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65<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
66<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>
67<a name="l00014"></a>00014 <span class="preprocessor">#include "simulator.h"</span>
68<a name="l00015"></a>00015 <span class="preprocessor">#include "pmsm.h"</span>
69<a name="l00016"></a>00016
70<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> {
71<a name="l00019"></a>00019
72<a name="l00020"></a>00020 <span class="keyword">protected</span>:
73<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;
74<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>;
75<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>;
76<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>;
77<a name="l00030"></a><a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b">00030</a>         <span class="keywordtype">bool</span> <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a>;
78<a name="l00031"></a>00031 <span class="keyword">public</span>:
79<a name="l00033"></a><a class="code" href="classpmsmDS.html#e6a50a246de039f30cb5423521aab55c">00033</a>         <a class="code" href="classpmsmDS.html#e6a50a246de039f30cb5423521aab55c" title="Constructor with fixed sampling period.">pmsmDS</a> ()   {<a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a>=125; <a class="code" href="classbdm_1_1DS.html#d8db125ac35f3b8eeb773fc9a4cb45ec" title="Description of data returned by getdata().">Drv</a>=<a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> ( <span class="stringliteral">"{o_ua o_ub o_ia o_ib t_ua t_ub }"</span> );}
80<a name="l00034"></a>00034         <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 ) {
81<a name="l00035"></a>00035                 pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 );
82<a name="l00036"></a>00036         }
83<a name="l00038"></a><a class="code" href="classpmsmDS.html#75dd22db70746bfd0c3e685a17bbf34a">00038</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#75dd22db70746bfd0c3e685a17bbf34a" title="parse options: &amp;quot;modelu&amp;quot; =&amp;gt; opt_modu=true;">set_options</a> ( <span class="keywordtype">string</span> &amp;opt ) {
84<a name="l00039"></a>00039                 <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a> = ( opt.find ( <span class="stringliteral">"modelu"</span> ) ==string::npos );
85<a name="l00040"></a>00040         }
86<a name="l00041"></a><a class="code" href="classpmsmDS.html#4e47e678eb56e0b3bd47d801d0995e46">00041</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 );}
87<a name="l00042"></a><a class="code" href="classpmsmDS.html#35e9a2b9d82bd1b71d66778021d1e8b4">00042</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 ) {}
88<a name="l00043"></a>00043
89<a name="l00044"></a><a class="code" href="classpmsmDS.html#664fc8deff7c141ee7ab826a9abb387b">00044</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>() {
90<a name="l00045"></a>00045                 <span class="keyword">static</span> <span class="keywordtype">int</span> ind=0;
91<a name="l00046"></a>00046                 <span class="keyword">static</span> <span class="keywordtype">double</span> dW; <span class="comment">// increase of W</span>
92<a name="l00047"></a>00047                 <span class="keyword">static</span> <span class="keywordtype">double</span> Ww; <span class="comment">// W</span>
93<a name="l00048"></a>00048                 <span class="keywordflow">if</span> ( t&gt;=<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>*ind ) {
94<a name="l00049"></a>00049                         ind++;
95<a name="l00050"></a>00050                         <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() ) {
96<a name="l00051"></a>00051                                 <span class="comment">//linear increase</span>
97<a name="l00052"></a>00052                                 <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 ) {
98<a name="l00053"></a>00053                                         Ww=<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a> ( 0 ); dW=0.0;
99<a name="l00054"></a>00054                                 }
100<a name="l00055"></a>00055                                 <span class="keywordflow">else</span> {
101<a name="l00056"></a>00056                                         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 );
102<a name="l00057"></a>00057                                         dW *=125e-6/<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>;
103<a name="l00058"></a>00058                                 }
104<a name="l00059"></a>00059                         }
105<a name="l00060"></a>00060                         <span class="keywordflow">else</span> {
