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[261]65<h1>pmsm.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef PMSM_H</span>
[33]66<a name="l00002"></a>00002 <span class="preprocessor"></span><span class="preprocessor">#define PMSM_H</span>
67<a name="l00003"></a>00003 <span class="preprocessor"></span>
[79]68<a name="l00004"></a>00004 <span class="preprocessor">#include &lt;stat/libFN.h&gt;</span>
[139]69<a name="l00005"></a>00005
[255]70<a name="l00010"></a>00010 <span class="keyword">using namespace </span>bdm;
71<a name="l00011"></a>00011
72<a name="l00012"></a>00012 <span class="comment">//TODO hardcoded RVs!!!</span>
73<a name="l00013"></a>00013 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> rx ( <span class="stringliteral">"{ia ib om th }"</span>);
74<a name="l00014"></a>00014 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> ru ( <span class="stringliteral">"{ua ub }"</span>);
75<a name="l00015"></a>00015 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> ry ( <span class="stringliteral">"{oia oib }"</span>);
76<a name="l00016"></a>00016
77<a name="l00017"></a>00017 <span class="comment">// class uipmsm : public uibase{</span>
78<a name="l00018"></a>00018 <span class="comment">//      double Rs, Ls, dt, Ypm, kp, p,  J, Mz;</span>
79<a name="l00019"></a>00019 <span class="comment">// };</span>
80<a name="l00020"></a>00020
81<a name="l00022"></a><a class="code" href="classIMpmsm.html">00022</a> <span class="keyword">class </span><a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> {
82<a name="l00023"></a>00023 <span class="keyword">protected</span>:
83<a name="l00024"></a>00024         <span class="keywordtype">double</span> Rs, Ls, dt, Ypm, kp, p,  J, Mz;
84<a name="l00025"></a>00025
85<a name="l00026"></a>00026 <span class="keyword">public</span>:
[280]86<a name="l00027"></a>00027         <a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a>() :<a class="code" href="classbdm_1_1diffbifn.html#92ff29d748e445b440453a38d0b09681" title="Default constructor (dimy is not set!).">diffbifn</a> ( ) {<a class="code" href="classbdm_1_1fnc.html#52156cb4a52a62d51fc7455985797a62" title="Length of the output vector.">dimy</a>=4; <a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a> = 4; <a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0" title="cache for rvu.count()">dimu</a>=2;};
[323]87<a name="l00029"></a><a class="code" href="classIMpmsm.html#14b18793a93617fe48cd8aa5d584906e">00029</a>         <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classIMpmsm.html#14b18793a93617fe48cd8aa5d584906e" title="Set mechanical and electrical variables.">set_parameters</a> ( <span class="keywordtype">double</span> Rs0, <span class="keywordtype">double</span> Ls0, <span class="keywordtype">double</span> dt0, <span class="keywordtype">double</span> Ypm0, <span class="keywordtype">double</span> kp0, <span class="keywordtype">double</span> p0, <span class="keywordtype">double</span> J0, <span class="keywordtype">double</span> Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;}
[255]88<a name="l00030"></a>00030
89<a name="l00031"></a><a class="code" href="classIMpmsm.html#45785869d978dda42828a072ec2caebe">00031</a>         vec <a class="code" href="classIMpmsm.html#45785869d978dda42828a072ec2caebe" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0 ) {
90<a name="l00032"></a>00032                 <span class="comment">// last state</span>
[287]91<a name="l00033"></a>00033                 <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;iam = x0 ( 0 );
92<a name="l00034"></a>00034                 <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;ibm = x0 ( 1 );
93<a name="l00035"></a>00035                 <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;omm = x0 ( 2 );
94<a name="l00036"></a>00036                 <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;thm = x0 ( 3 );
95<a name="l00037"></a>00037                 <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;uam = u0 ( 0 );
96<a name="l00038"></a>00038                 <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;ubm = u0 ( 1 );
[255]97<a name="l00039"></a>00039
[287]98<a name="l00040"></a>00040                 vec xk( 4 );
[255]99<a name="l00041"></a>00041                 <span class="comment">//ia</span>
100<a name="l00042"></a>00042                 xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls;
