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pmsm_ctrl.h @ 1385

Revision 1316, 16.6 kB (checked in by vahalam, 14 years ago)

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1	#ifndef PMSM_CTR_H
2	#define PMSM_CTR_H
3
4	#include <estim/particles.h>
5	#include <design/ctrlbase.h>
6	#include <design/lq_ctrl.h>
7	#include "pmsm.h"
8
9	#include <fstream>
10
11	/*! \defgroup PMSM
12	@{
13	*/
14
15	using namespace bdm;
16
17
18	/! PI Controller/
19	class PI_ctrl: public Controller{
20	public:
21	//!integral state
22	double S;
23	double Pd;
24	double Pi;
25	double minOut;
26	double maxOut;
27
28	PI_ctrl(double Pd0, double Pi0, double minOut0, double maxOut0): S(0.0), Pd(Pd0), Pi(Pi0),minOut(minOut0),maxOut(maxOut0){}
29	virtual vec ctrlaction ( const vec &cond ) {
30	double tmp;
31	tmp = Pd*cond(0)+S;
32
33	S += Pi*cond(0);
34
35	if (tmp>maxOut) tmp=maxOut;
36	if (tmp<minOut) tmp=minOut;
37	return vec_1(tmp);
38	}
39	};
40
41	/*! \brief Root class for controllers of PMSM
42	*
43	* It defines the interface for controllers that connect to the pmsmDSctrl.
44	* The adapt() function calls bayes() of an internal BM. Note that it is assumed that the estimator is compatible with PMSM system.
45	* I.e. it must have rv={ia, ib} and rvc={ua,ub}, any other BM will not work.
46	*
47	* Two cases are considered:
48	* - 4 dimensional rv={ia, ib, om, th} and rvc={ua,ub}
49	* - 2 dimensional rv={om, th} and rvc={ua,ub,ia_{t-1}, ib_{t-1} }
50	* These are hardcoded and sitched based on dimensionality.
51	*/
52	class PMSMCtrl: public Controller{
53	protected:
54	//! Est where rv and rcv are not used!
55	shared_ptr<BM> Est;
56	//! switch to use or not to use the internal estimator
57	bool estim;
58
59	// internal quantities filled by PMSMCtrl::ctrlaction()
60	double isa;
61	double isb;
62	double ome;
63	double the;
64	double Ww;
65
66	public:
67
68	PMSMCtrl():Controller() {
69	rv = RV("{ua ub }");
70	rvc = RV("{o_ia o_ib t_ua t_ub o_om o_th Ww }");
71	}
72
73	void adapt(const itpp::vec& data){
74	if (estim){
75	vec y=data.get(0,1);
76	vec u=data.get(2,3);
77	if (Est->dimension()==2){
78	static vec cond(4); //
79	cond.set_subvector(0,1,u);
80	Est->bayes(y,cond);
81	cond.set_subvector(2,3,y); // save 1-step delayed vectors
82
83	} else {
84	Est->bayes(y,u);
85
86	}
87
88	}
89	}
90
91
92	virtual vec ctrlaction(const itpp::vec& cond) {
93
94	if (estim){
95	if (Est->dimension()==2){
96	vec x_est=Est->posterior().mean();
97	isa=cond(0);
98	isb=cond(1);
99	ome=x_est(0);
100	the=x_est(1);
101	} else {
102	vec x_est=Est->posterior().mean();
103	isa=x_est(0);
104	isb=x_est(1);
105	ome=x_est(2);
106	the=x_est(3);
107	}
108	} else {
109	isa=cond(0);//x_est(0);
110	isb=cond(1);//x_est(1);
111	ome=cond(4);//x[2];//x_est(2);
112	the=cond(5);//x_est(3);
113	}
114	Ww=cond(6);
115
116	return empty_vec; // dummy return
117	};
118	void from_setting(const libconfig::Setting& set){
119	Controller::from_setting(set);
120	Est=UI::build<BM>(set,"estim",UI::optional);
121	estim = Est;
122	}
123	void log_register ( logger &L, const string &prefix ) {
124	Controller::log_register(L,prefix);
125	if (estim) Est->log_register(L,prefix);
126	}
127	void log_write() const{
128	if (estim) Est->log_write();
129	}
130	};
131	//UIREGISTER(PMSMCtrl); -- abstract
132
133	class PMSM_PICtrl: public PMSMCtrl{
134	public:
135	PI_ctrl Cwq;
136	PI_ctrl Cuq;
137	PI_ctrl Cud;
138
139	PMSM_PICtrl():PMSMCtrl(),
140	Cwq(3.0, 3.0*0.000125/0.1, -1200, 1200),
141	Cuq(20.0, 20.0*0.000125/0.005, -1200, 1200),
142	Cud(20.0, 20.0*0.000125/0.005, -1200, 1200) {}
143
144
145	virtual vec ctrlaction(const itpp::vec& cond) {
146	PMSMCtrl::ctrlaction(cond); // fills isa,isb,om,the
147
148	double Isd = isacos(the)+isbsin(the);
149	double Isq = isbcos(the)-isasin(the);
150
151	double Iqw=(Cwq.ctrlaction(vec_1(Ww-ome)))(0); // conversion from vec
152
153	double ud = (Cud.ctrlaction(vec_1(-Isd)))(0);
154	double uq = (Cuq.ctrlaction(vec_1(Iqw-Isq)))(0);
155
156	const double Ls0=0.003465; // inductance
157	const double Fmag0= 0.1989; // Magnetic??
