[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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[1302] | 176 | /*************************************/ |
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| 177 | /* LQ alpa-beta */ |
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| 178 | /*************************************/ |
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| 179 | |
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[1259] | 180 | class PMSM_LQCtrl: public PMSMCtrl{ |
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| 181 | public: |
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| 182 | /* |
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| 183 | PMSMCtrl: |
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| 184 | double isa; |
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| 185 | double isb; |
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| 186 | double ome; |
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| 187 | double the; |
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| 188 | double Ww; |
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| 189 | */ |
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| 190 | |
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| 191 | //PMSM parameters |
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| 192 | const double a; |
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| 193 | const double b; |
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| 194 | const double c; |
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| 195 | const double d; |
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| 196 | const double e; |
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| 197 | |
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| 198 | //input penalty |
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| 199 | double r; |
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| 200 | |
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| 201 | //time step |
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| 202 | const double Dt; |
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| 203 | |
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| 204 | //receding horizon |
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[1261] | 205 | int rec_hor; |
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[1259] | 206 | |
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| 207 | //system matrices |
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| 208 | mat A; //5x5 |
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| 209 | mat B; //5x2 |
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| 210 | //mat C; //2x5 |
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| 211 | mat Q; //5x5 |
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| 212 | mat R; //2x2 |
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| 213 | |
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| 214 | //control matrix |
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| 215 | mat L; |
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| 216 | vec uab; |
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| 217 | vec icond; |
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| 218 | |
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| 219 | //control maximum |
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[1302] | 220 | double MAXu; |
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| 221 | int MAXuflag; |
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[1259] | 222 | |
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| 223 | //lqg controler class |
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| 224 | LQG_universal lq; |
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| 225 | |
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| 226 | //prediction |
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| 227 | vec p_isa, p_isb, p_ome, p_the; |
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| 228 | |
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| 229 | PMSM_LQCtrl():PMSMCtrl(), a(0.9898), b(0.0072), c(0.0361), d(1.0), e(0.0149), |
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| 230 | 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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| 231 | A(5, 5), B(5, 2), Q(5, 5), R(2, 2), |
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[1302] | 232 | uab(2), icond(6), MAXu(100.0), MAXuflag(0) { |
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[1259] | 233 | //set fix matrices elements & dimensions |
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| 234 | A.zeros(); |
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| 235 | A(0, 0) = A(1, 1) = a; |
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| 236 | A(2, 2) = d; |
