(1); |
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| 614 | 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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| 615 | p_the(i+1) = p_the(i) + Dt*p_ome(i);*/ |
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| 616 | p_isd(i+1) = a*p_isd(i) + p_isq(i)*p_ome(i)*Dt + c*udq(0); |
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| 617 | //cout << "OKaa" << endl; |
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| 618 | p_isq(i+1) = -p_isd(i)*p_ome(i)*Dt + a*p_isq(i) - b*p_ome(i) + c*udq(1); |
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| 619 | p_ome(i+1) = d*p_ome(i) + e*p_isq(i); |
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| 620 | p_the(i+1) = p_the(i) + Dt*p_ome(i); |
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| 621 | //cout << "1"; |
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| 622 | } |
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| 623 | |
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| 624 | //create control matrix |
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| 625 | for(i = rec_hor; i > 0; i--){ |
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| 626 | //set variable matrices elements (A matrix only) |
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| 627 | /*A(0, 2) = b*sin(p_the(i)); |
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| 628 | A(0, 3) = b*(p_ome(i))*cos(p_the(i)); |
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| 629 | A(0, 4) = b*sin(p_the(i)); |
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| 630 | A(1, 2) = -b*cos(p_the(i)); |
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| 631 | A(1, 3) = b*(p_ome(i))*sin(p_the(i)); |
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| 632 | A(1, 4) = -b*cos(p_the(i)); |
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| 633 | A(2, 0) = -e*sin(p_the(i)); |
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| 634 | A(2, 1) = e*cos(p_the(i)); |
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| 635 | A(2, 3) = -e*(p_isa(i)*cos(p_the(i)) + p_isb(i)*sin(p_the(i)));*/ |
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| 636 | A(0, 1) = Dt*p_ome(i); |
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| 637 | A(0, 2) = Dt*p_isq(i); |
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| 638 | A(0, 4) = Dt*p_isq(i); |
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| 639 | A(1, 0) = -Dt*p_ome(i); |
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| 640 | A(1, 2) = -Dt*p_isd(i); |
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| 641 | A(1, 4) = -Dt*p_isq(i); |
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| 642 | |
---|
| 643 | lq.Models(0).A = A; |
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| 644 | lq.redesign(); |
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| 645 | } |
---|
| 646 | lq.redesign(); |
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| 647 | |
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| 648 | L = lq.getL(); |
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| 649 | //icond(0) = isa; |
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| 650 | //icond(1) = isb; |
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| 651 | icond(0) = isa*cos(the) + isb*sin(the); |
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| 652 | icond(1) = isb*cos(the) - isa*sin(the); |
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| 653 | icond(2) = ome - Ww; |
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| 654 | icond(3) = the; |
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| 655 | icond(4) = Ww; |
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| 656 | icond(5) = 1; |
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| 657 | vec tmp = L*icond; |
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| 658 | |
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| 659 | //uab = tmp(0,1); |
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| 660 | udq = tmp(0,1); |
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| 661 | |
---|
| 662 | uab = udq; //set size |
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| 663 | uab(0) = udq(0)*cos(the) - udq(1)*sin(the); |
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| 664 | uab(1) = udq(1)*cos(the) + udq(0)*sin(the); |
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| 665 | |
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| 666 | if(uab(0) > MAXu) uab(0) = MAXu; |
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| 667 | else if(uab(0) < -MAXu) uab(0) = -MAXu; |
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| 668 | if(uab(1) > MAXu) uab(1) = MAXu; |
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| 669 | else if(uab(1) < -MAXu) uab(1) = -MAXu; |
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| 670 | |
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| 671 | return uab; |
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| 672 | }; |
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| 673 | void from_setting(const Setting &set){ |
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| 674 | PMSMCtrl::from_setting(set); |
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| 675 | UI::get(r,set, "r", UI::optional); |
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| 676 | UI::get(rec_hor,set, "h", UI::optional); |
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| 677 | } |
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| 678 | |
---|
| 679 | void validate(){ |
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| 680 | R(0,0)=R(1,1)=r; |
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| 681 | |
---|
| 682 | p_isd.set_length(rec_hor+1); |
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| 683 | p_isq.set_length(rec_hor+1); |
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| 684 | p_ome.set_length(rec_hor+1); |
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| 685 | p_the.set_length(rec_hor+1); |
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| 686 | |
---|
| 687 | Array<quadraticfn> qloss(2); |
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| 688 | qloss(0).Q.setCh(Q); |
---|
| 689 | qloss(0).rv = RV("x", 5, 1); |
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| 690 | qloss(1).Q.setCh(R); |
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| 691 | qloss(1).rv = RV("u", 2, 0); |
---|
| 692 | lq.Losses = qloss; |
---|
| 693 | |
---|
| 694 | //set lq |
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| 695 | lq.rv = RV("u", 2, 0); |
---|
| 696 | lq.set_rvc(RV("x", 5, 0)); |
---|
| 697 | lq.horizon = rec_hor; |
---|
| 698 | |
---|
| 699 | Array<linfnEx> model(2); |
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| 700 | model(0).A = A; |
---|
| 701 | model(0).B = vec("0 0 0 0 0"); |
---|
| 702 | model(0).rv = RV("x", 5, 0); |
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| 703 | model(0).rv_ret = RV("x", 5, 1); |
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| 704 | model(1).A = B; |
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| 705 | model(1).B = vec("0 0"); |
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| 706 | model(1).rv = RV("u", 2, 0); |
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| 707 | model(1).rv_ret = RV("x", 5, 1); |
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| 708 | lq.Models = model; |
---|
| 709 | |
---|
| 710 | lq.finalLoss.Q.setCh(Q); |
---|
| 711 | lq.finalLoss.rv = RV("x", 5, 1); |
---|
| 712 | |
---|
| 713 | lq.validate(); |
---|
| 714 | |
---|
| 715 | uab.zeros(); |
---|
| 716 | udq.zeros(); |
---|
| 717 | |
---|
| 718 | } |
---|
| 719 | }; |
---|
| 720 | UIREGISTER(PMSM_LQCtrl_dq2); |
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| 721 | |
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[1243] | 722 | /*!@}*/ |
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| 723 | #endif //PMSM_CTR_H |
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