158
159	ud-=Ls0omeIqw; // har
160	uq+=Fmag0*ome;
161
162	double Um = sqrt(udud+uquq);
163	double beta = atan(uq/ud);
164	if (ud<0) beta += M_PI;
165	beta +=the;
166
167	vec uab(2);
168	uab(0)=Um*cos(beta); // usx = usa
169	uab(1)=Um*sin(beta); // usy
170
171	return uab;
172	};
173	};
174	UIREGISTER(PMSM_PICtrl);
175
176	/*************************************/
177	/* LQ alpa-beta */
178	/*************************************/
179
180	class PMSM_LQCtrl: public PMSMCtrl{
181	public:
182	/*
183	PMSMCtrl:
184	double isa;
185	double isb;
186	double ome;
187	double the;
188	double Ww;
189	*/
190
191	//PMSM parameters
192	const double a;
193	const double b;
194	const double c;
195	const double d;
196	const double e;
197
198	//input penalty
199	double r;
200
201	//time step
202	const double Dt;
203
204	//receding horizon
205	int rec_hor;
206
207	//system matrices
208	mat A; //5x5
209	mat B; //5x2
210	//mat C; //2x5
211	mat Q; //5x5
212	mat R; //2x2
213
214	//control matrix
215	mat L;
216	vec uab;
217	vec icond;
218
219	//control maximum
220	double MAXu;
221	int MAXuflag;
222
223	//lqg controler class
224	LQG_universal lq;
225
226	//prediction
227	vec p_isa, p_isb, p_ome, p_the;
228
229	PMSM_LQCtrl():PMSMCtrl(), a(0.9898), b(0.0072), c(0.0361), d(1.0), e(0.0149),
230	r(0.005), Dt(0.000125), rec_hor(10), //for r is a default value rewrited by pcp.txt file value
231	A(5, 5), B(5, 2), Q(5, 5), R(2, 2),
232	uab(2), icond(6), MAXu(100.0), MAXuflag(0) {
233	//set fix matrices elements & dimensions
234	A.zeros();
235	A(0, 0) = A(1, 1) = a;
236	A(2, 2) = d;
237	A(2, 4) = d - 1;
238	A(3, 2) = A(3, 4) = Dt;
239	A(3, 3) = A(4, 4) = 1.0;
240	B.zeros();
241	B(0, 0) = B(1, 1) = c;
242	//C.zeros();
243	// C(0, 0) = C(1, 1) = 1.0;
244	Q.zeros();
245	Q(2, 2) = 1.0;
246	R.zeros();
247
248	}
249
250
251	virtual vec ctrlaction(const itpp::vec& cond) {
252	PMSMCtrl::ctrlaction(cond); // fills isa,isb,ome,the,Ww
253
254	int i;
255	lq.resetTime();
256
257	//create prediction
258	p_isa.zeros();
259	p_isb.zeros();
260	p_ome.zeros();
261	p_the.zeros();
262	p_isa(0) = isa;
263	p_isb(0) = isb;
264	p_ome(0) = ome;
265	p_the(0) = the;
266
267	for(i = 0; i < rec_hor-1; i++){
268	p_isa(i+1) = ap_isa(i) + bp_ome(i)sin(p_the(i)) + c0;//uab(0); //use last used control
269	p_isb(i+1) = ap_isb(i) - bp_ome(i)cos(p_the(i)) + c0;//uab(1);
270	p_ome(i+1) = dp_ome(i) + e(p_isb(i)cos(p_the(i)) - p_isa(i)sin(p_the(i)));
271	p_the(i+1) = p_the(i) + Dt*p_ome(i);
272	}
273
274	//create control matrix
275	for(i = rec_hor; i > 0; i--){
276	//set variable matrices elements (A matrix only)
277	A(0, 2) = b*sin(p_the(i));
278	A(0, 3) = b(p_ome(i))cos(p_the(i));
279	A(0, 4) = b*sin(p_the(i));
280	A(1, 2) = -b*cos(p_the(i));
281	A(1, 3) = b(p_ome(i))sin(p_the(i));
282	A(1, 4) = -b*cos(p_the(i));
283	A(2, 0) = -e*sin(p_the(i));
284	A(2, 1) = e*cos(p_the(i));
285	A(2, 3) = -e(p_isa(i)cos(p_the(i)) + p_isb(i)*sin(p_the(i)));
286
287	lq.Models(0).A = A;
288	lq.redesign();
289	}
290	lq.redesign();
291
292	L = lq.getL();
