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pmsm_ctrl.h @ 1290

Revision 1289, 14.5 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 <design/ctrlbase.h>
5	#include <design/lq_ctrl.h>
6	#include "pmsm.h"
7
8	#include <fstream>
9
10	/*! \defgroup PMSM
11	@{
12	*/
13
14	using namespace bdm;
15
16
17	/! PI Controller/
18	class PI_ctrl: public Controller{
19	public:
20	//!integral state
21	double S;
22	double Pd;
23	double Pi;
24	double minOut;
25	double maxOut;
26
27	PI_ctrl(double Pd0, double Pi0, double minOut0, double maxOut0): S(0.0), Pd(Pd0), Pi(Pi0),minOut(minOut0),maxOut(maxOut0){}
28	virtual vec ctrlaction ( const vec &cond ) {
29	double tmp;
30	tmp = Pd*cond(0)+S;
31
32	S += Pi*cond(0);
33
34	if (tmp>maxOut) tmp=maxOut;
35	if (tmp<minOut) tmp=minOut;
36	return vec_1(tmp);
37	}
38	};
39
40	/*! \brief Root class for controllers of PMSM
41	*
42	* It defines the interface for controllers that connect to the pmsmDSctrl.
43	* The adapt() function calls bayes() of an internal BM. Note that it is assumed that the estimator is compatible with PMSM system.
44	* I.e. it must have rv={ia, ib} and rvc={ua,ub}, any other BM will not work.
45	*
46	*/
47	class PMSMCtrl: public Controller{
48	protected:
49	//! Est where rv and rcv are not used!
50	shared_ptr<BM> Est;
51	//! switch to use or not to use the internal estimator
52	bool estim;
53
54	// internal quantities filled by PMSMCtrl::ctrlaction()
55	double isa;
56	double isb;
57	double ome;
58	double the;
59	double Ww;
60
61	public:
62
63	PMSMCtrl():Controller() {
64	rv = RV("{ua ub }");
65	rvc = RV("{o_ia o_ib t_ua t_ub o_om o_th Ww }");
66	}
67
68	void adapt(const itpp::vec& data){
69	if (estim){
70	vec y=data.get(0,1);
71	vec u=data.get(2,3);
72	Est->bayes(y,u);
73	}
74	}
75
76
77	virtual vec ctrlaction(const itpp::vec& cond) {
78
79	if (estim){
80	vec x_est=Est->posterior().mean();
81	isa=x_est(0);
82	isb=x_est(1);
83	ome=x_est(2);
84	the=x_est(3);
85	} else {
86	isa=cond(0);//x_est(0);
87	isb=cond(1);//x_est(1);
88	ome=cond(4);//x[2];//x_est(2);
89	the=cond(5);//x_est(3);
90	}
91	Ww=cond(6);
92
93	return empty_vec; // dummy return
94	};
95	void from_setting(const libconfig::Setting& set){
96	Controller::from_setting(set);
97	Est=UI::build<BM>(set,"estim",UI::optional);
98	estim = Est;
99	}
100	void log_register ( logger &L, const string &prefix ) {
101	Controller::log_register(L,prefix);
102	if (estim) Est->log_register(L,prefix);
103	}
104	void log_write() const{
105	if (estim) Est->log_write();
106	}
107	};
108	//UIREGISTER(PMSMCtrl); -- abstract
109
110	class PMSM_PICtrl: public PMSMCtrl{
111	public:
112	PI_ctrl Cwq;
113	PI_ctrl Cuq;
114	PI_ctrl Cud;
115
116	PMSM_PICtrl():PMSMCtrl(),
117	Cwq(3.0, 3.0*0.000125/0.1, -1200, 1200),
118	Cuq(20.0, 20.0*0.000125/0.005, -1200, 1200),
119	Cud(20.0, 20.0*0.000125/0.005, -1200, 1200) {}
120
121
122	virtual vec ctrlaction(const itpp::vec& cond) {
123	PMSMCtrl::ctrlaction(cond); // fills isa,isb,om,the
124
125	double Isd = isacos(the)+isbsin(the);
126	double Isq = isbcos(the)-isasin(the);
127
128	double Iqw=(Cwq.ctrlaction(vec_1(Ww-ome)))(0); // conversion from vec
129
130	double ud = (Cud.ctrlaction(vec_1(-Isd)))(0);
131	double uq = (Cuq.ctrlaction(vec_1(Iqw-Isq)))(0);
132
133	const double Ls0=0.003465; // inductance
134	const double Fmag0= 0.1989; // Magnetic??