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| 237 | A(2, 4) = d - 1; |
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| 238 | A(3, 2) = A(3, 4) = Dt; |
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| 239 | A(3, 3) = A(4, 4) = 1.0; |
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| 240 | B.zeros(); |
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| 241 | B(0, 0) = B(1, 1) = c; |
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| 242 | //C.zeros(); |
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| 243 | // C(0, 0) = C(1, 1) = 1.0; |
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| 244 | Q.zeros(); |
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| 245 | Q(2, 2) = 1.0; |
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| 246 | R.zeros(); |
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| 247 | |
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| 248 | } |
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| 249 | |
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| 250 | |
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| 251 | virtual vec ctrlaction(const itpp::vec& cond) { |
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| 252 | PMSMCtrl::ctrlaction(cond); // fills isa,isb,ome,the,Ww |
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| 253 | |
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| 254 | int i; |
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| 255 | lq.resetTime(); |
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| 256 | |
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| 257 | //create prediction |
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| 258 | p_isa.zeros(); |
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| 259 | p_isb.zeros(); |
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| 260 | p_ome.zeros(); |
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| 261 | p_the.zeros(); |
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| 262 | p_isa(0) = isa; |
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| 263 | p_isb(0) = isb; |
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| 264 | p_ome(0) = ome; |
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| 265 | p_the(0) = the; |
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| 266 | |
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| 267 | for(i = 0; i < rec_hor-1; i++){ |
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| 268 | 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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| 269 | p_isb(i+1) = a*p_isb(i) - b*p_ome(i)*cos(p_the(i)) + c*0;//uab(1); |
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| 270 | 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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| 271 | p_the(i+1) = p_the(i) + Dt*p_ome(i); |
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| 272 | } |
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| 273 | |
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| 274 | //create control matrix |
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| 275 | for(i = rec_hor; i > 0; i--){ |
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| 276 | //set variable matrices elements (A matrix only) |
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| 277 | A(0, 2) = b*sin(p_the(i)); |
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| 278 | A(0, 3) = b*(p_ome(i))*cos(p_the(i)); |
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| 279 | A(0, 4) = b*sin(p_the(i)); |
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| 280 | A(1, 2) = -b*cos(p_the(i)); |
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| 281 | A(1, 3) = b*(p_ome(i))*sin(p_the(i)); |
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| 282 | A(1, 4) = -b*cos(p_the(i)); |
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| 283 | A(2, 0) = -e*sin(p_the(i)); |
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| 284 | A(2, 1) = e*cos(p_the(i)); |
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| 285 | A(2, 3) = -e*(p_isa(i)*cos(p_the(i)) + p_isb(i)*sin(p_the(i))); |
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| 286 | |
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| 287 | lq.Models(0).A = A; |
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| 288 | lq.redesign(); |
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| 289 | } |
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| 290 | lq.redesign(); |
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| 291 | |
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| 292 | L = lq.getL(); |
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| 293 | icond(0) = isa; |
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| 294 | icond(1) = isb; |
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| 295 | icond(2) = ome - Ww; |
