[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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[224] | 6 | /*! \defgroup PMSM |
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| 7 | @{ |
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| 8 | */ |
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| 9 | |
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[48] | 10 | //TODO hardcoded RVs!!! |
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[162] | 11 | RV rx ( "{ia ib om th }"); |
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| 12 | RV ru ( "{ua ub }"); |
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| 13 | RV ry ( "{oia oib }"); |
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[33] | 14 | |
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[128] | 15 | // class uipmsm : public uibase{ |
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| 16 | // double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 17 | // }; |
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[81] | 18 | |
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[223] | 19 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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[33] | 20 | class IMpmsm : public diffbifn { |
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[63] | 21 | protected: |
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[33] | 22 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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| 23 | |
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| 24 | public: |
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[62] | 25 | IMpmsm() :diffbifn (rx.count(), rx, ru ) {}; |
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[33] | 26 | //! Set mechanical and electrical variables |
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| 27 | 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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| 28 | |
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| 29 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 30 | // last state |
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| 31 | double iam = x0 ( 0 ); |
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| 32 | double ibm = x0 ( 1 ); |
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| 33 | double omm = x0 ( 2 ); |
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| 34 | double thm = x0 ( 3 ); |
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| 35 | double uam = u0 ( 0 ); |
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| 36 | double ubm = u0 ( 1 ); |
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| 37 | |
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| 38 | vec xk=zeros ( 4 ); |
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| 39 | //ia |
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| 40 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
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| 41 | //ib |
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| 42 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
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| 43 | //om |
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[63] | 44 | xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
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| 45 | //th |
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[81] | 46 | xk ( 3 ) = thm + omm*dt; // <0..2pi> |
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| 47 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 48 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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[63] | 49 | return xk; |
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| 50 | } |
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| 51 | |
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| 52 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 53 | double iam = x0 ( 0 ); |
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| 54 | double ibm = x0 ( 1 ); |
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| 55 | double omm = x0 ( 2 ); |
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| 56 | double thm = x0 ( 3 ); |
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| 57 | // d ia |
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| 58 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 59 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 60 | // d ib |
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| 61 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 62 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 63 | // d om |
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| 64 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 65 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 66 | A ( 2,2 ) = 1.0; |
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| 67 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 68 | // d th |
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| 69 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 70 | } |
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| 71 | |
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| 72 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 73 | |
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| 74 | }; |
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| 75 | |
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[232] | 76 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
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| 77 | class IMpmsm2o : public diffbifn { |
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| 78 | protected: |
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| 79 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
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[240] | 80 | //! store first derivatives for the use in second derivatives |
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| 81 | double dia, dib, dom, dth; |
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| 82 | //! d2t = dt^2/2, cth = cos(th), sth=sin(th) |
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| 83 | double d2t, cth, sth; |
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| 84 | double iam, ibm, omm, thm, uam, ubm; |
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[232] | 85 | public: |
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[240] | 86 | IMpmsm2o() :diffbifn (rx.count(), rx, ru ) {}; |
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[232] | 87 | //! Set mechanical and electrical variables |
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[240] | 88 | 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; d2t=dt*dt/2;} |
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[232] | 89 | |
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| 90 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 91 | // last state |
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[240] | 92 | iam = x0 ( 0 ); |
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| 93 | ibm = x0 ( 1 ); |
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| 94 | omm = x0 ( 2 ); |
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| 95 | thm = x0 ( 3 ); |
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| 96 | uam = u0 ( 0 ); |
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| 97 | ubm = u0 ( 1 ); |
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[232] | 98 | |
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[240] | 99 | cth = cos(thm); |
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| 100 | sth = sin(thm); |
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[232] | 101 | |
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[240] | 102 | dia = (- Rs/Ls*iam + Ypm/Ls*omm * sth + uam/Ls); |
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| 103 | dib = (- Rs/Ls*ibm - Ypm/Ls*omm * cth + ubm/Ls); |
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| 104 | dom = kp*p*p * Ypm/J *( ibm * cth-iam * sth ) - p/J*Mz; |
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| 105 | dth = omm; |
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| 106 | |
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[232] | 107 | vec xk=zeros ( 4 ); |
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| 108 | xk ( 0 ) = iam + dt*dia;// +d2t*d2ia; |
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| 109 | xk ( 1 ) = ibm + dt*dib;// +d2t*d2ib; |
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| 110 | xk ( 2 ) = omm +dt*dom;// +d2t*d2om; |
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| 111 | xk ( 3 ) = thm + dt*dth;// +d2t*d2th; // <0..2pi> |
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| 112 | |
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| 113 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
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| 114 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
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| 115 | return xk; |
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| 116 | } |
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| 117 | |