135
136	ud-=Ls0omeIqw; // har
137	uq+=Fmag0*ome;
138
139	double Um = sqrt(udud+uquq);
140	double beta = atan(uq/ud);
141	if (ud<0) beta += M_PI;
142	beta +=the;
143
144	vec uab(2);
145	uab(0)=Um*cos(beta); // usx = usa
146	uab(1)=Um*sin(beta); // usy
147
148	return uab;
149	};
150	};
151	UIREGISTER(PMSM_PICtrl);
152
153	class PMSM_LQCtrl: public PMSMCtrl{
154	public:
155	/*
156	PMSMCtrl:
157	double isa;
158	double isb;
159	double ome;
160	double the;
161	double Ww;
162	*/
163
164	//PMSM parameters
165	const double a;
166	const double b;
167	const double c;
168	const double d;
169	const double e;
170
171	//input penalty
172	double r;
173
174	//time step
175	const double Dt;
176
177	//receding horizon
178	int rec_hor;
179
180	//system matrices
181	mat A; //5x5
182	mat B; //5x2
183	//mat C; //2x5
184	mat Q; //5x5
185	mat R; //2x2
186
187	//control matrix
188	mat L;
189	vec uab;
190	vec icond;
191
192	//control maximum
193	const double MAXu;
194
195	//lqg controler class
196	LQG_universal lq;
197
198	//prediction
199	vec p_isa, p_isb, p_ome, p_the;
200
201	PMSM_LQCtrl():PMSMCtrl(), a(0.9898), b(0.0072), c(0.0361), d(1.0), e(0.0149),
202	r(0.005), Dt(0.000125), rec_hor(10), //for r is a default value rewrited by pcp.txt file value
203	A(5, 5), B(5, 2), Q(5, 5), R(2, 2),
204	uab(2), icond(6), MAXu(100.0) {
205	//set fix matrices elements & dimensions
206	A.zeros();
207	A(0, 0) = A(1, 1) = a;
208	A(2, 2) = d;
209	A(2, 4) = d - 1;
210	A(3, 2) = A(3, 4) = Dt;
211	A(3, 3) = A(4, 4) = 1.0;
212	B.zeros();
213	B(0, 0) = B(1, 1) = c;
214	//C.zeros();
215	// C(0, 0) = C(1, 1) = 1.0;
216	Q.zeros();
217	Q(2, 2) = 1.0;
218	R.zeros();
219
220	}
221
222
223	virtual vec ctrlaction(const itpp::vec& cond) {
224	PMSMCtrl::ctrlaction(cond); // fills isa,isb,ome,the,Ww
225
226	int i;
227	lq.resetTime();
228
229	//create prediction
230	p_isa.zeros();
231	p_isb.zeros();
232	p_ome.zeros();
233	p_the.zeros();
234	p_isa(0) = isa;
235	p_isb(0) = isb;
236	p_ome(0) = ome;
237	p_the(0) = the;
238
239	for(i = 0; i < rec_hor-1; i++){
240	p_isa(i+1) = ap_isa(i) + bp_ome(i)sin(p_the(i)) + c0;//uab(0); //use last used control
241	p_isb(i+1) = ap_isb(i) - bp_ome(i)cos(p_the(i)) + c0;//uab(1);
242	p_ome(i+1) = dp_ome(i) + e(p_isb(i)cos(p_the(i)) - p_isa(i)sin(p_the(i)));
243	p_the(i+1) = p_the(i) + Dt*p_ome(i);
244	}
245
246	//create control matrix
247	for(i = rec_hor; i > 0; i--){
248	//set variable matrices elements (A matrix only)
249	A(0, 2) = b*sin(p_the(i));
250	A(0, 3) = b(p_ome(i))cos(p_the(i));
251	A(0, 4) = b*sin(p_the(i));
252	A(1, 2) = -b*cos(p_the(i));