101<a name="l00043"></a>00043                 <span class="comment">//ib</span>
102<a name="l00044"></a>00044                 xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls;
103<a name="l00045"></a>00045                 <span class="comment">//om</span>
104<a name="l00046"></a>00046                 xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz;
105<a name="l00047"></a>00047                 <span class="comment">//th</span>
106<a name="l00048"></a>00048                 xk ( 3 ) = thm + omm*dt; <span class="comment">// &lt;0..2pi&gt;</span>
107<a name="l00049"></a>00049                 <span class="keywordflow">if</span> ( xk ( 3 ) &gt;pi ) xk ( 3 )-=2*pi;
108<a name="l00050"></a>00050                 <span class="keywordflow">if</span> ( xk ( 3 ) &lt;-pi ) xk ( 3 ) +=2*pi;
109<a name="l00051"></a>00051                 <span class="keywordflow">return</span> xk;
110<a name="l00052"></a>00052         }
111<a name="l00053"></a>00053
112<a name="l00054"></a><a class="code" href="classIMpmsm.html#b4378b5d3bf64c683e4cf5c5f1cd56f1">00054</a>         <span class="keywordtype">void</span> <a class="code" href="classIMpmsm.html#b4378b5d3bf64c683e4cf5c5f1cd56f1" title="Evaluates  and writes result into A .">dfdx_cond</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {
[287]113<a name="l00055"></a>00055                 <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;iam = x0 ( 0 );
114<a name="l00056"></a>00056                 <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;ibm = x0 ( 1 );
115<a name="l00057"></a>00057                 <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;omm = x0 ( 2 );
116<a name="l00058"></a>00058                 <span class="keyword">const</span> <span class="keywordtype">double</span> &amp;thm = x0 ( 3 );
[255]117<a name="l00059"></a>00059                 <span class="comment">// d ia</span>
118<a name="l00060"></a>00060                 A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0;
119<a name="l00061"></a>00061                 A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) );
120<a name="l00062"></a>00062                 <span class="comment">// d ib</span>
121<a name="l00063"></a>00063                 A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt );
122<a name="l00064"></a>00064                 A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) );
123<a name="l00065"></a>00065                 <span class="comment">// d om</span>
124<a name="l00066"></a>00066                 A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) );
125<a name="l00067"></a>00067                 A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) );
126<a name="l00068"></a>00068                 A ( 2,2 ) = 1.0;
127<a name="l00069"></a>00069                 A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );
128<a name="l00070"></a>00070                 <span class="comment">// d th</span>
129<a name="l00071"></a>00071                 A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0;
130<a name="l00072"></a>00072         }
131<a name="l00073"></a>00073
132<a name="l00074"></a><a class="code" href="classIMpmsm.html#c3f8dad22ae9855c04a1d593b45c99b5">00074</a>         <span class="keywordtype">void</span> <a class="code" href="classIMpmsm.html#c3f8dad22ae9855c04a1d593b45c99b5" title="Evaluates  and writes result into A .">dfdu_cond</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {it_error ( <span class="stringliteral">"not needed"</span> );};
133<a name="l00075"></a>00075
134<a name="l00076"></a>00076 };
135<a name="l00077"></a>00077
[323]136<a name="l00079"></a><a class="code" href="classIMpmsm2o.html">00079</a> <span class="keyword">class </span><a class="code" href="classIMpmsm2o.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm2o</a> : <span class="keyword">public</span> <a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a> {
[255]137<a name="l00080"></a>00080         <span class="keyword">protected</span>:
[323]138<a name="l00081"></a>00081 <span class="comment">//              double Rs, Ls, dt, Ypm, kp, p,  J, Mz;</span>
139<a name="l00083"></a><a class="code" href="classIMpmsm2o.html#5b668744a1e5189f324897a62b9c3ea6">00083</a> <span class="comment"></span>                <span class="keywordtype">double</span> <a class="code" href="classIMpmsm2o.html#5b668744a1e5189f324897a62b9c3ea6" title="store first derivatives for the use in second derivatives">dia</a>, dib, dom, dth;
