Changeset 1160

Timestamp:

08/17/10 22:08:08 (14 years ago)

Author:

smidl

Message:

explicit rounding in pmsm model

Files:

• applications/pmsm/pmsm.h (modified) (4 diffs)

applications/pmsm/pmsm.h

@@ -26 +26 @@
 
         bool compensate;
+        bool cutoff;
 public:
-        IMpmsm() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2; dimc=6;compensate=true;};
+        IMpmsm() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2; dimc=6;compensate=true;cutoff=true;};
         //! Set mechanical and electrical variables
         virtual 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;}
@@ -76 +77 @@
                 //th
                 xk ( 3 ) = thm + omm*dt; // <0..2pi>
-                if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi;
-                if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi;
+                if (cutoff) {
+                        if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi;
+                        if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi;
+                }
                 return xk;
         }
@@ -113 +116 @@
                 int comp;
                 if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);}
+                int cuto;
+                if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);}
         };
 
@@ -333 +338 @@
 UIREGISTER ( OMpmsm );
 
+//! Observation model for PMSM drive with roundoff-errors
+class OMpmsmRO: public diffbifn {
+        public:
+                OMpmsmRO() :diffbifn () {dimy=2;dimx=4;dimu=0;};
+                
+                vec eval ( const vec &x0, const vec &u0 ) {
+                        vec y ( 2 );
+/*                      y ( 0 ) = x0 ( 0 );
+                        y ( 1 ) = x0 ( 1 );*/
+                        
+                        double istep=0.085;
+                        y[ 0 ] = istep*itpp::round( x0[ 0 ]/ istep) ;
+                        y[ 1 ] = istep*itpp::round( x0[ 1 ]/ istep);
+                        
+                        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;
+                }
+};
+
+UIREGISTER ( OMpmsmRO );
+
+
 //! Observation model for PMSM drive and its derivative with respect to \f$x\f$ for full vector of observations
 class OMpmsm4: public diffbifn {