[258] | 1 | /*! |
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| 2 | \file |
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| 3 | \brief DataSource for experiments with realistic simulator of the PMSM model |
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| 4 | \author Vaclav Smidl. |
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| 5 | |
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| 6 | ----------------------------------- |
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| 7 | BDM++ - C++ library for Bayesian Decision Making under Uncertainty |
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| 8 | |
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| 9 | Using IT++ for numerical operations |
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| 10 | ----------------------------------- |
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| 11 | */ |
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| 12 | |
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| 13 | #include <stat/loggers.h> |
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| 14 | |
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| 15 | #include "pmsm.h" |
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| 16 | #include "simulator.h" |
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| 17 | #include <uibuilder.h> |
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| 18 | |
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| 19 | //! Simulator of PMSM machine with predefined profile on omega |
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| 20 | class pmsmDS : public DS { |
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| 21 | |
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| 22 | protected: |
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| 23 | //! indeces of logged variables |
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| 24 | int L_x, L_ou, L_oy, L_iu; |
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| 25 | //! Setpoints of omega in timespans given by dt_prof |
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| 26 | vec profileWw; |
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| 27 | //! time-step for profiles |
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| 28 | double dt_prof; |
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| 29 | //! Number of miliseconds per discrete time step |
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| 30 | int Dt; |
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| 31 | public: |
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| 32 | pmsmDS ( int Dt0 ) : Dt ( Dt0 ) {} |
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| 33 | void set_parameters ( double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0 ) { |
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| 34 | pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 ); |
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| 35 | } |
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| 36 | void getdata ( vec &dt ) {dt=vec ( KalmanObs,6 );} |
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| 37 | void write ( vec &ut ) {} |
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| 38 | |
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| 39 | void step() { |
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| 40 | static int ind=0; |
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| 41 | static double dW; // increase of W |
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| 42 | static double Ww; // W |
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| 43 | if ( t>=dt_prof*ind ) { |
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| 44 | if ( ind<profileWw.length() ) { |
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| 45 | ind++; |
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| 46 | //linear increase |
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| 47 | dW = profileWw ( ind )-profileWw ( ind-1 ); |
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| 48 | } |
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| 49 | else { |
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| 50 | dW = 0; |
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| 51 | } |
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| 52 | } |
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| 53 | Ww += dW; |
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| 54 | //Simulate Dt seconds! |
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| 55 | for ( int i=0;i<Dt;i++ ) { pmsmsim_step ( Ww );} |
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| 56 | }; |
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| 57 | |
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| 58 | void log_add ( logger &L ) { |
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| 59 | L_x = L.add ( rx, "x" ); |
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| 60 | L_oy = L.add ( ry, "oi" ); |
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| 61 | L_ou = L.add ( ru, "ou" ); |
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| 62 | L_iu = L.add ( ru, "iu" ); |
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| 63 | } |
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| 64 | |
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| 65 | void logit ( logger &L ) { |
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| 66 | L.logit ( L_x, vec ( x,4 ) ); |
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| 67 | L.logit ( L_oy, vec_2 ( KalmanObs[2],KalmanObs[3] ) ); |
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| 68 | L.logit ( L_ou, vec_2 ( KalmanObs[0],KalmanObs[1] ) ); |
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| 69 | L.logit ( L_iu, vec_2 ( KalmanObs[4],KalmanObs[5] ) ); |
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| 70 | } |
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| 71 | |
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| 72 | void set_profile ( double dt, const vec &Ww ) {dt_prof=dt; profileWw=Ww;} |
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| 73 | }; |
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| 74 | |
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| 75 | class UIpmsm: public UIbuilder { |
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| 76 | public: |
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| 77 | UIpmsm() :UIbuilder ( "pmsm" ) {} |
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| 78 | //Non-standard BUILD!! Does not create |
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| 79 | void build ( Setting &S, void** result ) const { |
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| 80 | |
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| 81 | }; |
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| 82 | }; |
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| 83 | |
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| 84 | class UIpmsmDS: public UIbuilder { |
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| 85 | static void tmp_set ( Setting &S, pmsmDS* tmp ) { |
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| 86 | tmp->set_parameters ( S["Rs"], S["Ls"], S["Fmag"], S["Bf"], S["p"], S["kp"], \ |
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| 87 | S["J"], S["Uc"], S["DT"], 1.0e-6 ); |
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| 88 | }; |
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| 89 | public: |
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| 90 | UIpmsmDS() :UIbuilder ( "pmsmDS" ) {}; |
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| 91 | bdmroot* build ( Setting &S ) const { |
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| 92 | pmsmDS* tmp = new pmsmDS ( S["DT"] ); |
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| 93 | //allowing recursive Settings |
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| 94 | UIcall<pmsmDS*> ( S["params"], &tmp_set , tmp ); |
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| 95 | }; |
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| 96 | |
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| 97 | }; |
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| 98 | UIREGISTER(UIpmsmDS); |
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