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59<h1>pmsmDS.h</h1><a href="pmsmDS_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001
60<a name="l00013"></a>00013 <span class="preprocessor">#include &lt;<a class="code" href="loggers_8h.html" title="Loggers for storing results of experiments.">stat/loggers.h</a>&gt;</span>
61<a name="l00014"></a>00014 <span class="preprocessor">#include "simulator.h"</span>
62<a name="l00015"></a>00015 <span class="preprocessor">#include "pmsm.h"</span>
63<a name="l00016"></a>00016
64<a name="l00018"></a><a class="code" href="classpmsmDS.html">00018</a> <span class="keyword">class </span><a class="code" href="classpmsmDS.html" title="Simulator of PMSM machine with predefined profile on omega.">pmsmDS</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1DS.html" title="Abstract class for discrete-time sources of data.">DS</a> {
65<a name="l00019"></a>00019
66<a name="l00020"></a>00020 <span class="keyword">protected</span>:
67<a name="l00022"></a><a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7">00022</a>         <span class="keywordtype">int</span> <a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7" title="indeces of logged variables">L_x</a>, L_ou, L_oy, L_iu, L_optu;
68<a name="l00024"></a><a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012">00024</a>         vec <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>;
69<a name="l00026"></a><a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe">00026</a>         <span class="keywordtype">double</span> <a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>;
70<a name="l00028"></a><a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40">00028</a>         <span class="keywordtype">int</span> <a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a>;
71<a name="l00031"></a><a class="code" href="classpmsmDS.html#d410b9ca1a362e50a0833ae67803b7ee">00031</a>         <span class="keywordtype">string</span> <a class="code" href="classpmsmDS.html#d410b9ca1a362e50a0833ae67803b7ee">opt</a>;
72<a name="l00032"></a>00032 <span class="keyword">public</span>:
73<a name="l00034"></a><a class="code" href="classpmsmDS.html#38803dee6cc0bf261d277a225bca48cf">00034</a>         <a class="code" href="classpmsmDS.html#38803dee6cc0bf261d277a225bca48cf" title="Constructor with fixed sampling period.">pmsmDS</a> (<span class="keywordtype">string</span> opt0=<span class="stringliteral">""</span> ) : <a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a> ( 125 ), <a class="code" href="classpmsmDS.html#d410b9ca1a362e50a0833ae67803b7ee">opt</a>(opt0) {}
74<a name="l00035"></a>00035         <span class="keywordtype">void</span> set_parameters ( <span class="keywordtype">double</span> Rs0, <span class="keywordtype">double</span> Ls0, <span class="keywordtype">double</span> Fmag0, <span class="keywordtype">double</span> Bf0, <span class="keywordtype">double</span> p0, <span class="keywordtype">double</span> kp0, <span class="keywordtype">double</span> J0, <span class="keywordtype">double</span> Uc0, <span class="keywordtype">double</span> DT0, <span class="keywordtype">double</span> dt0 ) {
75<a name="l00036"></a>00036                 pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 );
76<a name="l00037"></a>00037         }
77<a name="l00038"></a><a class="code" href="classpmsmDS.html#4e47e678eb56e0b3bd47d801d0995e46">00038</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#4e47e678eb56e0b3bd47d801d0995e46" title="Returns full vector of observed data=[output, input].">getdata</a> ( vec &amp;dt ) {dt=vec ( KalmanObs,6 );}
78<a name="l00039"></a><a class="code" href="classpmsmDS.html#35e9a2b9d82bd1b71d66778021d1e8b4">00039</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#35e9a2b9d82bd1b71d66778021d1e8b4" title="Accepts action variable and schedule it for application.">write</a> ( vec &amp;ut ) {}
79<a name="l00040"></a>00040
80<a name="l00041"></a><a class="code" href="classpmsmDS.html#664fc8deff7c141ee7ab826a9abb387b">00041</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#664fc8deff7c141ee7ab826a9abb387b" title="Moves from  to , i.e. perfroms the actions and reads response of the system.">step</a>() {
81<a name="l00042"></a>00042                 <span class="keyword">static</span> <span class="keywordtype">int</span> ind=0;
82<a name="l00043"></a>00043                 <span class="keyword">static</span> <span class="keywordtype">double</span> dW; <span class="comment">// increase of W</span>
83<a name="l00044"></a>00044                 <span class="keyword">static</span> <span class="keywordtype">double</span> Ww; <span class="comment">// W</span>
84<a name="l00045"></a>00045                 <span class="keywordflow">if</span> ( t&gt;=<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>*ind ) {
85<a name="l00046"></a>00046                         ind++;
86<a name="l00047"></a>00047                         <span class="keywordflow">if</span> ( ind&lt;<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>.length() ) {
87<a name="l00048"></a>00048                                 <span class="comment">//linear increase</span>
88<a name="l00049"></a>00049                                 <span class="keywordflow">if</span> ( <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>.length() ==1 ) {
89<a name="l00050"></a>00050                                         Ww=<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a> ( 0 ); dW=0.0;}
90<a name="l00051"></a>00051                                 <span class="keywordflow">else</span> {
91<a name="l00052"></a>00052                                         dW = <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a> ( ind )-<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a> ( ind-1 );
92<a name="l00053"></a>00053                                         dW *=125e-6/<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>;