253	A(1, 3) = b(p_ome(i))sin(p_the(i));
254	A(1, 4) = -b*cos(p_the(i));
255	A(2, 0) = -e*sin(p_the(i));
256	A(2, 1) = e*cos(p_the(i));
257	A(2, 3) = -e(p_isa(i)cos(p_the(i)) + p_isb(i)*sin(p_the(i)));
258
259	lq.Models(0).A = A;
260	lq.redesign();
261	}
262	lq.redesign();
263
264	L = lq.getL();
265	icond(0) = isa;
266	icond(1) = isb;
267	icond(2) = ome - Ww;
268	icond(3) = the;
269	icond(4) = Ww;
270	icond(5) = 1;
271	vec tmp = L*icond;
272
273	uab = tmp(0,1);
274
275	if(uab(0) > MAXu) uab(0) = MAXu;
276	else if(uab(0) < -MAXu) uab(0) = -MAXu;
277	if(uab(1) > MAXu) uab(1) = MAXu;
278	else if(uab(1) < -MAXu) uab(1) = -MAXu;
279
280	return uab;
281	};
282	void from_setting(const Setting &set){
283	PMSMCtrl::from_setting(set);
284	UI::get(r,set, "r", UI::optional);
285	UI::get(rec_hor,set, "h", UI::optional);
286	}
287
288	void validate(){
289	R(0,0)=R(1,1)=r;
290
291	p_isa.set_length(rec_hor+1);
292	p_isb.set_length(rec_hor+1);
293	p_ome.set_length(rec_hor+1);
294	p_the.set_length(rec_hor+1);
295
296	Array<quadraticfn> qloss(2);
297	qloss(0).Q.setCh(Q);
298	qloss(0).rv = RV("x", 5, 1);
299	qloss(1).Q.setCh(R);
300	qloss(1).rv = RV("u", 2, 0);
301	lq.Losses = qloss;
302
303	//set lq
304	lq.rv = RV("u", 2, 0);
305	lq.set_rvc(RV("x", 5, 0));
306	lq.horizon = rec_hor;
307
308	Array<linfnEx> model(2);
309	model(0).A = A;
310	model(0).B = vec("0 0 0 0 0");
311	model(0).rv = RV("x", 5, 0);
312	model(0).rv_ret = RV("x", 5, 1);
313	model(1).A = B;
314	model(1).B = vec("0 0");
315	model(1).rv = RV("u", 2, 0);
316	model(1).rv_ret = RV("x", 5, 1);
317	lq.Models = model;
318
319	lq.finalLoss.Q.setCh(Q);
320	lq.finalLoss.rv = RV("x", 5, 1);
321
322	lq.validate();
323
324	uab.zeros();
325
326	}
327	};
328	UIREGISTER(PMSM_LQCtrl);
329
330	class PMSM_LQCtrl_dq: public PMSMCtrl{
331	public:
332	/*
333	PMSMCtrl:
334	double isa;
335	double isb;
336	double ome;
337	double the;
338	double Ww;
339	*/
340
341	//PMSM parameters
342	const double a;
343	const double b;
344	const double c;
345	const double d;
346	const double e;
347
348	//input penalty
349	double r;
350
351	//time step
352	const double Dt;
353
354	//receding horizon
355	int rec_hor;
356
357	//system matrices
358	mat A; //5x5
359	mat B; //5x2
360	//mat C; //2x5
361	mat Q; //5x5
362	mat R; //2x2
363
364	//control matrix
365	mat L;
366	vec uab;
367	vec icond;
368
369	//control maximum
370	const double MAXu;
371
372	//lqg controler class
373	LQG_universal lq;
374
375	//prediction
376	vec p_isa, p_isb, p_ome, p_the;
377
378	PMSM_LQCtrl_dq():PMSMCtrl(), a(0.9898), b(0.0072), c(0.0361), d(1.0), e(0.0149),
