[187] | 1 | <?xml version='1.0' encoding='UTF-8' standalone='no'?> |
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| 2 | <doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6"> |
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| 3 | <compounddef id="pmsm_8h" kind="file"> |
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| 4 | <compoundname>pmsm.h</compoundname> |
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| 5 | <includes refid="libFN_8h" local="no">stat/libFN.h</includes> |
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| 6 | <includedby refid="pmsm__mix_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_mix.cpp</includedby> |
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| 7 | <includedby refid="pmsm__sim_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_sim.cpp</includedby> |
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| 8 | <includedby refid="pmsm__sim2_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_sim2.cpp</includedby> |
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| 9 | <includedby refid="pmsm__sim3_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_sim3.cpp</includedby> |
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| 10 | <includedby refid="pmsm__unkQ_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_unkQ.cpp</includedby> |
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| 11 | <includedby refid="pmsm__unkQpf_8cpp" local="yes">work/git/mixpp/pmsm/pmsm_unkQpf.cpp</includedby> |
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| 12 | <includedby refid="sim__var_8cpp" local="yes">work/git/mixpp/pmsm/sim_var.cpp</includedby> |
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| 13 | <includedby refid="testbidiff_8cpp" local="yes">work/git/mixpp/pmsm/testbidiff.cpp</includedby> |
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| 14 | <incdepgraph> |
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| 15 | <node id="563"> |
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| 16 | <label>libBM.h</label> |
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| 17 | <link refid="libBM_8h"/> |
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| 18 | <childnode refid="562" relation="include"> |
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| 19 | </childnode> |
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| 20 | </node> |
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| 21 | <node id="560"> |
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| 22 | <label>work/git/mixpp/pmsm/pmsm.h</label> |
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| 23 | <link refid="pmsm.h"/> |
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| 24 | <childnode refid="561" relation="include"> |
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| 25 | </childnode> |
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| 26 | </node> |
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| 27 | <node id="561"> |
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| 28 | <label>stat/libFN.h</label> |
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| 29 | <link refid="libFN_8h-source"/> |
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| 30 | <childnode refid="562" relation="include"> |
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| 31 | </childnode> |
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| 32 | <childnode refid="563" relation="include"> |
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| 33 | </childnode> |
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| 34 | </node> |
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| 35 | <node id="562"> |
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| 36 | <label>itpp/itbase.h</label> |
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| 37 | </node> |
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| 38 | </incdepgraph> |
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| 39 | <invincdepgraph> |
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| 40 | <node id="564"> |
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| 41 | <label>work/git/mixpp/pmsm/pmsm.h</label> |
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| 42 | <link refid="pmsm.h"/> |
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| 43 | <childnode refid="565" relation="include"> |
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| 44 | </childnode> |
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| 45 | <childnode refid="566" relation="include"> |
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| 46 | </childnode> |
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| 47 | </node> |
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| 48 | <node id="566"> |
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| 49 | <label>work/git/mixpp/pmsm/sim_var.cpp</label> |
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| 50 | <link refid="sim__var_8cpp"/> |
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| 51 | </node> |
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| 52 | <node id="565"> |
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| 53 | <label>work/git/mixpp/pmsm/pmsm_mix.cpp</label> |
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| 54 | <link refid="pmsm__mix_8cpp"/> |
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| 55 | </node> |
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| 56 | </invincdepgraph> |
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| 57 | <innerclass refid="classIMpmsm" prot="public">IMpmsm</innerclass> |
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| 58 | <innerclass refid="classIMpmsmStat" prot="public">IMpmsmStat</innerclass> |
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| 59 | <innerclass refid="classOMpmsm" prot="public">OMpmsm</innerclass> |
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| 60 | <sectiondef kind="func"> |