106<a name="l00061"></a>00061                                 dW = 0;
107<a name="l00062"></a>00062                         }
108<a name="l00063"></a>00063                 }
109<a name="l00064"></a>00064                 Ww += dW;
110<a name="l00065"></a>00065                 <span class="comment">//Simulate Dt seconds!</span>
111<a name="l00066"></a>00066                 <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 );}
112<a name="l00067"></a>00067         };
113<a name="l00068"></a>00068
114<a name="l00069"></a><a class="code" href="classpmsmDS.html#d75b83468db25c56977ffccff46b0b37">00069</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 ) {
115<a name="l00070"></a>00070                 <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> );
116<a name="l00071"></a>00071                 L_oy = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ry, <span class="stringliteral">"o"</span> );
117<a name="l00072"></a>00072                 L_ou = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ru, <span class="stringliteral">"o"</span> );
118<a name="l00073"></a>00073                 L_iu = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ru, <span class="stringliteral">"t"</span> );
119<a name="l00074"></a>00074                 <span class="comment">// log differences</span>
120<a name="l00075"></a>00075                 <span class="keywordflow">if</span> ( <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a> ) {
121<a name="l00076"></a>00076                         L_optu = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ru, <span class="stringliteral">"model"</span> );
122<a name="l00077"></a>00077                 }
123<a name="l00078"></a>00078         }
124<a name="l00079"></a>00079
125<a name="l00080"></a><a class="code" href="classpmsmDS.html#21cac6deaac2dd073c982d7bec839b47">00080</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 ) {
126<a name="l00081"></a>00081                 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 )      );
127<a name="l00082"></a>00082                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_oy, vec_2 ( KalmanObs[2],KalmanObs[3] ) );
128<a name="l00083"></a>00083                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_ou, vec_2 ( KalmanObs[0],KalmanObs[1] ) );
129<a name="l00084"></a>00084                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_iu, vec_2 ( KalmanObs[4],KalmanObs[5] ) );
130<a name="l00085"></a>00085                 <span class="keywordflow">if</span> ( <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a> ) {
131<a name="l00086"></a>00086                         <span class="keywordtype">double</span> sq3=sqrt ( 3.0 );
132<a name="l00087"></a>00087                         <span class="keywordtype">double</span> ua,ub;
133<a name="l00088"></a>00088                         <span class="keywordtype">double</span> i1=x[0];
134<a name="l00089"></a>00089                         <span class="keywordtype">double</span> i2=0.5* ( -i1+sq3*x[1] );
135<a name="l00090"></a>00090                         <span class="keywordtype">double</span> i3=0.5* ( -i1-sq3*x[1] );
136<a name="l00091"></a>00091                         <span class="keywordtype">double</span> u1=KalmanObs[0];
137<a name="l00092"></a>00092                         <span class="keywordtype">double</span> u2=0.5* ( -u1+sq3*KalmanObs[1] );
138<a name="l00093"></a>00093                         <span class="keywordtype">double</span> u3=0.5* ( -u1-sq3*KalmanObs[1] );
139<a name="l00094"></a>00094
140<a name="l00095"></a>00095                         <span class="keywordtype">double</span> du1=0.7* ( double ( i1&gt;0.1 ) - double ( i1&lt;-0.1 ) ) +0.05*i1;
141<a name="l00096"></a>00096                         <span class="keywordtype">double</span> du2=0.7* ( double ( i2&gt;0.1 ) - double ( i2&lt;-0.1 ) ) +0.05*i2;
142<a name="l00097"></a>00097                         <span class="keywordtype">double</span> du3=0.7* ( double ( i3&gt;0.1 ) - double ( i3&lt;-0.1 ) ) +0.05*i3;
143<a name="l00098"></a>00098                         ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0;
144<a name="l00099"></a>00099                         ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3;
145<a name="l00100"></a>00100                         L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_optu , vec_2 ( ua,ub ) );
146<a name="l00101"></a>00101                 }
147<a name="l00102"></a>00102         }
148<a name="l00103"></a>00103
149<a name="l00104"></a>00104         <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;}
150<a name="l00105"></a>00105 };
151</pre></div></div>
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