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| 296 | icond(3) = the; |
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| 297 | icond(4) = Ww; |
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[1261] | 298 | icond(5) = 1; |
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[1259] | 299 | vec tmp = L*icond; |
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| 300 | |
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[1302] | 301 | uab = tmp(0,1); |
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[1259] | 302 | |
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[1302] | 303 | if(MAXuflag == 1){ //square cut off |
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| 304 | if(uab(0) > MAXu) uab(0) = MAXu; |
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| 305 | else if(uab(0) < -MAXu) uab(0) = -MAXu; |
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| 306 | if(uab(1) > MAXu) uab(1) = MAXu; |
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| 307 | else if(uab(1) < -MAXu) uab(1) = -MAXu; |
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| 308 | } |
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| 309 | else if(MAXuflag == 2){ //circular cut off |
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| 310 | double uampl = sqrt(uab(0)*uab(0)+uab(1)*uab(1)); |
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| 311 | double uangl = atan2(uab(1), uab(0)); |
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| 312 | if (uampl > MAXu) uampl = MAXu; |
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| 313 | uab(0) = uampl*cos(uangl); |
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| 314 | uab(1) = uampl*sin(uangl); |
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| 315 | } |
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| 316 | //else{ //(MAXuflag == 0) //no cut off } |
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[1259] | 317 | |
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| 318 | return uab; |
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[1302] | 319 | } |
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| 320 | |
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[1261] | 321 | void from_setting(const Setting &set){ |
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| 322 | PMSMCtrl::from_setting(set); |
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| 323 | UI::get(r,set, "r", UI::optional); |
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| 324 | UI::get(rec_hor,set, "h", UI::optional); |
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[1302] | 325 | UI::get(MAXu,set, "MAXu", UI::optional); |
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| 326 | UI::get(MAXuflag,set, "MAXuflag", UI::optional); |
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[1261] | 327 | } |
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| 328 | |
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| 329 | void validate(){ |
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| 330 | R(0,0)=R(1,1)=r; |
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| 331 | |
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| 332 | p_isa.set_length(rec_hor+1); |
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| 333 | p_isb.set_length(rec_hor+1); |
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| 334 | p_ome.set_length(rec_hor+1); |
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| 335 | p_the.set_length(rec_hor+1); |
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| 336 | |
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| 337 | Array<quadraticfn> qloss(2); |
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| 338 | qloss(0).Q.setCh(Q); |
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| 339 | qloss(0).rv = RV("x", 5, 1); |
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| 340 | qloss(1).Q.setCh(R); |
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| 341 | qloss(1).rv = RV("u", 2, 0); |
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| 342 | lq.Losses = qloss; |
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| 343 | |
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| 344 | //set lq |
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| 345 | lq.rv = RV("u", 2, 0); |
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| 346 | lq.set_rvc(RV("x", 5, 0)); |
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| 347 | lq.horizon = rec_hor; |
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| 348 | |
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| 349 | Array<linfnEx> model(2); |
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| 350 | model(0).A = A; |
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| 351 | model(0).B = vec("0 0 0 0 0"); |
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| 352 | model(0).rv = RV("x", 5, 0); |