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| 61 | <memberdef kind="function" id="pmsm_8h_1d82cfa6804c0679a7bd248ef045de3f8" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual"> |
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| 62 | <type><ref refid="classRV" kindref="compound">RV</ref></type> |
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| 63 | <definition>RV rx</definition> |
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| 64 | <argsstring>("{ia ib om th }")</argsstring> |
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| 65 | <name>rx</name> |
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| 66 | <briefdescription> |
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| 67 | </briefdescription> |
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| 68 | <detaileddescription> |
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| 69 | </detaileddescription> |
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| 70 | <inbodydescription> |
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| 71 | </inbodydescription> |
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| 72 | <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="7"/> |
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| 73 | </memberdef> |
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| 74 | <memberdef kind="function" id="pmsm_8h_125f104769603791ae5d508dcfcd0aa50" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual"> |
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| 75 | <type><ref refid="classRV" kindref="compound">RV</ref></type> |
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| 76 | <definition>RV ru</definition> |
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| 77 | <argsstring>("{ua ub }")</argsstring> |
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| 78 | <name>ru</name> |
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| 79 | <briefdescription> |
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| 80 | </briefdescription> |
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| 81 | <detaileddescription> |
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| 82 | </detaileddescription> |
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| 83 | <inbodydescription> |
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| 84 | </inbodydescription> |
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| 85 | <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="8"/> |
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| 86 | </memberdef> |
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| 87 | <memberdef kind="function" id="pmsm_8h_17961bfdfac2b069de327d4922319111e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual"> |
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| 88 | <type><ref refid="classRV" kindref="compound">RV</ref></type> |
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| 89 | <definition>RV ry</definition> |
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| 90 | <argsstring>("{oia oib }")</argsstring> |
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| 91 | <name>ry</name> |
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| 92 | <briefdescription> |
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| 93 | </briefdescription> |
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| 94 | <detaileddescription> |
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| 95 | </detaileddescription> |
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| 96 | <inbodydescription> |
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| 97 | </inbodydescription> |
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| 98 | <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h" line="9"/> |
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| 99 | </memberdef> |
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| 100 | </sectiondef> |
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| 101 | <briefdescription> |
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| 102 | </briefdescription> |
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| 103 | <detaileddescription> |
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| 104 | </detaileddescription> |
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| 105 | <programlisting> |
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| 106 | <codeline lineno="1"><highlight class="preprocessor">#ifndef<sp/>PMSM_H</highlight></codeline> |
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| 107 | <codeline lineno="2"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>PMSM_H</highlight></codeline> |
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| 108 | <codeline lineno="3"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline> |
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| 109 | <codeline lineno="4"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/><stat/libFN.h></highlight><highlight class="normal"></highlight></codeline> |
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| 110 | <codeline lineno="5"><highlight class="normal"></highlight></codeline> |
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| 111 | <codeline lineno="6"><highlight class="normal"></highlight><highlight class="comment">//TODO<sp/>hardcoded<sp/>RVs!!!</highlight><highlight class="normal"></highlight></codeline> |
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| 112 | <codeline lineno="7"><highlight class="normal"><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx<sp/>(<sp/></highlight><highlight class="stringliteral">"{ia<sp/>ib<sp/>om<sp/>th<sp/>}"</highlight><highlight class="normal">);</highlight></codeline> |
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| 113 | <codeline lineno="8"><highlight class="normal"><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru<sp/>(<sp/></highlight><highlight class="stringliteral">"{ua<sp/>ub<sp/>}"</highlight><highlight class="normal">);</highlight></codeline> |
