Changeset 1251 for applications/pmsm

Timestamp:

11/14/10 23:11:49 (14 years ago)

Author:

smidl

Message:

restructuring of PMSM control

Location:

applications/pmsm

Files:

• experiments/ctrl.cfg (modified) (2 diffs)
• pmsm_ctrl.h (modified) (3 diffs)

applications/pmsm/experiments/ctrl.cfg

@@ -9 +9 @@
         params = "pmsm107@../cfg/zcu.cfg";
         tstep = 1; // steps for profile in [s]
-//      profileW = [0, 0, -30, -200, -90, -60, -30, 0, 30, 200];
-        profileW = [0, -10, 30, 60, 90, 60, 30, 0, -30, -60, -30];
+        profileW = [0, 30, 0, 2 ];
+//      profileW = [0, -10, 30, 60, 90, 60, 30, 0, -30, -60, -30];
 //      profileW = [1, 10, 50, 200, 200, 30, 0, 0, -30, -30, -100, -100, -40, 0, 0];
 //      profileM = [0, 30, 0, 0, 30, 0, 0, 0, 0, 0, 10, 0, 0];
@@ -21 +21 @@
          };
          OM = {class="OMpmsm";};
-        dQ=[0.01, 0.01, 0.0001, 0.0001];
+        dQ=[0.01, 0.01, 0.0001, 0.0000000001];
         dR=[0.05, 0.05];
          //connect
-         yrv = {class="RV"; names=("o_ia","o_ib");};  // observed u
-         rvc = {class="RV"; names=("t_ua","t_ub");};  // observed u
-         rv = {class="RV"; names=("ia","ib","om","th");};
-         log_level="logmean,logevidence,logU,logG,logD";
+         log_level="logmean,logU,logG,logD";
          name = "Est0";
          };

applications/pmsm/pmsm_ctrl.h

@@ -35 +35 @@
 };
 
-class PMSM_PICtrl: public Controller{
+/*! \brief Root class for controllers of PMSM
+ * 
+ * It defines the interface for controllers that connect to the pmsmDSctrl. 
+ * The adapt() function calls bayes() of an internal BM. Note that it is assumed that the estimator is compatible with PMSM system.
+ * I.e. it must have rv={ia, ib} and rvc={ua,ub}, any other BM will not work.
+ * 
+ */
+class PMSMCtrl: public Controller{
 protected:
+        //! Est where rv and rcv are not used!
         shared_ptr<BM> Est;
-        vec state;
+        //! switch to use or not to use the internal estimator
+        bool estim;
+        
+        // internal quantities filled by PMSMCtrl::ctrlaction()
+        double isa;
+        double isb;
+        double ome;
+        double the;
+        double Ww;
+        
+public:
+
+        PMSMCtrl():Controller() {
+                rv = RV("{ua ub }");
+                rvc = RV("{o_ia o_ib o_ua o_ub o_om o_th Ww }");
+        }
+        
+    void adapt(const itpp::vec& data){
+                if (estim){
+                        vec y=data.get(0,1);
+                        vec u=data.get(2,3);
+                        Est->bayes(y,u);
+                }
+        }
+        
+        
+    virtual vec ctrlaction(const itpp::vec& cond) {
+                
+                if (estim){
+                        vec x_est=Est->posterior().mean();
+                        isa=x_est(0);
+                        isb=x_est(1);
+                        ome=x_est(2);
+                        the=x_est(3);
+                } else {
+                        isa=cond(0);//x_est(0);
+                        isb=cond(1);//x_est(1);
+                        ome=cond(4);//x[2];//x_est(2);
+                        the=cond(5);//x_est(3);
+                }
+                Ww=cond(6);
+                
+                return empty_vec; // dummy return
+        };
+    void from_setting(const libconfig::Setting& set){
+                Controller::from_setting(set);
+                Est=UI::build<BM>(set,"estim",UI::optional);
+                estim = Est; 
+        }
+        void log_register ( logger &L, const string &prefix ) {
+                Controller::log_register(L,prefix);
+                if (estim) Est->log_register(L,prefix);
+        }
+        void log_write() const{
+                if (estim) Est->log_write();
+        }
+};
+//UIREGISTER(PMSMCtrl); -- abstract 
+
+class PMSM_PICtrl: public PMSMCtrl{
 public:
         PI_ctrl Cwq;
         PI_ctrl Cuq;
         PI_ctrl Cud;
-
-        PMSM_PICtrl():  Cwq(3.0, 3.0*0.000125/0.1, -1200, 1200), 
-                                        Cuq(20.0, 20.0*0.000125/0.005, -1200, 1200),
-                                        Cud(20.0, 20.0*0.000125/0.005, -1200, 1200)
-        {
-                rv = RV("{ua ub }");
-                rvc = RV("{o_ia o_ib o_ua o_ub Ww o_om o_th }");
-        }
+                
+        PMSM_PICtrl():PMSMCtrl(),
+        Cwq(3.0, 3.0*0.000125/0.1, -1200, 1200), 
+        Cuq(20.0, 20.0*0.000125/0.005, -1200, 1200),
+        Cud(20.0, 20.0*0.000125/0.005, -1200, 1200) {}
+                
         
-    void adapt(const itpp::vec& data){
-                vec y=data.get(0,1);
-                vec u=data.get(2,3);
-                Est->bayes(y,u);
-                
-        }
-        
-        
-    virtual vec ctrlaction(const itpp::vec& cond) {
-                vec x_est=Est->posterior().mean();
-                double isa=cond(0);//x_est(0);
-                double isb=cond(1);//x_est(1);
-                double ome=cond(5);//x[2];//x_est(2);
-                double the=cond(6);//x_est(3);
-                double Ww=cond(4);
+        virtual vec ctrlaction(const itpp::vec& cond) {
+                PMSMCtrl::ctrlaction(cond); // fills isa,isb,om,the
                 
                 double Isd = isa*cos(the)+isb*sin(the);
@@ -78 +130 @@
                 const double Ls0=0.003465; // inductance
                 const double Fmag0= 0.1989; // Magnetic??
-
+                
                 ud-=Ls0*ome*Iqw; // har
                 uq+=Fmag0*ome;
@@ -93 +145 @@
                 return uab;
         };
-    void from_setting(const libconfig::Setting& set){
-                Controller::from_setting(set);
-                Est=UI::build<BM>(set,"estim",UI::compulsory);
-        }
 };
 UIREGISTER(PMSM_PICtrl);