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| 353 | model(0).rv_ret = RV("x", 5, 1); |
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| 354 | model(1).A = B; |
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| 355 | model(1).B = vec("0 0"); |
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| 356 | model(1).rv = RV("u", 2, 0); |
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| 357 | model(1).rv_ret = RV("x", 5, 1); |
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| 358 | lq.Models = model; |
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| 359 | |
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| 360 | lq.finalLoss.Q.setCh(Q); |
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| 361 | lq.finalLoss.rv = RV("x", 5, 1); |
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| 362 | |
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| 363 | lq.validate(); |
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| 364 | |
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| 365 | uab.zeros(); |
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| 366 | |
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| 367 | } |
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[1259] | 368 | }; |
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| 369 | UIREGISTER(PMSM_LQCtrl); |
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| 370 | |
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[1302] | 371 | /*************************************/ |
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| 372 | /* LQ d-q 1 */ |
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| 373 | /*************************************/ |
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| 374 | |
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[1279] | 375 | class PMSM_LQCtrl_dq: public PMSMCtrl{ |
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| 376 | public: |
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| 377 | /* |
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| 378 | PMSMCtrl: |
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| 379 | double isa; |
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| 380 | double isb; |
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| 381 | double ome; |
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| 382 | double the; |
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| 383 | double Ww; |
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| 384 | */ |
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| 385 | |
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| 386 | //PMSM parameters |
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| 387 | const double a; |
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| 388 | const double b; |
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| 389 | const double c; |
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| 390 | const double d; |
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| 391 | const double e; |
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| 392 | |
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| 393 | //input penalty |
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| 394 | double r; |
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[1302] | 395 | double rpd; //penalize differences u - u_old |
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[1279] | 396 | |
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| 397 | //time step |
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| 398 | const double Dt; |
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| 399 | |
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| 400 | //receding horizon |
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| 401 | int rec_hor; |
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| 402 | |
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| 403 | //system matrices |
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| 404 | mat A; //5x5 |
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| 405 | mat B; //5x2 |
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| 406 | //mat C; //2x5 |
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| 407 | mat Q; //5x5 |
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[1302] | 408 | mat R; //2x2 |
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| 409 | mat Rpd; //2x4 |
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[1279] | 410 | |
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| 411 | //control matrix |
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| 412 | mat L; |
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[1302] | 413 | vec uab; |
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| 414 | vec icondpd; |
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| 415 | vec u_old; |
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[1279] | 416 | |