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| 114 | <codeline lineno="9"><highlight class="normal"><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry<sp/>(<sp/></highlight><highlight class="stringliteral">"{oia<sp/>oib<sp/>}"</highlight><highlight class="normal">);</highlight></codeline> |
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| 115 | <codeline lineno="10"><highlight class="normal"></highlight></codeline> |
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| 116 | <codeline lineno="11"><highlight class="normal"></highlight><highlight class="comment">//<sp/>class<sp/>uipmsm<sp/>:<sp/>public<sp/>uibase{</highlight><highlight class="normal"></highlight></codeline> |
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| 117 | <codeline lineno="12"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/>double<sp/>Rs,<sp/>Ls,<sp/>dt,<sp/>Ypm,<sp/>kp,<sp/>p,<sp/><sp/>J,<sp/>Mz;</highlight><highlight class="normal"></highlight></codeline> |
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| 118 | <codeline lineno="13"><highlight class="normal"></highlight><highlight class="comment">//<sp/>};</highlight><highlight class="normal"></highlight></codeline> |
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| 119 | <codeline lineno="14"><highlight class="normal"></highlight></codeline> |
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| 120 | <codeline lineno="16" refid="classIMpmsm" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref><sp/>{</highlight></codeline> |
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| 121 | <codeline lineno="17"><highlight class="normal"></highlight><highlight class="keyword">protected</highlight><highlight class="normal">:</highlight></codeline> |
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| 122 | <codeline lineno="18"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs,<sp/>Ls,<sp/>dt,<sp/>Ypm,<sp/>kp,<sp/>p,<sp/><sp/>J,<sp/>Mz;</highlight></codeline> |
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| 123 | <codeline lineno="19"><highlight class="normal"></highlight></codeline> |
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| 124 | <codeline lineno="20"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline> |
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| 125 | <codeline lineno="21"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref>()<sp/>:<ref refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" kindref="member" tooltip="Default constructor (dimy is not set!).">diffbifn</ref><sp/>(rx.<ref refid="classRV_1f5c7b8bd589eef09ccdf3329a0addea0" kindref="member" tooltip="Return number of scalars in the RV.">count</ref>(),<sp/>rx,<sp/>ru<sp/>)<sp/>{};</highlight></codeline> |
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| 126 | <codeline lineno="23" refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" kindref="member" tooltip="Set mechanical and electrical variables.">set_parameters</ref><sp/>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dt0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ypm0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>J0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Mz0<sp/>)<sp/>{Rs=Rs0;<sp/>Ls=Ls0;<sp/>dt=dt0;<sp/>Ypm=Ypm0;<sp/>kp=kp0;<sp/>p=p0;<sp/>J=J0;<sp/>Mz=Mz0;}</highlight></codeline> |
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| 127 | <codeline lineno="24"><highlight class="normal"></highlight></codeline> |
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| 128 | <codeline lineno="25" refid="classIMpmsm_145785869d978dda42828a072ec2caebe" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classIMpmsm_145785869d978dda42828a072ec2caebe" kindref="member" tooltip="Evaluates .">eval</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&u0<sp/>)<sp/>{</highlight></codeline> |
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| 129 | <codeline lineno="26"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>last<sp/>state</highlight><highlight class="normal"></highlight></codeline> |
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| 130 | <codeline lineno="27"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>iam<sp/>=<sp/>x0<sp/>(<sp/>0<sp/>);</highlight></codeline> |
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| 131 | <codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ibm<sp/>=<sp/>x0<sp/>(<sp/>1<sp/>);</highlight></codeline> |
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| 132 | <codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>omm<sp/>=<sp/>x0<sp/>(<sp/>2<sp/>);</highlight></codeline> |
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| 133 | <codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>thm<sp/>=<sp/>x0<sp/>(<sp/>3<sp/>);</highlight></codeline> |
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| 134 | <codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uam<sp/>=<sp/>u0<sp/>(<sp/>0<sp/>);</highlight></codeline> |
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| 135 | <codeline lineno="32"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ubm<sp/>=<sp/>u0<sp/>(<sp/>1<sp/>);</highlight></codeline> |
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| 136 | <codeline lineno="33"><highlight class="normal"></highlight></codeline> |
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| 137 | <codeline lineno="34"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xk=zeros<sp/>(<sp/>4<sp/>);</highlight></codeline> |
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| 138 | <codeline lineno="35"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//ia</highlight><highlight class="normal"></highlight></codeline> |
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| 139 | <codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>0<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>)<sp/>*<sp/>iam<sp/>+<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>+<sp/>uam*dt/Ls;</highlight></codeline> |
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| 140 | <codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//ib</highlight><highlight class="normal"></highlight></codeline> |
