[33] | 1 | #ifndef PMSM_H |
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| 2 | #define PMSM_H |
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| 3 | |
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[54] | 4 | #include <stat/libFN.h> |
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| 5 | |
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[48] | 6 | //TODO hardcoded RVs!!! |
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[94] | 7 | RV rx ( "1 2 3 4", "{ia ib om th }", ones_i ( 4 ), zeros_i ( 4 )); |
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| 8 | RV ru ( "5 6", "{ua ub }", ones_i ( 2 ) ,zeros_i ( 2 )); |
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| 9 | RV ry ( "7 8", "{oia oib }", ones_i ( 2 ) ,zeros_i ( 2 )); |
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[33] | 10 | |
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[128] | 11 | // class uipmsm : public uibase{ |
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| 12 | // double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 13 | // }; |
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[81] | 14 | |
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[145] | 15 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$$ |
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[33] | 16 | class IMpmsm : public diffbifn { |
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[63] | 17 | protected: |
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[33] | 18 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 19 | |
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| 20 | public: |
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[62] | 21 | IMpmsm() :diffbifn (rx.count(), rx, ru ) {}; |
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[33] | 22 | //! Set mechanical and electrical variables |
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| 23 | void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;} |
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| 24 | |
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| 25 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 26 | // last state |
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| 27 | double iam = x0 ( 0 ); |
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| 28 | double ibm = x0 ( 1 ); |
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| 29 | double omm = x0 ( 2 ); |
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| 30 | double thm = x0 ( 3 ); |
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| 31 | double uam = u0 ( 0 ); |
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| 32 | double ubm = u0 ( 1 ); |
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| 33 | |
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| 34 | vec xk=zeros ( 4 ); |
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| 35 | //ia |
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| 36 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
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| 37 | //ib |
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| 38 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
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| 39 | //om |
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[63] | 40 | xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
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| 41 | //th |
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[81] | 42 | xk ( 3 ) = thm + omm*dt; // <0..2pi> |
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| 43 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 44 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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[63] | 45 | return xk; |
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| 46 | } |
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| 47 | |
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| 48 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 49 | double iam = x0 ( 0 ); |
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| 50 | double ibm = x0 ( 1 ); |
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| 51 | double omm = x0 ( 2 ); |
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| 52 | double thm = x0 ( 3 ); |
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| 53 | // d ia |
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| 54 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 55 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 56 | // d ib |
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| 57 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 58 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 59 | // d om |
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| 60 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 61 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 62 | A ( 2,2 ) = 1.0; |
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| 63 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 64 | // d th |
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| 65 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 66 | } |
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| 67 | |
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| 68 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 69 | |
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| 70 | }; |
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| 71 | |
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[145] | 72 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$, equation for \f$\omega\f$ is omitted.$ |
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[63] | 73 | class IMpmsmStat : public IMpmsm { |
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| 74 | IMpmsmStat() :IMpmsm() {}; |
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| 75 | //! Set mechanical and electrical variables |
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| 76 | void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;} |
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| 77 | |
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| 78 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 79 | // last state |
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| 80 | double iam = x0 ( 0 ); |
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| 81 | double ibm = x0 ( 1 ); |
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| 82 | double omm = x0 ( 2 ); |
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| 83 | double thm = x0 ( 3 ); |
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| 84 | double uam = u0 ( 0 ); |
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| 85 | double ubm = u0 ( 1 ); |
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| 86 | |
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| 87 | vec xk=zeros ( 4 ); |
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| 88 | //ia |
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| 89 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
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| 90 | //ib |
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| 91 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
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| 92 | //om |
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[62] | 93 | xk ( 2 ) = omm;// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
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[33] | 94 | //th |
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[48] | 95 | xk ( 3 ) = rem(thm + omm*dt,2*pi); // <0..2pi> |
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[33] | 96 | return xk; |
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| 97 | } |
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| 98 | |
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| 99 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[91] | 100 | // double iam = x0 ( 0 ); |
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| 101 | // double ibm = x0 ( 1 ); |
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[33] | 102 | double omm = x0 ( 2 ); |
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| 103 | double thm = x0 ( 3 ); |
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| 104 | // d ia |
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| 105 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 106 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 107 | // d ib |
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| 108 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 109 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 110 | // d om |
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[62] | 111 | A ( 2,0 ) = 0.0;//kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 112 | A ( 2,1 ) = 0.0;//kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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[33] | 113 | A ( 2,2 ) = 1.0; |
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[62] | 114 | A ( 2,3 ) = 0.0;//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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[33] | 115 | // d th |
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| 116 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 117 | } |
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| 118 | |
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| 119 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 120 | |
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| 121 | }; |
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| 122 | |
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[145] | 123 | //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ |
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[33] | 124 | class OMpmsm: public diffbifn { |
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| 125 | public: |
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[62] | 126 | OMpmsm() :diffbifn (2, rx,ru ) {}; |
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[33] | 127 | |
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| 128 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 129 | vec y ( 2 ); |
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| 130 | y ( 0 ) = x0 ( 0 ); |
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| 131 | y ( 1 ) = x0 ( 1 ); |
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| 132 | return y; |
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| 133 | } |
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| 134 | |
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| 135 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 136 | A.clear(); |
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| 137 | A ( 0,0 ) = 1.0; |
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| 138 | A ( 1,1 ) = 1.0; |
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| 139 | } |
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| 140 | }; |
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| 141 | |
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| 142 | #endif //PMSM_H |
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