293	icond(0) = isa;
294	icond(1) = isb;
295	icond(2) = ome - Ww;
296	icond(3) = the;
297	icond(4) = Ww;
298	icond(5) = 0;
299	vec tmp = L*icond;
300
301	uab = tmp(0,1);
302
303	if(MAXuflag == 1){ //square cut off
304	if(uab(0) > MAXu) uab(0) = MAXu;
305	else if(uab(0) < -MAXu) uab(0) = -MAXu;
306	if(uab(1) > MAXu) uab(1) = MAXu;
307	else if(uab(1) < -MAXu) uab(1) = -MAXu;
308	}
309	else if(MAXuflag == 2){ //circular cut off
310	double uampl = sqrt(uab(0)uab(0)+uab(1)uab(1));
311	double uangl = atan2(uab(1), uab(0));
312	if (uampl > MAXu) uampl = MAXu;
313	uab(0) = uampl*cos(uangl);
314	uab(1) = uampl*sin(uangl);
315	}
316	//else{ //(MAXuflag == 0) //no cut off }
317
318	return uab;
319	}
320
321	void from_setting(const Setting &set){
322	PMSMCtrl::from_setting(set);
323	UI::get(r,set, "r", UI::optional);
324	UI::get(rec_hor,set, "h", UI::optional);
325	UI::get(MAXu,set, "MAXu", UI::optional);
326	UI::get(MAXuflag,set, "MAXuflag", UI::optional);
327	}
328
329	void validate(){
330	R(0,0)=R(1,1)=r;
331
332	p_isa.set_length(rec_hor+1);
333	p_isb.set_length(rec_hor+1);
334	p_ome.set_length(rec_hor+1);
335	p_the.set_length(rec_hor+1);
336
337	Array<quadraticfn> qloss(2);
338	qloss(0).Q.setCh(Q);
339	qloss(0).rv = RV("x", 5, 1);
340	qloss(1).Q.setCh(R);
341	qloss(1).rv = RV("u", 2, 0);
342	lq.Losses = qloss;
343
344	//set lq
345	lq.rv = RV("u", 2, 0);
346	lq.set_rvc(RV("x", 5, 0));
347	lq.horizon = rec_hor;
348
349	Array<linfnEx> model(2);
350	model(0).A = A;
351	model(0).B = vec("0 0 0 0 0");
352	model(0).rv = RV("x", 5, 0);
353	model(0).rv_ret = RV("x", 5, 1);
354	model(1).A = B;
355	model(1).B = vec("0 0");
356	model(1).rv = RV("u", 2, 0);
357	model(1).rv_ret = RV("x", 5, 1);
358	lq.Models = model;
359
360	lq.finalLoss.Q.setCh(Q);
361	lq.finalLoss.rv = RV("x", 5, 1);
362
363	lq.validate();
364
365	uab.zeros();
366
367	}
368	};
369	UIREGISTER(PMSM_LQCtrl);
370
371	/*************************************/
372	/* LQ d-q 1 */
373	/*************************************/
374
375	class PMSM_LQCtrl_dq: public PMSMCtrl{
376	public:
377	/*
378	PMSMCtrl:
379	double isa;
380	double isb;
381	double ome;
382	double the;
383	double Ww;
384	*/
385
386	//PMSM parameters
387	const double a;
388	const double b;
389	const double c;
390	const double d;
391	const double e;
392
393	//input penalty
394	double r;
395	double rpd; //penalize differences u - u_old
396
397	//time step
398	const double Dt;
399
400	//receding horizon
401	int rec_hor;
402
403	//system matrices
404	mat A; //5x5
405	mat B; //5x2
406	//mat C; //2x5
407	mat Q; //5x5
408	mat R; //2x2
409	mat Rpd; //2x4
410
411	//control matrix
412	mat L;
413	vec uab;
414	vec icondpd;
415	vec u_old;
416
417	//control maximum
418	double MAXu;
419	int MAXuflag;
420
421	//lqg controler class
422	LQG_universal lq;
423
424	//prediction
425	vec p_isa, p_isb, p_ome, p_the;
426
427	PMSM_LQCtrl_dq():PMSMCtrl(), a(0.9898), b(0.0072), c(0.0361), d(1.0), e(0.0149),
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
429	A(5, 5), B(5, 2), Q(5, 5), R(2, 2), Rpd(2, 4),