379	r(0.005), Dt(0.000125), rec_hor(10), //for r is a default value rewrited by pcp.txt file value
380	A(5, 5), B(5, 2), Q(5, 5), R(2, 2),
381	uab(2), icond(6), MAXu(100.0) {
382	//set fix matrices elements & dimensions
383	A.zeros();
384	A(0, 0) = A(1, 1) = a;
385	A(1, 2) = A(1, 4) = -b;
386	A(2, 1) = e;
387	A(2, 2) = d;
388	A(2, 4) = d - 1;
389	A(3, 2) = A(3, 4) = Dt;
390	A(3, 3) = A(4, 4) = 1.0;
391	B.zeros();
392	B(0, 0) = B(1, 1) = c;
393	//C.zeros();
394	// C(0, 0) = C(1, 1) = 1.0;
395	Q.zeros();
396	Q(2, 2) = 1.0;
397	R.zeros();
398
399	}
400
401
402	virtual vec ctrlaction(const itpp::vec& cond) {
403	PMSMCtrl::ctrlaction(cond); // fills isa,isb,ome,the,Ww
404
405	int i;
406	vec udq;
407	lq.resetTime();
408
409	//create prediction
410	/*p_isa.zeros();
411	p_isb.zeros();
412	p_ome.zeros();
413	p_the.zeros();
414	p_isa(0) = isa;
415	p_isb(0) = isb;
416	p_ome(0) = ome;
417	p_the(0) = the;
418
419	//create control matrix
420	/*for(i = rec_hor; i > 0; i--){
421	lq.redesign();
422	}
423	lq.redesign();
424	*/
425	L = lq.getL();
426	icond(0) = isacos(the) + isbsin(the);
427	icond(1) = isbcos(the) - isasin(the);
428	icond(2) = ome - Ww;
429	icond(3) = the;
430	icond(4) = Ww;
431	icond(5) = 1;
432	vec tmp = L*icond;
433
434	udq = tmp(0,1);
435
436	uab = udq; //set size
437	uab(0) = udq(0)cos(the) - udq(1)sin(the);
438	uab(1) = udq(1)cos(the) + udq(0)sin(the);
439
440	if(uab(0) > MAXu) uab(0) = MAXu;
441	else if(uab(0) < -MAXu) uab(0) = -MAXu;
442	if(uab(1) > MAXu) uab(1) = MAXu;
443	else if(uab(1) < -MAXu) uab(1) = -MAXu;
444
445	return uab;
446	};
447	void from_setting(const Setting &set){
448	PMSMCtrl::from_setting(set);
449	UI::get(r,set, "r", UI::optional);
450	UI::get(rec_hor,set, "h", UI::optional);
451	}
452
453	void validate(){
454	R(0,0)=R(1,1)=r;
455
456	p_isa.set_length(rec_hor+1);
457	p_isb.set_length(rec_hor+1);
458	p_ome.set_length(rec_hor+1);
459	p_the.set_length(rec_hor+1);
460
461	Array<quadraticfn> qloss(2);
462	qloss(0).Q.setCh(Q);
463	qloss(0).rv = RV("x", 5, 1);
464	qloss(1).Q.setCh(R);
465	qloss(1).rv = RV("u", 2, 0);
466	lq.Losses = qloss;
467
468	//set lq
469	lq.rv = RV("u", 2, 0);
470	lq.set_rvc(RV("x", 5, 0));
471	lq.horizon = rec_hor;
472
473	Array<linfnEx> model(2);
474	model(0).A = A;
475	model(0).B = vec("0 0 0 0 0");
476	model(0).rv = RV("x", 5, 0);
477	model(0).rv_ret = RV("x", 5, 1);
478	model(1).A = B;
479	model(1).B = vec("0 0");
480	model(1).rv = RV("u", 2, 0);
481	model(1).rv_ret = RV("x", 5, 1);
482	lq.Models = model;
483
484	lq.finalLoss.Q.setCh(Q);
485	lq.finalLoss.rv = RV("x", 5, 1);
