Changeset 1243

Timestamp:

11/02/10 21:20:06 (14 years ago)

Author:

smidl

Message:

Contrallable PMSM DS + PI control

Files:

• applications/pmsm/CMakeLists.txt (modified) (1 diff)
• applications/pmsm/pmsm.h (modified) (2 diffs)
• applications/pmsm/pmsmDS.h (modified) (4 diffs)
• applications/pmsm/pmsm_ctrl.cpp (added)
• applications/pmsm/pmsm_ctrl.h (added)
• applications/pmsm/simulator_zdenek/simulator.cpp (modified) (1 diff)
• library/bdm/design/arx_ctrl.h (modified) (1 diff)
• library/bdm/design/ctrlbase.h (modified) (4 diffs)

applications/pmsm/CMakeLists.txt

@@ -31 +31 @@
 EXEC (pmsm_estim pmsmsim ekf_obj)
 MEX (pmsm_estim pmsmsim ekf_obj)
+EXEC (pmsm_ctrl pmsmsim ekf_obj)
+MEX (pmsm_ctrl pmsmsim ekf_obj)
+
 #EXEC (sim pmsmsim)
 #EXEC (sim_var pmsmsim)

applications/pmsm/pmsm.h

@@ -12 +12 @@
 
 //TODO hardcoded RVs!!!
-RV rx ( "{ia ib om th }");
-RV ru ( "{o_ua o_ub }");
-RV ry ( "{oia oib }");
+// RV rx ( "{ia ib om th }");
+// RV ru ( "{o_ua o_ub }");
+// RV ry ( "{oia oib }");
 
 // class uipmsm : public uibase{
@@ -390 +390 @@
 
 
-
-
 /*!@}*/
 #endif //PMSM_H

applications/pmsm/pmsmDS.h

@@ -10 +10 @@
   -----------------------------------
 */
+
+#ifndef PMSM_DS
+#define PMSM_DS
 
 #include <base/loggers.h>
@@ -116 +119 @@
         if ( log_level[logvoltage] )
         {
-            L.add_vector ( log_level, logvoltage, ru, "model" );
+            L.add_vector ( log_level, logvoltage, RV("{ua, ub }"), "model" );
         }
     }
@@ -174 +177 @@
 UIREGISTER ( pmsmDS );
 
+//! Simulator of PMSM machine with predefined profile on omega
+class pmsmDSctrl : public pmsmDS
+{
+        double Ww;
+        double ua;
+        double ub;
+public:
+        //! Constructor with fixed sampling period
+    pmsmDSctrl() : pmsmDS()
+        {
+                Drv.add(RV ( "{Ww }" ));
+                Urv=RV ( "{ua ub }" );
+                dtsize = Drv._dsize();
+                utsize = Urv._dsize();
+        }
+                
+                void getdata ( vec &dt ) const
+                {
+                        pmsmDS::getdata(dt);
+                        dt(9)=Ww;
+                }
+                void write (const vec &ut ) {
+                        ua = ut(0);
+                        ub = ut(1);
+                }
+                
+                void step()
+                {
+                        static int ind=0;
+                        static double dW; // increase of W
+                        static double Mz; // W
+                        t+=125e-6;
+                        if ( t>=dt_prof*ind )
+                        {
+                                ind++;
+                                // check omega profile and set dW
+                                if ( ind <2 && profileWw.length() ==1 )
+                                {
+                                        Ww=profileWw ( 0 );
+                                        dW=0.0;
+                                }
+                                if ( ind<profileWw.length() )
+                                {
+                                        dW = profileWw ( ind )-profileWw ( ind-1 );
+                                        dW *=125e-6/dt_prof;
+                                }
+                                else
+                                {
+                                        dW = 0;
+                                }
+                                // Check Mz profile and set Mz
+                                if ( ind<profileMz.length() )
+                                {
+                                        //sudden increase
+                                        Mz = profileMz(ind);
+                                }
+                                else
+                                {
+                                        Mz = 0;
+                                }
+                        }
+                        Ww += dW;
+                        //Simulate Dt seconds!
+                        for ( int i=0; i<Dt; i++ )
+                        {
+                                pmsmsim_noreg_step (ua , ub);
+                        }
+        };
+        
+        };
+        
+        UIREGISTER ( pmsmDSctrl );
+        
 
 //! This class behaves like BM but it is evaluating EKF
@@ -337 +413 @@
 
 UIREGISTER ( pmsmCRBMz );
+
+#endif

applications/pmsm/simulator_zdenek/simulator.cpp

@@ -484 +484 @@
 
   pmsm_model(5);
+
+  KalmanObs[0]=ualfa; //debug_pwm;                     // usx
+  KalmanObs[1]=ubeta;    // usy
+  
+  KalmanObs[2]=x[0];
+  KalmanObs[3]=x[1];
+  
+  // diagnostic - mean values of stator voltage components - pwm()
+  KalmanObs[4]=usx_av;
+  KalmanObs[5]=usy_av;
+  KalmanObs[6]=usxf;
+  KalmanObs[7]=usyf;
+  
 }
 //////////////////////////////////////////////////////////////////////////////////////////////////////

library/bdm/design/arx_ctrl.h

@@ -60 +60 @@
         lq.redesign();
     }
-    vec ctrlaction ( const vec &cond ) const {
+    vec ctrlaction ( const vec &cond )  {
         //cond is xt + ut
         vec state = cond.left ( Stsp->_A().rows() );

library/bdm/design/ctrlbase.h

@@ -10 +10 @@
   -----------------------------------
 */
+
+#ifndef CTRL_BASE
+#define CTRL_BASE
+
 
 #include "../base/bdmbase.h"
@@ -32 +36 @@
     virtual void redesign() {};
     //! returns designed control action
-    virtual vec ctrlaction ( const vec &cond ) const {
+    virtual vec ctrlaction ( const vec &cond ) {
         return vec ( 0 );
     }
@@ -129 +133 @@
 
     //! compute control action
-    vec ctrlaction ( const vec &state, const vec &ukm ) const {
+    vec ctrlaction ( const vec &state, const vec &ukm ) {
         vec pom = concat ( state, ones ( dimy ), ukm );
         return L*pom;
@@ -141 +145 @@
 
 } // namespace
+
+#endif //CTRL_BASE