430	uab(2), u_old(2), icondpd(8), MAXu(100.0), MAXuflag(0) {
431	//set fix matrices elements & dimensions
432	A.zeros();
433	A(0, 0) = A(1, 1) = a;
434	A(1, 2) = A(1, 4) = -b;
435	A(2, 1) = e;
436	A(2, 2) = d;
437	A(2, 4) = d - 1;
438	A(3, 2) = A(3, 4) = Dt;
439	A(3, 3) = A(4, 4) = 1.0;
440	B.zeros();
441	B(0, 0) = B(1, 1) = c;
442	Q.zeros();
443	Q(2, 2) = 1.0;
444	R.zeros();
445	Rpd.zeros();
446	u_old.zeros();
447	}
448
449
450	virtual vec ctrlaction(const itpp::vec& cond) {
451	PMSMCtrl::ctrlaction(cond); // fills isa,isb,ome,the,Ww
452
453	vec udq;
454	vec tmp;
455
456	lq.resetTime();
457
458	L = lq.getL();
459
460	icondpd(0) = isacos(the) + isbsin(the);
461	icondpd(1) = isbcos(the) - isasin(the);
462	icondpd(2) = ome - Ww;
463	icondpd(3) = the;
464	icondpd(4) = Ww;
465	icondpd(5) = u_old(0);
466	icondpd(6) = u_old(1);
467	icondpd(7) = 0;
468
469	tmp = L*icondpd;
470
471	udq = tmp(0,1);
472
473	//uab = udq; //set size
474	uab(0) = udq(0)cos(the) - udq(1)sin(the);
475	uab(1) = udq(1)cos(the) + udq(0)sin(the);
476
477	if(MAXuflag == 1){ //square cut off
478	if(uab(0) > MAXu) uab(0) = MAXu;
479	else if(uab(0) < -MAXu) uab(0) = -MAXu;
480	if(uab(1) > MAXu) uab(1) = MAXu;
481	else if(uab(1) < -MAXu) uab(1) = -MAXu;
482	}
483	else if(MAXuflag == 2){ //circular cut off
484	double uampl = sqrt(uab(0)uab(0)+uab(1)uab(1));
485	double uangl = atan2(uab(1), uab(0));
486	if (uampl > MAXu) uampl = MAXu;
487	uab(0) = uampl*cos(uangl);
488	uab(1) = uampl*sin(uangl);
489	}
490	//else{ //(MAXuflag == 0) //no cut off }
491
492	u_old = udq;
493
494	return uab;
495	}
496
497	void from_setting(const Setting &set){
498	PMSMCtrl::from_setting(set);
499	UI::get(r,set, "r", UI::optional);
500	UI::get(rec_hor,set, "h", UI::optional);
501	UI::get(MAXu,set, "MAXu", UI::optional);
502	UI::get(MAXuflag,set, "MAXuflag", UI::optional);
503	UI::get(rpd,set, "rpd", UI::optional);
504	}
505
506	void validate(){
507	R(0, 0) = R(1, 1) = r;
508	Rpd(0, 0) = Rpd(1, 1) = rpd;
509	Rpd(0, 2) = Rpd(1, 3) = -rpd;
510
511	p_isa.set_length(rec_hor+1);
512	p_isb.set_length(rec_hor+1);
513	p_ome.set_length(rec_hor+1);
514	p_the.set_length(rec_hor+1);
515
516	Array<quadraticfn> qloss(3);
517	qloss(0).Q.setCh(Q);
518	qloss(0).rv = RV("x", 5, 1);
519	qloss(1).Q.setCh(R);
520	qloss(1).rv = RV("u", 2, 0);
521	qloss(2).Q.setCh(Rpd);
522	qloss(2).rv = RV("u", 2, 0);
523	qloss(2).rv.add(RV("u", 2, -1));
524	lq.Losses = qloss;
525
526	//set lq
527	lq.rv = RV("u", 2, 0);
528	RV tmp = RV("x", 5, 0);
529	tmp.add(RV("u", 2, -1));
530	lq.set_rvc(tmp);
531	lq.horizon = rec_hor;
532
533	Array<linfnEx> model(2);
534	model(0).A = A;
535	model(0).B = vec("0 0 0 0 0");
536	model(0).rv = RV("x", 5, 0);
537	model(0).rv_ret = RV("x", 5, 1);
538	model(1).A = B;
539	model(1).B = vec("0 0");
540	model(1).rv = RV("u", 2, 0);
541	model(1).rv_ret = RV("x", 5, 1);
542	lq.Models = model;
543
544	lq.finalLoss.Q.setCh(Q);
545	lq.finalLoss.rv = RV("x", 5, 1);
546
547	lq.validate();
548
549	uab.zeros();
550