[255]140<a name="l00085"></a><a class="code" href="classIMpmsm2o.html#74954dedce055db9ee50d53790e8341c">00085</a>                 <span class="keywordtype">double</span> <a class="code" href="classIMpmsm2o.html#74954dedce055db9ee50d53790e8341c" title="d2t = dt^2/2, cth = cos(th), sth=sin(th)">d2t</a>, cth, sth;
141<a name="l00086"></a>00086                 <span class="keywordtype">double</span> iam, ibm, omm, thm, uam, ubm;
142<a name="l00087"></a>00087         <span class="keyword">public</span>:
[323]143<a name="l00088"></a>00088                 <a class="code" href="classIMpmsm2o.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm2o</a>() :<a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a> () {};
[255]144<a name="l00090"></a><a class="code" href="classIMpmsm2o.html#abdefc0467678a05abf12f5c77eaf49d">00090</a>                 <span class="keywordtype">void</span> <a class="code" href="classIMpmsm2o.html#abdefc0467678a05abf12f5c77eaf49d" title="Set mechanical and electrical variables.">set_parameters</a> ( <span class="keywordtype">double</span> Rs0, <span class="keywordtype">double</span> Ls0, <span class="keywordtype">double</span> dt0, <span class="keywordtype">double</span> Ypm0, <span class="keywordtype">double</span> kp0, <span class="keywordtype">double</span> p0, <span class="keywordtype">double</span> J0, <span class="keywordtype">double</span> Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0; <a class="code" href="classIMpmsm2o.html#74954dedce055db9ee50d53790e8341c" title="d2t = dt^2/2, cth = cos(th), sth=sin(th)">d2t</a>=dt*dt/2;}
145<a name="l00091"></a>00091
146<a name="l00092"></a><a class="code" href="classIMpmsm2o.html#86e04b5118e567ea7a2540059f553f41">00092</a>                 vec <a class="code" href="classIMpmsm2o.html#86e04b5118e567ea7a2540059f553f41" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0 ) {
147<a name="l00093"></a>00093                 <span class="comment">// last state</span>
148<a name="l00094"></a>00094                         iam = x0 ( 0 );
149<a name="l00095"></a>00095                         ibm = x0 ( 1 );
150<a name="l00096"></a>00096                         omm = x0 ( 2 );
151<a name="l00097"></a>00097                         thm = x0 ( 3 );
152<a name="l00098"></a>00098                         uam = u0 ( 0 );
153<a name="l00099"></a>00099                         ubm = u0 ( 1 );
154<a name="l00100"></a>00100
155<a name="l00101"></a>00101                         cth = cos(thm);
156<a name="l00102"></a>00102                         sth = sin(thm);
[234]157<a name="l00103"></a>00103                         
[255]158<a name="l00104"></a>00104                         <a class="code" href="classIMpmsm2o.html#5b668744a1e5189f324897a62b9c3ea6" title="store first derivatives for the use in second derivatives">dia</a> = (- Rs/Ls*iam +  Ypm/Ls*omm * sth + uam/Ls);
159<a name="l00105"></a>00105                         dib = (- Rs/Ls*ibm -  Ypm/Ls*omm * cth + ubm/Ls);
160<a name="l00106"></a>00106                         dom = kp*p*p * Ypm/J *( ibm * cth-iam * sth ) - p/J*Mz;
161<a name="l00107"></a>00107                         dth = omm;
162<a name="l00108"></a>00108                                                 
163<a name="l00109"></a>00109                         vec xk=zeros ( 4 );
164<a name="l00110"></a>00110                         xk ( 0 ) =  iam + dt*<a class="code" href="classIMpmsm2o.html#5b668744a1e5189f324897a62b9c3ea6" title="store first derivatives for the use in second derivatives">dia</a>;<span class="comment">// +d2t*d2ia;</span>
165<a name="l00111"></a>00111                         xk ( 1 ) = ibm + dt*dib;<span class="comment">// +d2t*d2ib;</span>
166<a name="l00112"></a>00112                         xk ( 2 ) = omm +dt*dom;<span class="comment">// +d2t*d2om;</span>
[323]167<a name="l00113"></a>00113                         xk ( 3 ) = thm + dt*dth;<span class="comment">// +d2t*dom; // &lt;0..2pi&gt;</span>
[255]168<a name="l00114"></a>00114                         
169<a name="l00115"></a>00115                         <span class="keywordflow">if</span> ( xk ( 3 ) &gt;pi ) xk ( 3 )-=2*pi;
170<a name="l00116"></a>00116                         <span class="keywordflow">if</span> ( xk ( 3 ) &lt;-pi ) xk ( 3 ) +=2*pi;
171<a name="l00117"></a>00117                         <span class="keywordflow">return</span> xk;
172<a name="l00118"></a>00118                 }
173<a name="l00119"></a>00119