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[240] | 118 | //! eval 2nd order Taylor expansion, MUST be used only as a follow up AFTER eval()!! |
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| 119 | vec eval2o(const vec &du){ |
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| 120 | double dua = du ( 0 )/dt; |
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| 121 | double dub = du ( 1 )/dt; |
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| 122 | |
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| 123 | vec xth2o(4); |
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| 124 | xth2o(0) = (- Rs/Ls*dia + Ypm/Ls*(dom * sth + omm*cth) + dua/Ls); |
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| 125 | xth2o(1) = (- Rs/Ls*dib - Ypm/Ls*(dom * cth - omm*sth) + dub/Ls); |
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| 126 | xth2o(2) = kp*p*p * Ypm/J *( dib * cth-ibm*sth - (dia * sth + iam *cth)); |
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| 127 | xth2o(3) = dom; |
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| 128 | return xth2o; |
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| 129 | } |
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[232] | 130 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[240] | 131 | iam = x0 ( 0 ); |
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| 132 | ibm = x0 ( 1 ); |
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| 133 | omm = x0 ( 2 ); |
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| 134 | thm = x0 ( 3 ); |
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[232] | 135 | // d ia |
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| 136 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 137 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 138 | // d ib |
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| 139 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 140 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 141 | // d om |
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| 142 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 143 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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| 144 | A ( 2,2 ) = 1.0; |
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| 145 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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| 146 | // d th |
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| 147 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 148 | } |
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| 149 | |
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| 150 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 151 | |
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| 152 | }; |
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| 153 | |
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[145] | 154 | //! 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] | 155 | class IMpmsmStat : public IMpmsm { |
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[240] | 156 | public: |
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[63] | 157 | IMpmsmStat() :IMpmsm() {}; |
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| 158 | //! Set mechanical and electrical variables |
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| 159 | 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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| 160 | |
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| 161 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 162 | // last state |
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| 163 | double iam = x0 ( 0 ); |
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| 164 | double ibm = x0 ( 1 ); |
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| 165 | double omm = x0 ( 2 ); |
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| 166 | double thm = x0 ( 3 ); |
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| 167 | double uam = u0 ( 0 ); |
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| 168 | double ubm = u0 ( 1 ); |
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| 169 | |
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| 170 | vec xk=zeros ( 4 ); |
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| 171 | //ia |
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| 172 | xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
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| 173 | //ib |
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| 174 | xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
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| 175 | //om |
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[62] | 176 | xk ( 2 ) = omm;// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
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[33] | 177 | //th |
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[48] | 178 | xk ( 3 ) = rem(thm + omm*dt,2*pi); // <0..2pi> |
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[33] | 179 | return xk; |
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| 180 | } |
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| 181 | |
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| 182 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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[91] | 183 | // double iam = x0 ( 0 ); |
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| 184 | // double ibm = x0 ( 1 ); |
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[33] | 185 | double omm = x0 ( 2 ); |
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| 186 | double thm = x0 ( 3 ); |
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| 187 | // d ia |
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| 188 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
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| 189 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
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| 190 | // d ib |
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| 191 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
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| 192 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
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| 193 | // d om |
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[62] | 194 | A ( 2,0 ) = 0.0;//kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
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| 195 | A ( 2,1 ) = 0.0;//kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
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[33] | 196 | A ( 2,2 ) = 1.0; |
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[62] | 197 | A ( 2,3 ) = 0.0;//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
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[33] | 198 | // d th |
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| 199 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
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| 200 | } |
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| 201 | |
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| 202 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
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| 203 | |
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| 204 | }; |
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| 205 | |
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[145] | 206 | //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ |
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[33] | 207 | class OMpmsm: public diffbifn { |
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| 208 | public: |
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[62] | 209 | OMpmsm() :diffbifn (2, rx,ru ) {}; |
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[33] | 210 | |
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| 211 | vec eval ( const vec &x0, const vec &u0 ) { |
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| 212 | vec y ( 2 ); |
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| 213 | y ( 0 ) = x0 ( 0 ); |
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| 214 | y ( 1 ) = x0 ( 1 ); |
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| 215 | return y; |
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| 216 | } |
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| 217 | |
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| 218 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
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| 219 | A.clear(); |
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| 220 | A ( 0,0 ) = 1.0; |
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| 221 | A ( 1,1 ) = 1.0; |
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| 222 | } |
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| 223 | }; |
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| 224 | |
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[224] | 225 | /*!@}*/ |
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[33] | 226 | #endif //PMSM_H |
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