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| 141 | <codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>1<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>)<sp/>*<sp/>ibm<sp/>-<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>+<sp/>ubm*dt/Ls;</highlight></codeline> |
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| 142 | <codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//om</highlight><highlight class="normal"></highlight></codeline> |
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| 143 | <codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>2<sp/>)<sp/>=<sp/>omm<sp/>+<sp/>kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>ibm<sp/>*<sp/>cos<sp/>(<sp/>thm<sp/>)-iam<sp/>*<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>)<sp/>-<sp/>p/J*dt*Mz;</highlight></codeline> |
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| 144 | <codeline lineno="41"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//th</highlight><highlight class="normal"></highlight></codeline> |
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| 145 | <codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>3<sp/>)<sp/>=<sp/>thm<sp/>+<sp/>omm*dt;<sp/></highlight><highlight class="comment">//<sp/><0..2pi></highlight><highlight class="normal"></highlight></codeline> |
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| 146 | <codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>xk<sp/>(<sp/>3<sp/>)<sp/>>pi<sp/>)<sp/>xk<sp/>(<sp/>3<sp/>)-=2*pi;</highlight></codeline> |
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| 147 | <codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>xk<sp/>(<sp/>3<sp/>)<sp/><-pi<sp/>)<sp/>xk<sp/>(<sp/>3<sp/>)<sp/>+=2*pi;</highlight></codeline> |
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| 148 | <codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>xk;</highlight></codeline> |
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| 149 | <codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline> |
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| 150 | <codeline lineno="47"><highlight class="normal"></highlight></codeline> |
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| 151 | <codeline lineno="48" refid="classIMpmsm_1b4378b5d3bf64c683e4cf5c5f1cd56f1" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classIMpmsm_1b4378b5d3bf64c683e4cf5c5f1cd56f1" kindref="member" tooltip="Evaluates and writes result into A .">dfdx_cond</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&u0,<sp/>mat<sp/>&A,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>full=</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{</highlight></codeline> |
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| 152 | <codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>iam<sp/>=<sp/>x0<sp/>(<sp/>0<sp/>);</highlight></codeline> |
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| 153 | <codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ibm<sp/>=<sp/>x0<sp/>(<sp/>1<sp/>);</highlight></codeline> |
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| 154 | <codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>omm<sp/>=<sp/>x0<sp/>(<sp/>2<sp/>);</highlight></codeline> |
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| 155 | <codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>thm<sp/>=<sp/>x0<sp/>(<sp/>3<sp/>);</highlight></codeline> |
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| 156 | <codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>ia</highlight><highlight class="normal"></highlight></codeline> |
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| 157 | <codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>0,0<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>);<sp/>A<sp/>(<sp/>0,1<sp/>)<sp/>=<sp/>0.0;</highlight></codeline> |
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| 158 | <codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>0,2<sp/>)<sp/>=<sp/>Ypm/Ls*dt*<sp/>sin<sp/>(<sp/>thm<sp/>);<sp/>A<sp/>(<sp/>0,3<sp/>)<sp/>=<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>(<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>);</highlight></codeline> |
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| 159 | <codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>ib</highlight><highlight class="normal"></highlight></codeline> |
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| 160 | <codeline lineno="57"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>1,0<sp/>)<sp/>=<sp/>0.0<sp/>;<sp/>A<sp/>(<sp/>1,1<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>);</highlight></codeline> |
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| 161 | <codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>1,2<sp/>)<sp/>=<sp/>-Ypm/Ls*dt*<sp/>cos<sp/>(<sp/>thm<sp/>);<sp/>A<sp/>(<sp/>1,3<sp/>)<sp/>=<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>(<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>);</highlight></codeline> |
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| 162 | <codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>om</highlight><highlight class="normal"></highlight></codeline> |
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| 163 | <codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,0<sp/>)<sp/>=<sp/>kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>-<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>);</highlight></codeline> |
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| 164 | <codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,1<sp/>)<sp/>=<sp/>kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>);</highlight></codeline> |
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| 165 | <codeline lineno="62"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,2<sp/>)<sp/>=<sp/>1.0;</highlight></codeline> |