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| 417 | //control maximum |
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[1302] | 418 | double MAXu; |
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| 419 | int MAXuflag; |
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[1279] | 420 | |
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| 421 | //lqg controler class |
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| 422 | LQG_universal lq; |
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| 423 | |
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| 424 | //prediction |
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| 425 | vec p_isa, p_isb, p_ome, p_the; |
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| 426 | |
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| 427 | PMSM_LQCtrl_dq():PMSMCtrl(), a(0.9898), b(0.0072), c(0.0361), d(1.0), e(0.0149), |
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[1302] | 428 | r(0.005), rpd(0.1), Dt(0.000125), rec_hor(10), //for r is a default value rewrited by pcp.txt file value |
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| 429 | A(5, 5), B(5, 2), Q(5, 5), R(2, 2), Rpd(2, 4), |
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| 430 | uab(2), u_old(2), icondpd(8), MAXu(100.0), MAXuflag(0) { |
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[1279] | 431 | //set fix matrices elements & dimensions |
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| 432 | A.zeros(); |
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| 433 | A(0, 0) = A(1, 1) = a; |
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| 434 | A(1, 2) = A(1, 4) = -b; |
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| 435 | A(2, 1) = e; |
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| 436 | A(2, 2) = d; |
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| 437 | A(2, 4) = d - 1; |
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| 438 | A(3, 2) = A(3, 4) = Dt; |
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| 439 | A(3, 3) = A(4, 4) = 1.0; |
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| 440 | B.zeros(); |
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[1302] | 441 | B(0, 0) = B(1, 1) = c; |
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[1279] | 442 | Q.zeros(); |
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| 443 | Q(2, 2) = 1.0; |
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| 444 | R.zeros(); |
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[1302] | 445 | Rpd.zeros(); |
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| 446 | u_old.zeros(); |
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[1279] | 447 | } |
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| 448 | |
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| 449 | |
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| 450 | virtual vec ctrlaction(const itpp::vec& cond) { |
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| 451 | PMSMCtrl::ctrlaction(cond); // fills isa,isb,ome,the,Ww |
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[1302] | 452 | |
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| 453 | vec udq; |
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| 454 | vec tmp; |
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[1279] | 455 | |
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| 456 | lq.resetTime(); |
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| 457 | |
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| 458 | L = lq.getL(); |
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| 459 | |
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[1302] | 460 | icondpd(0) = isa*cos(the) + isb*sin(the); |
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| 461 | icondpd(1) = isb*cos(the) - isa*sin(the); |
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| 462 | icondpd(2) = ome - Ww; |
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| 463 | icondpd(3) = the; |
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| 464 | icondpd(4) = Ww; |
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| 465 | icondpd(5) = u_old(0); |
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| 466 | icondpd(6) = u_old(1); |
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| 467 | icondpd(7) = 1; |
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| 468 | |
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| 469 | tmp = L*icondpd; |
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| 470 | |
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[1279] | 471 | udq = tmp(0,1); |
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| 472 | |
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| 473 | uab = udq; //set size |
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| 474 | uab(0) = udq(0)*cos(the) - udq(1)*sin(the); |