174<a name="l00121"></a><a class="code" href="classIMpmsm2o.html#cf66e75d9e532b0a1c2135b34ac57c89">00121</a>                 vec <a class="code" href="classIMpmsm2o.html#cf66e75d9e532b0a1c2135b34ac57c89" title="eval 2nd order Taylor expansion, MUST be used only as a follow up AFTER eval()!!">eval2o</a>(<span class="keyword">const</span> vec &amp;du){
175<a name="l00122"></a>00122                         <span class="keywordtype">double</span> dua = du ( 0 )/dt;
176<a name="l00123"></a>00123                         <span class="keywordtype">double</span> dub = du ( 1 )/dt;
[234]177<a name="l00124"></a>00124                         
[255]178<a name="l00125"></a>00125                         vec xth2o(4);
179<a name="l00126"></a>00126                         xth2o(0) = (- Rs/Ls*<a class="code" href="classIMpmsm2o.html#5b668744a1e5189f324897a62b9c3ea6" title="store first derivatives for the use in second derivatives">dia</a> +  Ypm/Ls*(dom * sth + omm*cth) + dua/Ls);
180<a name="l00127"></a>00127                         xth2o(1) = (- Rs/Ls*dib -  Ypm/Ls*(dom * cth - omm*sth) + dub/Ls);
181<a name="l00128"></a>00128                         xth2o(2) = kp*p*p * Ypm/J *( dib * cth-ibm*sth - (<a class="code" href="classIMpmsm2o.html#5b668744a1e5189f324897a62b9c3ea6" title="store first derivatives for the use in second derivatives">dia</a> * sth + iam *cth));
182<a name="l00129"></a>00129                         xth2o(3) = dom;
183<a name="l00130"></a>00130                         <span class="keywordflow">return</span> xth2o;
184<a name="l00131"></a>00131                 }
185<a name="l00132"></a><a class="code" href="classIMpmsm2o.html#0a3e125df1e53821e08accbd4960d713">00132</a>                 <span class="keywordtype">void</span> <a class="code" href="classIMpmsm2o.html#0a3e125df1e53821e08accbd4960d713" title="Evaluates  and writes result into A .">dfdx_cond</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {
186<a name="l00133"></a>00133                          iam = x0 ( 0 );
187<a name="l00134"></a>00134                          ibm = x0 ( 1 );
188<a name="l00135"></a>00135                          omm = x0 ( 2 );
189<a name="l00136"></a>00136                          thm = x0 ( 3 );
190<a name="l00137"></a>00137                 <span class="comment">// d ia</span>
191<a name="l00138"></a>00138                         A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0;
192<a name="l00139"></a>00139                         A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) );
193<a name="l00140"></a>00140                 <span class="comment">// d ib</span>
194<a name="l00141"></a>00141                         A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt );
195<a name="l00142"></a>00142                         A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) );
196<a name="l00143"></a>00143                 <span class="comment">// d om</span>
197<a name="l00144"></a>00144                         A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) );
198<a name="l00145"></a>00145                         A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) );
199<a name="l00146"></a>00146                         A ( 2,2 ) = 1.0;
200<a name="l00147"></a>00147                         A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );
201<a name="l00148"></a>00148                 <span class="comment">// d th</span>
202<a name="l00149"></a>00149                         A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0;
[323]203<a name="l00150"></a>00150                         <span class="comment">// FOR d2t*dom!!!!!!!!!</span>
204<a name="l00151"></a>00151 <span class="comment">/*                      A ( 3,0 ) = dt* kp*p*p * Ypm/J*dt* ( - sin ( thm ) );</span>
205<a name="l00152"></a>00152 <span class="comment">                        A ( 3,1 ) = dt* kp*p*p * Ypm/J*dt* ( cos ( thm ) );</span>
206<a name="l00153"></a>00153 <span class="comment">                        A ( 3,2 ) = dt;</span>
207<a name="l00154"></a>00154 <span class="comment">                        A ( 3,3 ) = 1.0 + dt* kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );*/</span>
208<a name="l00155"></a>00155                 }
209<a name="l00156"></a>00156
210<a name="l00157"></a><a class="code" href="classIMpmsm2o.html#27f9d89bce832056f747d985df77a726">00157</a>                 <span class="keywordtype">void</span> <a class="code" href="classIMpmsm2o.html#27f9d89bce832056f747d985df77a726" title="Evaluates  and writes result into A .">dfdu_cond</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {it_error ( <span class="stringliteral">"not needed"</span> );};