486
487	lq.validate();
488
489	uab.zeros();
490
491	//create control matrix
492	for(int i = rec_hor; i > 0; i--){
493	lq.redesign();
494	}
495	lq.redesign();
496	}
497	};
498	UIREGISTER(PMSM_LQCtrl_dq);
499
500	class PMSM_LQCtrl_dq2: public PMSMCtrl{
501	public:
502	/*
503	PMSMCtrl:
504	double isa;
505	double isb;
506	double ome;
507	double the;
508	double Ww;
509	*/
510
511	//PMSM parameters
512	const double a;
513	const double b;
514	const double c;
515	const double d;
516	const double e;
517
518	//input penalty
519	double r;
520
521	//time step
522	const double Dt;
523
524	//receding horizon
525	int rec_hor;
526
527	//system matrices
528	mat A; //5x5
529	mat B; //5x2
530	//mat C; //2x5
531	mat Q; //5x5
532	mat R; //2x2
533
534	//control matrix
535	mat L;
536	vec uab,udq;
537	vec icond;
538
539	//control maximum
540	const double MAXu;
541
542	//lqg controler class
543	LQG_universal lq;
544
545	//prediction
546	vec p_isd, p_isq, p_ome, p_the;
547
548	PMSM_LQCtrl_dq2():PMSMCtrl(), a(0.9898), b(0.0072), c(0.0361), d(1.0), e(0.0149),
549	r(0.005), Dt(0.000125), rec_hor(10), //for r is a default value rewrited by pcp.txt file value
550	A(5, 5), B(5, 2), Q(5, 5), R(2, 2),
551	uab(2), udq(2), icond(6), MAXu(100.0) {
552	//set fix matrices elements & dimensions
553	A.zeros();
554	A(0, 0) = A(1, 1) = a;
555	A(2, 1) = e;
556	A(2, 2) = d;
557	A(2, 4) = d - 1;
558	A(3, 2) = A(3, 4) = Dt;
559	A(3, 3) = A(4, 4) = 1.0;
560	B.zeros();
561	B(0, 0) = B(1, 1) = c;
562	//C.zeros();
563	// C(0, 0) = C(1, 1) = 1.0;
564	Q.zeros();
565	Q(2, 2) = 1.0;
566	R.zeros();
567
568	}
569
570
571	virtual vec ctrlaction(const itpp::vec& cond) {
572	PMSMCtrl::ctrlaction(cond); // fills isa,isb,ome,the,Ww
573
574	int i;
575
576	lq.resetTime();
577	//cout << "OK" << endl;
578	//create prediction
579	p_isd.zeros();
580	p_isq.zeros();
581	p_ome.zeros();
582	p_the.zeros();
583	p_isd(0) = isacos(the) + isbsin(the);//isa;
584	p_isq(0) = isbcos(the) - isasin(the);//isb;
585	p_ome(0) = ome;
586	p_the(0) = the;
587	//cout << "OKkkk" << endl;
588	for(i = 0; i < rec_hor-1; i++){
589	/p_isa(i+1) = ap_isa(i) + bp_ome(i)sin(p_the(i)) + c*0;//uab(0); //use last used control
590	p_isb(i+1) = ap_isb(i) - bp_ome(i)cos(p_the(i)) + c0;//uab(1);
591	p_ome(i+1) = dp_ome(i) + e(p_isb(i)cos(p_the(i)) - p_isa(i)sin(p_the(i)));
592	p_the(i+1) = p_the(i) + Dtp_ome(i);/
593	p_isd(i+1) = ap_isd(i) + p_isq(i)p_ome(i)Dt + cudq(0);
594	//cout << "OKaa" << endl;
595	p_isq(i+1) = -p_isd(i)p_ome(i)Dt + ap_isq(i) - bp_ome(i) + c*udq(1);
596	p_ome(i+1) = dp_ome(i) + ep_isq(i);