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| 475 | uab(1) = udq(1)*cos(the) + udq(0)*sin(the); |
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| 476 | |
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[1302] | 477 | if(MAXuflag == 1){ //square cut off |
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| 478 | if(uab(0) > MAXu) uab(0) = MAXu; |
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| 479 | else if(uab(0) < -MAXu) uab(0) = -MAXu; |
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| 480 | if(uab(1) > MAXu) uab(1) = MAXu; |
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| 481 | else if(uab(1) < -MAXu) uab(1) = -MAXu; |
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| 482 | } |
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| 483 | else if(MAXuflag == 2){ //circular cut off |
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| 484 | double uampl = sqrt(uab(0)*uab(0)+uab(1)*uab(1)); |
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| 485 | double uangl = atan2(uab(1), uab(0)); |
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| 486 | if (uampl > MAXu) uampl = MAXu; |
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| 487 | uab(0) = uampl*cos(uangl); |
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| 488 | uab(1) = uampl*sin(uangl); |
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| 489 | } |
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| 490 | //else{ //(MAXuflag == 0) //no cut off } |
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[1279] | 491 | |
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[1302] | 492 | u_old = uab; |
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| 493 | |
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[1279] | 494 | return uab; |
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[1302] | 495 | } |
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| 496 | |
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[1279] | 497 | void from_setting(const Setting &set){ |
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| 498 | PMSMCtrl::from_setting(set); |
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| 499 | UI::get(r,set, "r", UI::optional); |
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| 500 | UI::get(rec_hor,set, "h", UI::optional); |
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[1302] | 501 | UI::get(MAXu,set, "MAXu", UI::optional); |
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| 502 | UI::get(MAXuflag,set, "MAXuflag", UI::optional); |
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| 503 | UI::get(rpd,set, "rpd", UI::optional); |
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[1279] | 504 | } |
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| 505 | |
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| 506 | void validate(){ |
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[1302] | 507 | R(0, 0) = R(1, 1) = r; |
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| 508 | Rpd(0, 0) = Rpd(1, 1) = rpd; |
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| 509 | Rpd(0, 2) = Rpd(1, 3) = -rpd; |
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| 510 | |
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[1279] | 511 | p_isa.set_length(rec_hor+1); |
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| 512 | p_isb.set_length(rec_hor+1); |
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| 513 | p_ome.set_length(rec_hor+1); |
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| 514 | p_the.set_length(rec_hor+1); |
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| 515 | |
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[1302] | 516 | Array<quadraticfn> qloss(3); |
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[1279] | 517 | qloss(0).Q.setCh(Q); |
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[1302] | 518 | qloss(0).rv = RV("x", 5, 1); |
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[1279] | 519 | qloss(1).Q.setCh(R); |
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[1302] | 520 | qloss(1).rv = RV("u", 2, 0); |
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| 521 | qloss(2).Q.setCh(Rpd); |
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| 522 | qloss(2).rv = RV("u", 2, 0); |
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| 523 | qloss(2).rv.add(RV("u", 2, -1)); |
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[1279] | 524 | lq.Losses = qloss; |
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| 525 | |
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[1302] | 526 | //set lq |
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| 527 | lq.rv = RV("u", 2, 0); |
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| 528 | RV tmp = RV("x", 5, 0); |
---|
| 529 | tmp.add(RV("u", 2, -1)); |
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| 530 | lq.set_rvc(tmp); |