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| 166 | <codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,3<sp/>)<sp/>=<sp/>kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>-ibm<sp/>*<sp/>sin<sp/>(<sp/>thm<sp/>)-iam<sp/>*<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>);</highlight></codeline> |
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| 167 | <codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>th</highlight><highlight class="normal"></highlight></codeline> |
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| 168 | <codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>3,0<sp/>)<sp/>=<sp/>0.0;<sp/>A<sp/>(<sp/>3,1<sp/>)<sp/>=<sp/>0.0;<sp/>A<sp/>(<sp/>3,2<sp/>)<sp/>=<sp/>dt;<sp/>A<sp/>(<sp/>3,3<sp/>)<sp/>=<sp/>1.0;</highlight></codeline> |
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| 169 | <codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline> |
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| 170 | <codeline lineno="67"><highlight class="normal"></highlight></codeline> |
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| 171 | <codeline lineno="68" refid="classIMpmsm_1c3f8dad22ae9855c04a1d593b45c99b5" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classIMpmsm_1c3f8dad22ae9855c04a1d593b45c99b5" kindref="member" tooltip="Evaluates and writes result into A .">dfdu_cond</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&u0,<sp/>mat<sp/>&A,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>full=</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{it_error<sp/>(<sp/></highlight><highlight class="stringliteral">"not<sp/>needed"</highlight><highlight class="normal"><sp/>);};</highlight></codeline> |
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| 172 | <codeline lineno="69"><highlight class="normal"></highlight></codeline> |
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| 173 | <codeline lineno="70"><highlight class="normal">};</highlight></codeline> |
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| 174 | <codeline lineno="71"><highlight class="normal"></highlight></codeline> |
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| 175 | <codeline lineno="73" refid="classIMpmsmStat" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classIMpmsmStat" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to , equation...">IMpmsmStat</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref><sp/>{</highlight></codeline> |
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| 176 | <codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classIMpmsmStat" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to , equation...">IMpmsmStat</ref>()<sp/>:<ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref>()<sp/>{};</highlight></codeline> |
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| 177 | <codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>set_parameters<sp/>(<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dt0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ypm0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>J0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Mz0<sp/>)<sp/>{Rs=Rs0;<sp/>Ls=Ls0;<sp/>dt=dt0;<sp/>Ypm=Ypm0;<sp/>kp=kp0;<sp/>p=p0;<sp/>J=J0;<sp/>Mz=Mz0;}</highlight></codeline> |
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| 178 | <codeline lineno="77"><highlight class="normal"></highlight></codeline> |
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| 179 | <codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>eval<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&u0<sp/>)<sp/>{</highlight></codeline> |
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| 180 | <codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>last<sp/>state</highlight><highlight class="normal"></highlight></codeline> |
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| 181 | <codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>iam<sp/>=<sp/>x0<sp/>(<sp/>0<sp/>);</highlight></codeline> |
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| 182 | <codeline lineno="81"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ibm<sp/>=<sp/>x0<sp/>(<sp/>1<sp/>);</highlight></codeline> |
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| 183 | <codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>omm<sp/>=<sp/>x0<sp/>(<sp/>2<sp/>);</highlight></codeline> |
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| 184 | <codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>thm<sp/>=<sp/>x0<sp/>(<sp/>3<sp/>);</highlight></codeline> |
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| 185 | <codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uam<sp/>=<sp/>u0<sp/>(<sp/>0<sp/>);</highlight></codeline> |
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| 186 | <codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ubm<sp/>=<sp/>u0<sp/>(<sp/>1<sp/>);</highlight></codeline> |
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| 187 | <codeline lineno="86"><highlight class="normal"></highlight></codeline> |
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| 188 | <codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>xk=zeros<sp/>(<sp/>4<sp/>);</highlight></codeline> |
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| 189 | <codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//ia</highlight><highlight class="normal"></highlight></codeline> |
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| 190 | <codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>0<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>)<sp/>*<sp/>iam<sp/>+<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>+<sp/>uam*dt/Ls;</highlight></codeline> |
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| 191 | <codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//ib</highlight><highlight class="normal"></highlight></codeline> |
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| 192 | <codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>1<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>)<sp/>*<sp/>ibm<sp/>-<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>+<sp/>ubm*dt/Ls;</highlight></codeline> |
