root/tests/pmsm.h @ 39

#ifndef PMSM_H
#define PMSM_H

RV rx ( "1 2 3 4", "{ia, ib, om, th}", ones_i ( 4 ), zeros_i ( 4 ));
RV ru ( "5 6", "{ua, ub}", ones_i ( 2 ) ,zeros_i ( 2 ));
RV ry ( "7 8", "{oia, oib}", ones_i ( 2 ) ,zeros_i ( 2 ));

//! State evolution model for a PMSM drive and its derivative with respect to $x$
class IMpmsm : public diffbifn {
        double Rs, Ls, dt, Ypm, kp, p,  J, Mz;

//TODO hardcoded RVs!!!
public:
        IMpmsm() :diffbifn ( rx, ru ) {};
        //! Set mechanical and electrical variables
        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;}

        vec eval ( const vec &x0, const vec &u0 ) {
                // last state
                double iam = x0 ( 0 );
                double ibm = x0 ( 1 );
                double omm = x0 ( 2 );
                double thm = x0 ( 3 );
                double uam = u0 ( 0 );
                double ubm = u0 ( 1 );

                vec xk=zeros ( 4 );
                //ia
                xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls;
                //ib
                xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls;
                //om
                xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz;
                //th
                xk ( 3 ) = rem(thm + omm*dt,2*pi);
                return xk;
        }

        void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
                double iam = x0 ( 0 );
                double ibm = x0 ( 1 );
                double omm = x0 ( 2 );
                double thm = x0 ( 3 );
                // d ia
                A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0;
                A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) );
                // d ib
                A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt );
                A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) );
                // d om
                A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) );
                A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) );
                A ( 2,2 ) = 1.0;
                A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );
                // d th
                A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0;
        }

        void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );};

};

//! Observation model for PMSM drive and its derivative with respect to $x$
class OMpmsm: public diffbifn {
public:
        OMpmsm() :diffbifn ( rx,ru ) {};

        vec eval ( const vec &x0, const vec &u0 ) {
                vec y ( 2 );
                y ( 0 ) = x0 ( 0 );
                y ( 1 ) = x0 ( 1 );
                return y;
        }

        void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
                A.clear();
                A ( 0,0 ) = 1.0;
                A ( 1,1 ) = 1.0;
        }
};

#endif //PMSM_H