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[1279] | 531 | lq.horizon = rec_hor; |
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| 532 | |
---|
| 533 | Array<linfnEx> model(2); |
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| 534 | model(0).A = A; |
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| 535 | model(0).B = vec("0 0 0 0 0"); |
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| 536 | model(0).rv = RV("x", 5, 0); |
---|
| 537 | model(0).rv_ret = RV("x", 5, 1); |
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| 538 | model(1).A = B; |
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| 539 | model(1).B = vec("0 0"); |
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| 540 | model(1).rv = RV("u", 2, 0); |
---|
| 541 | model(1).rv_ret = RV("x", 5, 1); |
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| 542 | lq.Models = model; |
---|
| 543 | |
---|
| 544 | lq.finalLoss.Q.setCh(Q); |
---|
| 545 | lq.finalLoss.rv = RV("x", 5, 1); |
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[1302] | 546 | |
---|
[1279] | 547 | lq.validate(); |
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| 548 | |
---|
| 549 | uab.zeros(); |
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[1302] | 550 | |
---|
[1279] | 551 | //create control matrix |
---|
| 552 | for(int i = rec_hor; i > 0; i--){ |
---|
| 553 | lq.redesign(); |
---|
| 554 | } |
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| 555 | lq.redesign(); |
---|
| 556 | } |
---|
| 557 | }; |
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| 558 | UIREGISTER(PMSM_LQCtrl_dq); |
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| 559 | |
---|
[1302] | 560 | /*************************************/ |
---|
| 561 | /* LQ d-q 2 */ |
---|
| 562 | /*************************************/ |
---|
| 563 | |
---|
[1289] | 564 | class PMSM_LQCtrl_dq2: public PMSMCtrl{ |
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| 565 | public: |
---|
| 566 | /* |
---|
| 567 | PMSMCtrl: |
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| 568 | double isa; |
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| 569 | double isb; |
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| 570 | double ome; |
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| 571 | double the; |
---|
| 572 | double Ww; |
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| 573 | */ |
---|
| 574 | |
---|
| 575 | //PMSM parameters |
---|
| 576 | const double a; |
---|
| 577 | const double b; |
---|
| 578 | const double c; |
---|
| 579 | const double d; |
---|
| 580 | const double e; |
---|
| 581 | |
---|
| 582 | //input penalty |
---|
| 583 | double r; |
---|
[1302] | 584 | double rpd; //penalize differences u - u_old |
---|
[1289] | 585 | |
---|
| 586 | //time step |
---|
| 587 | const double Dt; |
---|
| 588 | |
---|
| 589 | //receding horizon |
---|
| 590 | int rec_hor; |
---|
| 591 | |
---|
| 592 | //system matrices |
---|
| 593 | mat A; //5x5 |
---|
| 594 | mat B; //5x2 |
---|
| 595 | //mat C; //2x5 |
---|
| 596 | mat Q; //5x5 |
---|
[1302] | 597 | mat R; //2x2 |
---|
| 598 | mat Rpd; //2x4 |
---|
[1289] | 599 | |
---|
| 600 | //control matrix |
---|
| 601 | mat L; |
---|
| 602 | vec uab,udq; |
---|
[1302] | 603 | vec icondpd; |
---|
| 604 | vec u_old; |
---|
[1289] | 605 | |
---|
| 606 | //control maximum |
---|
[1302] | 607 | double MAXu; |
---|
| 608 | int MAXuflag; |
---|
[1289] | 609 | |
---|
| 610 | //lqg controler class |
---|
| 611 | LQG_universal lq; |
---|
| 612 | |
---|
| 613 | //prediction |
---|
| 614 | vec p_isd, p_isq, p_ome, p_the; |
---|
| 615 | |
---|
| 616 | PMSM_LQCtrl_dq2():PMSMCtrl(), a(0.9898), b(0.0072), c(0.0361), d(1.0), e(0.0149), |
---|
[1302] | 617 | r(0.005), rpd(0.1), Dt(0.000125), rec_hor(10), //for r is a default value rewrited by pcp.txt file value |
---|
| 618 | A(5, 5), B(5, 2), Q(5, 5), R(2, 2), Rpd(2, 4), |
---|
| 619 | uab(2), udq(2), u_old(2), icondpd(8), MAXu(100.0), MAXuflag(0) { |
---|
[1289] | 620 | //set fix matrices elements & dimensions |
---|
| 621 | A.zeros(); |
---|
| 622 | A(0, 0) = A(1, 1) = a; |
---|
| 623 | A(2, 1) = e; |
---|
| 624 | A(2, 2) = d; |
---|
| 625 | A(2, 4) = d - 1; |
---|
| 626 | A(3, 2) = A(3, 4) = Dt; |
---|
| 627 | A(3, 3) = A(4, 4) = 1.0; |
---|
| 628 | B.zeros(); |
---|
[1302] | 629 | B(0, 0) = B(1, 1) = c; |
---|
[1289] | 630 | Q.zeros(); |
---|
| 631 | Q(2, 2) = 1.0; |
---|
| 632 | R.zeros(); |
---|
[1302] | 633 | Rpd.zeros(); |
---|
| 634 | u_old.zeros(); |
---|
[1289] | 635 | } |
---|
| 636 | |
---|
| 637 | |
---|
| 638 | virtual vec ctrlaction(const itpp::vec& cond) { |
---|
| 639 | PMSMCtrl::ctrlaction(cond); // fills isa,isb,ome,the,Ww |
---|
| 640 | |
---|
| 641 | int i; |
---|
[1302] | 642 | vec tmp; |
---|
[1289] | 643 | |
---|
| 644 | lq.resetTime(); |
---|
[1302] | 645 | |
---|
[1289] | 646 | //create prediction |
---|
| 647 | p_isd.zeros(); |
---|
| 648 | p_isq.zeros(); |
---|