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| 193 | <codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//om</highlight><highlight class="normal"></highlight></codeline> |
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| 194 | <codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>2<sp/>)<sp/>=<sp/>omm;</highlight><highlight class="comment">//<sp/>+<sp/>kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>ibm<sp/>*<sp/>cos<sp/>(<sp/>thm<sp/>)-iam<sp/>*<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>)<sp/>-<sp/>p/J*dt*Mz;</highlight><highlight class="normal"></highlight></codeline> |
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| 195 | <codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//th</highlight><highlight class="normal"></highlight></codeline> |
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| 196 | <codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>xk<sp/>(<sp/>3<sp/>)<sp/>=<sp/>rem(thm<sp/>+<sp/>omm*dt,2*pi);<sp/></highlight><highlight class="comment">//<sp/><0..2pi></highlight><highlight class="normal"></highlight></codeline> |
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| 197 | <codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>xk;</highlight></codeline> |
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| 198 | <codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline> |
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| 199 | <codeline lineno="98"><highlight class="normal"></highlight></codeline> |
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| 200 | <codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>dfdx_cond<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&u0,<sp/>mat<sp/>&A,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>full=</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{</highlight></codeline> |
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| 201 | <codeline lineno="100"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>double<sp/>iam<sp/>=<sp/>x0<sp/>(<sp/>0<sp/>);</highlight><highlight class="normal"></highlight></codeline> |
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| 202 | <codeline lineno="101"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>double<sp/>ibm<sp/>=<sp/>x0<sp/>(<sp/>1<sp/>);</highlight><highlight class="normal"></highlight></codeline> |
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| 203 | <codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>omm<sp/>=<sp/>x0<sp/>(<sp/>2<sp/>);</highlight></codeline> |
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| 204 | <codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>thm<sp/>=<sp/>x0<sp/>(<sp/>3<sp/>);</highlight></codeline> |
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| 205 | <codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>ia</highlight><highlight class="normal"></highlight></codeline> |
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| 206 | <codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>0,0<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>);<sp/>A<sp/>(<sp/>0,1<sp/>)<sp/>=<sp/>0.0;</highlight></codeline> |
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| 207 | <codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>0,2<sp/>)<sp/>=<sp/>Ypm/Ls*dt*<sp/>sin<sp/>(<sp/>thm<sp/>);<sp/>A<sp/>(<sp/>0,3<sp/>)<sp/>=<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>(<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>);</highlight></codeline> |
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| 208 | <codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>ib</highlight><highlight class="normal"></highlight></codeline> |
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| 209 | <codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>1,0<sp/>)<sp/>=<sp/>0.0<sp/>;<sp/>A<sp/>(<sp/>1,1<sp/>)<sp/>=<sp/>(<sp/>1.0-<sp/>Rs/Ls*dt<sp/>);</highlight></codeline> |
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| 210 | <codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>1,2<sp/>)<sp/>=<sp/>-Ypm/Ls*dt*<sp/>cos<sp/>(<sp/>thm<sp/>);<sp/>A<sp/>(<sp/>1,3<sp/>)<sp/>=<sp/>Ypm/Ls*dt*omm<sp/>*<sp/>(<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>);</highlight></codeline> |
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| 211 | <codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>om</highlight><highlight class="normal"></highlight></codeline> |
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| 212 | <codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,0<sp/>)<sp/>=<sp/>0.0;</highlight><highlight class="comment">//kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>-<sp/>sin<sp/>(<sp/>thm<sp/>)<sp/>);</highlight><highlight class="normal"></highlight></codeline> |
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| 213 | <codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,1<sp/>)<sp/>=<sp/>0.0;</highlight><highlight class="comment">//kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>);</highlight><highlight class="normal"></highlight></codeline> |
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| 214 | <codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,2<sp/>)<sp/>=<sp/>1.0;</highlight></codeline> |
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| 215 | <codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>2,3<sp/>)<sp/>=<sp/>0.0;</highlight><highlight class="comment">//kp*p*p<sp/>*<sp/>Ypm/J*dt*<sp/>(<sp/>-ibm<sp/>*<sp/>sin<sp/>(<sp/>thm<sp/>)-iam<sp/>*<sp/>cos<sp/>(<sp/>thm<sp/>)<sp/>);</highlight><highlight class="normal"></highlight></codeline> |
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| 216 | <codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>d<sp/>th</highlight><highlight class="normal"></highlight></codeline> |
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| 217 | <codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>3,0<sp/>)<sp/>=<sp/>0.0;<sp/>A<sp/>(<sp/>3,1<sp/>)<sp/>=<sp/>0.0;<sp/>A<sp/>(<sp/>3,2<sp/>)<sp/>=<sp/>dt;<sp/>A<sp/>(<sp/>3,3<sp/>)<sp/>=<sp/>1.0;</highlight></codeline> |