211<a name="l00158"></a>00158
212<a name="l00159"></a>00159 };
213<a name="l00160"></a>00160
214<a name="l00162"></a><a class="code" href="classIMpmsmStat.html">00162</a> <span class="keyword">class </span><a class="code" href="classIMpmsmStat.html" title="State evolution model for a PMSM drive and its derivative with respect to , equation...">IMpmsmStat</a> : <span class="keyword">public</span> <a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a> {
215<a name="l00163"></a>00163         <span class="keyword">public</span>:
216<a name="l00164"></a>00164         <a class="code" href="classIMpmsmStat.html" title="State evolution model for a PMSM drive and its derivative with respect to , equation...">IMpmsmStat</a>() :<a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a>() {};
217<a name="l00166"></a><a class="code" href="classIMpmsmStat.html#6379210623a2d353d42bfc87ccbd4384">00166</a>         <span class="keywordtype">void</span> <a class="code" href="classIMpmsmStat.html#6379210623a2d353d42bfc87ccbd4384" title="Set mechanical and electrical variables.">set_parameters</a> ( <span class="keywordtype">double</span> Rs0, <span class="keywordtype">double</span> Ls0, <span class="keywordtype">double</span> dt0, <span class="keywordtype">double</span> Ypm0, <span class="keywordtype">double</span> kp0, <span class="keywordtype">double</span> p0, <span class="keywordtype">double</span> J0, <span class="keywordtype">double</span> Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;}
218<a name="l00167"></a>00167
219<a name="l00168"></a><a class="code" href="classIMpmsmStat.html#5ed3582c2c0edb0753387a82598f8d21">00168</a>         vec <a class="code" href="classIMpmsmStat.html#5ed3582c2c0edb0753387a82598f8d21" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0 ) {
220<a name="l00169"></a>00169                 <span class="comment">// last state</span>
221<a name="l00170"></a>00170                 <span class="keywordtype">double</span> iam = x0 ( 0 );
222<a name="l00171"></a>00171                 <span class="keywordtype">double</span> ibm = x0 ( 1 );
223<a name="l00172"></a>00172                 <span class="keywordtype">double</span> omm = x0 ( 2 );
224<a name="l00173"></a>00173                 <span class="keywordtype">double</span> thm = x0 ( 3 );
225<a name="l00174"></a>00174                 <span class="keywordtype">double</span> uam = u0 ( 0 );
226<a name="l00175"></a>00175                 <span class="keywordtype">double</span> ubm = u0 ( 1 );
227<a name="l00176"></a>00176
228<a name="l00177"></a>00177                 vec xk=zeros ( 4 );
229<a name="l00178"></a>00178                 <span class="comment">//ia</span>
230<a name="l00179"></a>00179                 xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls;
231<a name="l00180"></a>00180                 <span class="comment">//ib</span>
232<a name="l00181"></a>00181                 xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls;
233<a name="l00182"></a>00182                 <span class="comment">//om</span>
234<a name="l00183"></a>00183                 xk ( 2 ) = omm;<span class="comment">// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz;</span>
235<a name="l00184"></a>00184                 <span class="comment">//th</span>
236<a name="l00185"></a>00185                 xk ( 3 ) = rem(thm + omm*dt,2*pi); <span class="comment">// &lt;0..2pi&gt;</span>
237<a name="l00186"></a>00186                 <span class="keywordflow">return</span> xk;
238<a name="l00187"></a>00187         }
239<a name="l00188"></a>00188
240<a name="l00189"></a><a class="code" href="classIMpmsmStat.html#29a9c09fd328e89748d9be0801e84831">00189</a>         <span class="keywordtype">void</span> <a class="code" href="classIMpmsmStat.html#29a9c09fd328e89748d9be0801e84831" title="Evaluates  and writes result into A .">dfdx_cond</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {
241<a name="l00190"></a>00190 <span class="comment">//              double iam = x0 ( 0 );</span>
242<a name="l00191"></a>00191 <span class="comment">//              double ibm = x0 ( 1 );</span>
243<a name="l00192"></a>00192                 <span class="keywordtype">double</span> omm = x0 ( 2 );
244<a name="l00193"></a>00193                 <span class="keywordtype">double</span> thm = x0 ( 3 );