93<a name="l00054"></a>00054                                 }
94<a name="l00055"></a>00055                         }
95<a name="l00056"></a>00056                         <span class="keywordflow">else</span> {
96<a name="l00057"></a>00057                                 dW = 0;
97<a name="l00058"></a>00058                         }
98<a name="l00059"></a>00059                 }
99<a name="l00060"></a>00060                 Ww += dW;
100<a name="l00061"></a>00061                 <span class="comment">//Simulate Dt seconds!</span>
101<a name="l00062"></a>00062                 <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> i=0;i&lt;<a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a>;i++ ) {      pmsmsim_step ( Ww );}
102<a name="l00063"></a>00063         };
103<a name="l00064"></a>00064
104<a name="l00065"></a><a class="code" href="classpmsmDS.html#d75b83468db25c56977ffccff46b0b37">00065</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#d75b83468db25c56977ffccff46b0b37" title="Register DS for logging into logger L.">log_add</a> ( <a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &amp;L ) {
105<a name="l00066"></a>00066                 <a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7" title="indeces of logged variables">L_x</a> = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( rx, <span class="stringliteral">"x"</span> );
106<a name="l00067"></a>00067                 L_oy = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ry, <span class="stringliteral">"obs"</span> );
107<a name="l00068"></a>00068                 L_ou = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ru, <span class="stringliteral">"obs"</span> );
108<a name="l00069"></a>00069                 L_iu = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ru, <span class="stringliteral">"true"</span> );
109<a name="l00070"></a>00070                 <span class="comment">// log differences</span>
110<a name="l00071"></a>00071                 <span class="keywordflow">if</span> (<a class="code" href="classpmsmDS.html#d410b9ca1a362e50a0833ae67803b7ee">opt</a>.find(<span class="stringliteral">"u"</span>)==string::npos){
111<a name="l00072"></a>00072                         L_optu = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a>(ru, <span class="stringliteral">"model"</span>);
112<a name="l00073"></a>00073                 }
113<a name="l00074"></a>00074         }
114<a name="l00075"></a>00075
115<a name="l00076"></a><a class="code" href="classpmsmDS.html#21cac6deaac2dd073c982d7bec839b47">00076</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#21cac6deaac2dd073c982d7bec839b47" title="Register DS for logging into logger L.">logit</a> ( <a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &amp;L ) {
116<a name="l00077"></a>00077                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( <a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7" title="indeces of logged variables">L_x</a>, vec ( x,4 )      );
117<a name="l00078"></a>00078                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_oy, vec_2 ( KalmanObs[2],KalmanObs[3] ) );
118<a name="l00079"></a>00079                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_ou, vec_2 ( KalmanObs[0],KalmanObs[1] ) );
119<a name="l00080"></a>00080                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_iu, vec_2 ( KalmanObs[4],KalmanObs[5] ) );
120<a name="l00081"></a>00081                 <span class="keywordflow">if</span> (<a class="code" href="classpmsmDS.html#d410b9ca1a362e50a0833ae67803b7ee">opt</a>.find(<span class="stringliteral">"u"</span>)==string::npos){
121<a name="l00082"></a>00082                         <span class="keywordtype">double</span> sq3=sqrt(3.0);
122<a name="l00083"></a>00083                         <span class="keywordtype">double</span> ua,ub;
123<a name="l00084"></a>00084                         <span class="keywordtype">double</span> i1=x[0];
124<a name="l00085"></a>00085                         <span class="keywordtype">double</span> i2=0.5*(-i1+sq3*x[1]);
125<a name="l00086"></a>00086                         <span class="keywordtype">double</span> i3=0.5*(-i1-sq3*x[1]);
126<a name="l00087"></a>00087                         <span class="keywordtype">double</span> u1=KalmanObs[0];
127<a name="l00088"></a>00088                         <span class="keywordtype">double</span> u2=0.5*(-u1+sq3*KalmanObs[1]);
128<a name="l00089"></a>00089                         <span class="keywordtype">double</span> u3=0.5*(-u1-sq3*KalmanObs[1]);
129<a name="l00090"></a>00090                         
130<a name="l00091"></a>00091                         <span class="keywordtype">double</span> du1=0.7*(double(i1&gt;0.1) - double(i1&lt;-0.1))+0.05*i1;
131<a name="l00092"></a>00092                         <span class="keywordtype">double</span> du2=0.7*(double(i2&gt;0.1) - double(i2&lt;-0.1))+0.05*i2;
132<a name="l00093"></a>00093                         <span class="keywordtype">double</span> du3=0.7*(double(i3&gt;0.1) - double(i3&lt;-0.1))+0.05*i3;
133<a name="l00094"></a>00094                         ua = (2.0*(u1-du1)-(u2-du2)-(u3-du3))/3.0;
134<a name="l00095"></a>00095                         ub = ((u2-du2)-(u3-du3))/sq3;
135<a name="l00096"></a>00096                         L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a>( L_optu , vec_2 (ua,ub));
136<a name="l00097"></a>00097                 }
137<a name="l00098"></a>00098                 }
138<a name="l00099"></a>00099
139<a name="l00100"></a>00100         <span class="keywordtype">void</span> set_profile ( <span class="keywordtype">double</span> dt, <span class="keyword">const</span> vec &amp;Ww ) {<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>=dt; <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>=Ww;}
140<a name="l00101"></a>00101 };
141</pre></div></div>
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