551	//create control matrix
552	for(int i = rec_hor; i > 0; i--){
553	lq.redesign();
554	}
555	lq.redesign();
556	}
557	};
558	UIREGISTER(PMSM_LQCtrl_dq);
559
560	/*************************************/
561	/* LQ d-q 2 */
562	/*************************************/
563
564	class PMSM_LQCtrl_dq2: public PMSMCtrl{
565	public:
566	/*
567	PMSMCtrl:
568	double isa;
569	double isb;
570	double ome;
571	double the;
572	double Ww;
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;
584	double rpd; //penalize differences u - u_old
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
597	mat R; //2x2
598	mat Rpd; //2x4
599
600	//control matrix
601	mat L;
602	vec uab,udq;
603	vec icondpd;
604	vec u_old;
605
606	//control maximum
607	double MAXu;
608	int MAXuflag;
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),
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) {
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();
629	B(0, 0) = B(1, 1) = c;
630	Q.zeros();
631	Q(2, 2) = 1.0;
632	R.zeros();
633	Rpd.zeros();
634	u_old.zeros();
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;
642	vec tmp;
643
644	lq.resetTime();
645
646	//create prediction
647	p_isd.zeros();
648	p_isq.zeros();
649	p_ome.zeros();
650	p_the.zeros();
651	p_isd(0) = isacos(the) + isbsin(the);//isa;
652	p_isq(0) = isbcos(the) - isasin(the);//isb;
653	p_ome(0) = ome;
654	p_the(0) = the;
655
656	for(i = 0; i < rec_hor-1; i++){
657	p_isd(i+1) = ap_isd(i) + p_isq(i)p_ome(i)Dt; + c0.5*(udq(0)+u_old(0));
658	p_isq(i+1) = -p_isd(i)p_ome(i)Dt + ap_isq(i) - bp_ome(i); + c0.5(udq(1)+u_old(1));
659	p_ome(i+1) = dp_ome(i) + ep_isq(i);
660	p_the(i+1) = p_the(i) + Dt*p_ome(i);
661	}
662
663	//create control matrix
664	for(i = rec_hor; i > 0; i--){
665	//set variable matrices elements (A matrix only)
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
680	icondpd(0) = isacos(the) + isbsin(the);
681	icondpd(1) = isbcos(the) - isasin(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) = 0;
688
689	tmp = L*icondpd;
690
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
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 }
711
712	u_old = udq;
713
714	return uab;
715	}
716
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);
721	UI::get(MAXu,set, "MAXu", UI::optional);
722	UI::get(MAXuflag,set, "MAXuflag", UI::optional);
723	UI::get(rpd,set, "rpd", UI::optional);
724	}
725
726	void validate(){
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
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
736	Array<quadraticfn> qloss(3);
737	qloss(0).Q.setCh(Q);
738	qloss(0).rv = RV("x", 5, 1);
739	qloss(1).Q.setCh(R);
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));
744	lq.Losses = qloss;
745
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
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);
767
768	lq.validate();
769
770	uab.zeros();
771	udq.zeros();
772	}
773	};
774	UIREGISTER(PMSM_LQCtrl_dq2);
775
776	/!@}/
777	#endif //PMSM_CTR_H

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