245<a name="l00194"></a>00194                 <span class="comment">// d ia</span>
246<a name="l00195"></a>00195                 A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0;
247<a name="l00196"></a>00196                 A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) );
248<a name="l00197"></a>00197                 <span class="comment">// d ib</span>
249<a name="l00198"></a>00198                 A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt );
250<a name="l00199"></a>00199                 A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) );
251<a name="l00200"></a>00200                 <span class="comment">// d om</span>
252<a name="l00201"></a>00201                 A ( 2,0 ) = 0.0;<span class="comment">//kp*p*p * Ypm/J*dt* ( - sin ( thm ) );</span>
253<a name="l00202"></a>00202                 A ( 2,1 ) = 0.0;<span class="comment">//kp*p*p * Ypm/J*dt* ( cos ( thm ) );</span>
254<a name="l00203"></a>00203                 A ( 2,2 ) = 1.0;
255<a name="l00204"></a>00204                 A ( 2,3 ) = 0.0;<span class="comment">//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );</span>
256<a name="l00205"></a>00205                 <span class="comment">// d th</span>
257<a name="l00206"></a>00206                 A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0;
258<a name="l00207"></a>00207         }
259<a name="l00208"></a>00208
260<a name="l00209"></a><a class="code" href="classIMpmsmStat.html#ff740ee20100ae2a2d03a2538638f8e8">00209</a>         <span class="keywordtype">void</span> <a class="code" href="classIMpmsmStat.html#ff740ee20100ae2a2d03a2538638f8e8" title="Evaluates  and writes result into A .">dfdu_cond</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {it_error ( <span class="stringliteral">"not needed"</span> );};
261<a name="l00210"></a>00210
262<a name="l00211"></a>00211 };
[255]263<a name="l00212"></a>00212
[323]264<a name="l00214"></a><a class="code" href="classOMpmsm.html">00214</a> <span class="keyword">class </span><a class="code" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</a>: <span class="keyword">public</span> <a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> {
265<a name="l00215"></a>00215 <span class="keyword">public</span>:
266<a name="l00216"></a>00216         <a class="code" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</a>() :<a class="code" href="classbdm_1_1diffbifn.html#92ff29d748e445b440453a38d0b09681" title="Default constructor (dimy is not set!).">diffbifn</a> () {<a class="code" href="classbdm_1_1fnc.html#52156cb4a52a62d51fc7455985797a62" title="Length of the output vector.">dimy</a>=2;<a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a>=4;<a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0" title="cache for rvu.count()">dimu</a>=2;};
267<a name="l00217"></a>00217
268<a name="l00218"></a><a class="code" href="classOMpmsm.html#8e32392c9c635584606287b8c0e8c9da">00218</a>         vec <a class="code" href="classOMpmsm.html#8e32392c9c635584606287b8c0e8c9da" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0 ) {
269<a name="l00219"></a>00219                 vec y ( 2 );
270<a name="l00220"></a>00220                 y ( 0 ) = x0 ( 0 );
271<a name="l00221"></a>00221                 y ( 1 ) = x0 ( 1 );
272<a name="l00222"></a>00222                 <span class="keywordflow">return</span> y;
273<a name="l00223"></a>00223         }
274<a name="l00224"></a>00224
275<a name="l00225"></a><a class="code" href="classOMpmsm.html#b75b5fd55b2ac5ed74b5b953af122821">00225</a>         <span class="keywordtype">void</span> <a class="code" href="classOMpmsm.html#b75b5fd55b2ac5ed74b5b953af122821" title="Evaluates  and writes result into A .">dfdx_cond</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {
276<a name="l00226"></a>00226                 A.clear();
277<a name="l00227"></a>00227                 A ( 0,0 ) = 1.0;
278<a name="l00228"></a>00228                 A ( 1,1 ) = 1.0;
279<a name="l00229"></a>00229         }
280<a name="l00230"></a>00230 };
281<a name="l00231"></a>00231
282<a name="l00233"></a>00233 <span class="preprocessor">#endif //PMSM_H</span>
[91]283</pre></div></div>
[323]284<hr size="1"><address style="text-align: right;"><small>Generated on Thu Apr 23 21:06:42 2009 for mixpp by&nbsp;
[33]285<a href="http://www.doxygen.org/index.html">
[290]286<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address>
[33]287</body>
288</html>
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