| 649 | p_ome.zeros(); |
---|
| 650 | p_the.zeros(); |
---|
| 651 | p_isd(0) = isa*cos(the) + isb*sin(the);//isa; |
---|
| 652 | p_isq(0) = isb*cos(the) - isa*sin(the);//isb; |
---|
| 653 | p_ome(0) = ome; |
---|
| 654 | p_the(0) = the; |
---|
[1302] | 655 | |
---|
| 656 | for(i = 0; i < rec_hor-1; i++){ |
---|
| 657 | p_isd(i+1) = a*p_isd(i) + p_isq(i)*p_ome(i)*Dt + c*udq(0); |
---|
[1289] | 658 | p_isq(i+1) = -p_isd(i)*p_ome(i)*Dt + a*p_isq(i) - b*p_ome(i) + c*udq(1); |
---|
| 659 | p_ome(i+1) = d*p_ome(i) + e*p_isq(i); |
---|
[1302] | 660 | p_the(i+1) = p_the(i) + Dt*p_ome(i); |
---|
[1289] | 661 | } |
---|
| 662 | |
---|
| 663 | //create control matrix |
---|
| 664 | for(i = rec_hor; i > 0; i--){ |
---|
[1302] | 665 | //set variable matrices elements (A matrix only) |
---|
[1289] | 666 | A(0, 1) = Dt*p_ome(i); |
---|
| 667 | A(0, 2) = Dt*p_isq(i); |
---|
| 668 | A(0, 4) = Dt*p_isq(i); |
---|
| 669 | A(1, 0) = -Dt*p_ome(i); |
---|
| 670 | A(1, 2) = -Dt*p_isd(i); |
---|
| 671 | A(1, 4) = -Dt*p_isq(i); |
---|
| 672 | |
---|
| 673 | lq.Models(0).A = A; |
---|
| 674 | lq.redesign(); |
---|
| 675 | } |
---|
| 676 | lq.redesign(); |
---|
| 677 | |
---|
| 678 | L = lq.getL(); |
---|
| 679 | |
---|
[1302] | 680 | icondpd(0) = isa*cos(the) + isb*sin(the); |
---|
| 681 | icondpd(1) = isb*cos(the) - isa*sin(the); |
---|
| 682 | icondpd(2) = ome - Ww; |
---|
| 683 | icondpd(3) = the; |
---|
| 684 | icondpd(4) = Ww; |
---|
| 685 | icondpd(5) = u_old(0); |
---|
| 686 | icondpd(6) = u_old(1); |
---|
| 687 | icondpd(7) = 1; |
---|
| 688 | |
---|
| 689 | tmp = L*icondpd; |
---|
| 690 | |
---|
[1289] | 691 | udq = tmp(0,1); |
---|
| 692 | |
---|
| 693 | uab = udq; //set size |
---|
| 694 | uab(0) = udq(0)*cos(the) - udq(1)*sin(the); |
---|
| 695 | uab(1) = udq(1)*cos(the) + udq(0)*sin(the); |
---|
| 696 | |
---|
[1302] | 697 | if(MAXuflag == 1){ //square cut off |
---|
| 698 | if(uab(0) > MAXu) uab(0) = MAXu; |
---|
| 699 | else if(uab(0) < -MAXu) uab(0) = -MAXu; |
---|
| 700 | if(uab(1) > MAXu) uab(1) = MAXu; |
---|
| 701 | else if(uab(1) < -MAXu) uab(1) = -MAXu; |
---|
| 702 | } |
---|
| 703 | else if(MAXuflag == 2){ //circular cut off |
---|
| 704 | double uampl = sqrt(uab(0)*uab(0)+uab(1)*uab(1)); |
---|
| 705 | double uangl = atan2(uab(1), uab(0)); |
---|
| 706 | if (uampl > MAXu) uampl = MAXu; |
---|
| 707 | uab(0) = uampl*cos(uangl); |
---|
| 708 | uab(1) = uampl*sin(uangl); |
---|
| 709 | } |
---|
| 710 | //else{ //(MAXuflag == 0) //no cut off } |
---|
[1289] | 711 | |
---|
[1302] | 712 | u_old = uab; |
---|
| 713 | |
---|
[1289] | 714 | return uab; |
---|
[1302] | 715 | } |
---|
| 716 | |
---|
[1289] | 717 | void from_setting(const Setting &set){ |
---|
| 718 | PMSMCtrl::from_setting(set); |
---|
| 719 | UI::get(r,set, "r", UI::optional); |
---|
| 720 | UI::get(rec_hor,set, "h", UI::optional); |
---|
[1302] | 721 | UI::get(MAXu,set, "MAXu", UI::optional); |
---|
| 722 | UI::get(MAXuflag,set, "MAXuflag", UI::optional); |
---|
| 723 | UI::get(rpd,set, "rpd", UI::optional); |
---|
[1289] | 724 | } |
---|
| 725 | |
---|
| 726 | void validate(){ |
---|
[1302] | 727 | R(0, 0) = R(1, 1) = r; |
---|
| 728 | Rpd(0, 0) = Rpd(1, 1) = rpd; |
---|
| 729 | Rpd(0, 2) = Rpd(1, 3) = -rpd; |
---|
| 730 | |
---|
[1289] | 731 | p_isd.set_length(rec_hor+1); |
---|
| 732 | p_isq.set_length(rec_hor+1); |
---|
| 733 | p_ome.set_length(rec_hor+1); |
---|
| 734 | p_the.set_length(rec_hor+1); |
---|
| 735 | |
---|
[1302] | 736 | Array<quadraticfn> qloss(3); |
---|
[1289] | 737 | qloss(0).Q.setCh(Q); |
---|
[1302] | 738 | qloss(0).rv = RV("x", 5, 1); |
---|
[1289] | 739 | qloss(1).Q.setCh(R); |
---|
[1302] | 740 | qloss(1).rv = RV("u", 2, 0); |
---|
| 741 | qloss(2).Q.setCh(Rpd); |
---|
| 742 | qloss(2).rv = RV("u", 2, 0); |
---|
| 743 | qloss(2).rv.add(RV("u", 2, -1)); |
---|
[1289] | 744 | lq.Losses = qloss; |
---|
| 745 | |
---|
[1302] | 746 | //set lq |
---|
| 747 | lq.rv = RV("u", 2, 0); |
---|
| 748 | RV tmp = RV("x", 5, 0); |
---|
| 749 | tmp.add(RV("u", 2, -1)); |
---|
| 750 | lq.set_rvc(tmp); |
---|
| 751 | |
---|
[1289] | 752 | lq.horizon = rec_hor; |
---|
| 753 | |
---|
| 754 | Array<linfnEx> model(2); |
---|
| 755 | model(0).A = A; |
---|
| 756 | model(0).B = vec("0 0 0 0 0"); |
---|
| 757 | model(0).rv = RV("x", 5, 0); |
---|
| 758 | model(0).rv_ret = RV("x", 5, 1); |
---|
| 759 | model(1).A = B; |
---|
| 760 | model(1).B = vec("0 0"); |
---|
| 761 | model(1).rv = RV("u", 2, 0); |
---|
| 762 | model(1).rv_ret = RV("x", 5, 1); |
---|
| 763 | lq.Models = model; |
---|
| 764 | |
---|
| 765 | lq.finalLoss.Q.setCh(Q); |
---|
| 766 | lq.finalLoss.rv = RV("x", 5, 1); |
---|
[1302] | 767 | |
---|
[1289] | 768 | lq.validate(); |
---|
| 769 | |
---|
| 770 | uab.zeros(); |
---|
[1302] | 771 | udq.zeros(); |
---|
[1289] | 772 | } |
---|
| 773 | }; |
---|
| 774 | UIREGISTER(PMSM_LQCtrl_dq2); |
---|
| 775 | |
---|
[1243] | 776 | /*!@}*/ |
---|
| 777 | #endif //PMSM_CTR_H |
---|