597	p_the(i+1) = p_the(i) + Dt*p_ome(i);
598	//cout << "1";
599	}
600
601	//create control matrix
602	for(i = rec_hor; i > 0; i--){
603	//set variable matrices elements (A matrix only)
604	/A(0, 2) = bsin(p_the(i));
605	A(0, 3) = b(p_ome(i))cos(p_the(i));
606	A(0, 4) = b*sin(p_the(i));
607	A(1, 2) = -b*cos(p_the(i));
608	A(1, 3) = b(p_ome(i))sin(p_the(i));
609	A(1, 4) = -b*cos(p_the(i));
610	A(2, 0) = -e*sin(p_the(i));
611	A(2, 1) = e*cos(p_the(i));
612	A(2, 3) = -e(p_isa(i)cos(p_the(i)) + p_isb(i)sin(p_the(i)));/
613	A(0, 1) = Dt*p_ome(i);
614	A(0, 2) = Dt*p_isq(i);
615	A(0, 4) = Dt*p_isq(i);
616	A(1, 0) = -Dt*p_ome(i);
617	A(1, 2) = -Dt*p_isd(i);
618	A(1, 4) = -Dt*p_isq(i);
619
620	lq.Models(0).A = A;
621	lq.redesign();
622	}
623	lq.redesign();
624
625	L = lq.getL();
626	//icond(0) = isa;
627	//icond(1) = isb;
628	icond(0) = isacos(the) + isbsin(the);
629	icond(1) = isbcos(the) - isasin(the);
630	icond(2) = ome - Ww;
631	icond(3) = the;
632	icond(4) = Ww;
633	icond(5) = 1;
634	vec tmp = L*icond;
635
636	//uab = tmp(0,1);
637	udq = tmp(0,1);
638
639	uab = udq; //set size
640	uab(0) = udq(0)cos(the) - udq(1)sin(the);
641	uab(1) = udq(1)cos(the) + udq(0)sin(the);
642
643	if(uab(0) > MAXu) uab(0) = MAXu;
644	else if(uab(0) < -MAXu) uab(0) = -MAXu;
645	if(uab(1) > MAXu) uab(1) = MAXu;
646	else if(uab(1) < -MAXu) uab(1) = -MAXu;
647
648	return uab;
649	};
650	void from_setting(const Setting &set){
651	PMSMCtrl::from_setting(set);
652	UI::get(r,set, "r", UI::optional);
653	UI::get(rec_hor,set, "h", UI::optional);
654	}
655
656	void validate(){
657	R(0,0)=R(1,1)=r;
658
659	p_isd.set_length(rec_hor+1);
660	p_isq.set_length(rec_hor+1);
661	p_ome.set_length(rec_hor+1);
662	p_the.set_length(rec_hor+1);
663
664	Array<quadraticfn> qloss(2);
665	qloss(0).Q.setCh(Q);
666	qloss(0).rv = RV("x", 5, 1);
667	qloss(1).Q.setCh(R);
668	qloss(1).rv = RV("u", 2, 0);
669	lq.Losses = qloss;
670
671	//set lq
672	lq.rv = RV("u", 2, 0);
673	lq.set_rvc(RV("x", 5, 0));
674	lq.horizon = rec_hor;
675
676	Array<linfnEx> model(2);
677	model(0).A = A;
678	model(0).B = vec("0 0 0 0 0");
679	model(0).rv = RV("x", 5, 0);
680	model(0).rv_ret = RV("x", 5, 1);
681	model(1).A = B;
682	model(1).B = vec("0 0");
683	model(1).rv = RV("u", 2, 0);
684	model(1).rv_ret = RV("x", 5, 1);
685	lq.Models = model;
686
687	lq.finalLoss.Q.setCh(Q);
688	lq.finalLoss.rv = RV("x", 5, 1);
689
690	lq.validate();
691
692	uab.zeros();
693	udq.zeros();
694
695	}
696	};
697	UIREGISTER(PMSM_LQCtrl_dq2);
698
699	/!@}/
700	#endif //PMSM_CTR_H

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