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| 218 | <codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline> |
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| 219 | <codeline lineno="118"><highlight class="normal"></highlight></codeline> |
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| 220 | <codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>dfdu_cond<sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&u0,<sp/>mat<sp/>&A,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>full=</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{it_error<sp/>(<sp/></highlight><highlight class="stringliteral">"not<sp/>needed"</highlight><highlight class="normal"><sp/>);};</highlight></codeline> |
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| 221 | <codeline lineno="120"><highlight class="normal"></highlight></codeline> |
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| 222 | <codeline lineno="121"><highlight class="normal">};</highlight></codeline> |
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| 223 | <codeline lineno="122"><highlight class="normal"></highlight></codeline> |
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| 224 | <codeline lineno="124" refid="classOMpmsm" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classOMpmsm" kindref="compound" tooltip="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</ref>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classdiffbifn" kindref="compound" tooltip="Class representing a differentiable function of two variables .">diffbifn</ref><sp/>{</highlight></codeline> |
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| 225 | <codeline lineno="125"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline> |
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| 226 | <codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classOMpmsm" kindref="compound" tooltip="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</ref>()<sp/>:<ref refid="classdiffbifn_1797772c0d5aab8ddccec19dfe4bb2d77" kindref="member" tooltip="Default constructor (dimy is not set!).">diffbifn</ref><sp/>(2,<sp/>rx,ru<sp/>)<sp/>{};</highlight></codeline> |
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| 227 | <codeline lineno="127"><highlight class="normal"></highlight></codeline> |
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| 228 | <codeline lineno="128" refid="classOMpmsm_18e32392c9c635584606287b8c0e8c9da" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/><ref refid="classOMpmsm_18e32392c9c635584606287b8c0e8c9da" kindref="member" tooltip="Evaluates .">eval</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&u0<sp/>)<sp/>{</highlight></codeline> |
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| 229 | <codeline lineno="129"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>y<sp/>(<sp/>2<sp/>);</highlight></codeline> |
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| 230 | <codeline lineno="130"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>y<sp/>(<sp/>0<sp/>)<sp/>=<sp/>x0<sp/>(<sp/>0<sp/>);</highlight></codeline> |
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| 231 | <codeline lineno="131"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>y<sp/>(<sp/>1<sp/>)<sp/>=<sp/>x0<sp/>(<sp/>1<sp/>);</highlight></codeline> |
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| 232 | <codeline lineno="132"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>y;</highlight></codeline> |
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| 233 | <codeline lineno="133"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline> |
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| 234 | <codeline lineno="134"><highlight class="normal"></highlight></codeline> |
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| 235 | <codeline lineno="135" refid="classOMpmsm_1b75b5fd55b2ac5ed74b5b953af122821" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classOMpmsm_1b75b5fd55b2ac5ed74b5b953af122821" kindref="member" tooltip="Evaluates and writes result into A .">dfdx_cond</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&x0,<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&u0,<sp/>mat<sp/>&A,<sp/></highlight><highlight class="keywordtype">bool</highlight><highlight class="normal"><sp/>full=</highlight><highlight class="keyword">true</highlight><highlight class="normal"><sp/>)<sp/>{</highlight></codeline> |
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| 236 | <codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A.clear();</highlight></codeline> |
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| 237 | <codeline lineno="137"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>0,0<sp/>)<sp/>=<sp/>1.0;</highlight></codeline> |
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| 238 | <codeline lineno="138"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>A<sp/>(<sp/>1,1<sp/>)<sp/>=<sp/>1.0;</highlight></codeline> |
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| 239 | <codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline> |
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| 240 | <codeline lineno="140"><highlight class="normal">};</highlight></codeline> |
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| 241 | <codeline lineno="141"><highlight class="normal"></highlight></codeline> |
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| 242 | <codeline lineno="142"><highlight class="normal"></highlight><highlight class="preprocessor">#endif<sp/>//PMSM_H</highlight></codeline> |
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| 243 | </programlisting> |
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| 244 | <location file="/home/smidl/work/git/mixpp/pmsm/pmsm.h"/> |
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| 245 | </compounddef> |
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| 246 | </doxygen> |
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