| 127 | //! Evolution model of \f$ \omega, \vartheta\f$ for a PMSM drive and its derivative with respect to \f$x\f$ |
| 128 | class IMpmsmOT : public diffbifn { |
| 129 | protected: |
| 130 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
| 131 | |
| 132 | bool compensate; |
| 133 | bool cutoff; |
| 134 | public: |
| 135 | IMpmsmOT() :diffbifn ( ) {dimy=2; dimx = 2; dimu=4; dimc=6;compensate=true;cutoff=true;}; |
| 136 | //! Set mechanical and electrical variables |
| 137 | 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;} |
| 138 | |
| 139 | void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){ |
| 140 | /* ua=u0[0]; |
| 141 | * ub=u0[1]; |
| 142 | * return;*/ |
| 143 | double sq3=sqrt ( 3.0 ); |
| 144 | double i1=x0(0); |
| 145 | double i2=0.5* ( -i1+sq3*x0[1] ); |
| 146 | double i3=0.5* ( -i1-sq3*x0[1] ); |
| 147 | double u1=u0(0); |
| 148 | double u2=0.5* ( -u1+sq3*u0(1) ); |
| 149 | double u3=0.5* ( -u1-sq3*u0(1) ); |
| 150 | |
| 151 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
| 152 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
| 153 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
| 154 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
| 155 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
| 156 | } |
| 157 | |
| 158 | vec eval ( const vec &x0, const vec &u0 ) { |
| 159 | // last state |
| 160 | const double &omm = x0 ( 0 ); |
| 161 | const double &thm = x0 ( 1 ); |
| 162 | double uam; |
| 163 | double ubm; |
| 164 | |
| 165 | if (compensate){ |
| 166 | modelpwm(x0,u0,uam,ubm); |
| 167 | } else { |
| 168 | uam = u0(0); |
| 169 | ubm = u0(1); |
| 170 | } |
| 171 | |
| 172 | const double &iam = u0 ( 2 ); |
| 173 | const double &ibm = u0 ( 3 ); |
| 174 | |
| 175 | vec xk( 2 ); |
| 176 | //ia |
| 177 | //om |
| 178 | xk ( 0 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
| 179 | //th |
| 180 | xk ( 1 ) = thm + omm*dt; // <0..2pi> |
| 181 | if (cutoff) { |
| 182 | if ( xk ( 1 ) >pi ) xk ( 1 )-=2*pi; |
| 183 | if ( xk ( 1 ) <-pi ) xk ( 1 ) +=2*pi; |
| 184 | } |
| 185 | return xk; |
| 186 | } |
| 187 | |
| 188 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
| 189 | const double &omm = x0 ( 0 ); |
| 190 | const double &thm = x0 ( 1 ); |
| 191 | |
| 192 | const double &iam = u0 ( 2 ); |
| 193 | const double &ibm = u0 ( 3 ); |
| 194 | |
| 195 | // d ia |
| 196 | // d om |
| 197 | A ( 0,0 ) = 1.0; |
| 198 | A ( 0,1 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
| 199 | // d th |
| 200 | A ( 1,0 ) = dt; |
| 201 | A ( 1,1 ) = 1.0; |
| 202 | } |
| 203 | |
| 204 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
| 205 | |
| 206 | void from_setting( const Setting &root ) |
| 207 | { |
| 208 | |
| 209 | const SettingResolver& params_b=root["params"]; |
| 210 | const Setting& params=params_b.result; |
| 211 | |
| 212 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
| 213 | params["kp"], params["p"], params["J"], 0.0); |
| 214 | int comp=0; |
| 215 | if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);} |
| 216 | int cuto=0; |
| 217 | if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);} |
| 218 | }; |
| 219 | |
| 220 | // TODO dodelat void to_setting( Setting &root ) const; |
| 221 | }; |
| 222 | |
| 223 | UIREGISTER ( IMpmsmOT ); |
| 224 | |
| 641 | //! Observation model for PMSM drive in reduced form coordinates |
| 642 | class OMpmsmOT: public diffbifn { |
| 643 | public: |
| 644 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
| 645 | |
| 646 | 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;} |
| 647 | |
| 648 | OMpmsmOT() :diffbifn () {dimy=2;dimx=2;dimu=4;}; |
| 649 | |
| 650 | vec eval ( const vec &x0, const vec &u0 ) { |
| 651 | vec y ( 2 ); |
| 652 | const double &omm = x0(0); |
| 653 | const double &thm = x0(1); |
| 654 | |
| 655 | const double &uam = u0 ( 0 ); |
| 656 | const double &ubm = u0 ( 1 ); |
| 657 | const double &iam = u0 ( 2 ); |
| 658 | const double &ibm = u0 ( 3 ); |
| 659 | |
| 660 | y ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
| 661 | //ib |
| 662 | y ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
| 663 | |
| 664 | return y; |
| 665 | } |
| 666 | |
| 667 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
| 668 | const double &omm = x0(0); |
| 669 | const double &thm = x0(1); |
| 670 | |
| 671 | A ( 0,0 ) = Ypm/Ls*dt* sin ( thm ); |
| 672 | A ( 0,1 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
| 673 | // d ib |
| 674 | A ( 1,0 ) = -Ypm/Ls*dt* cos ( thm ); |
| 675 | A ( 1,1 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
| 676 | |
| 677 | |
| 678 | } |
| 679 | |
| 680 | void from_setting( const Setting &root ) |
| 681 | { |
| 682 | |
| 683 | const SettingResolver& params_b=root["params"]; |
| 684 | const Setting& params=params_b.result; |
| 685 | |
| 686 | set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \ |
| 687 | params["kp"], params["p"], params["J"], 0.0); |
| 688 | }; |
| 689 | |
| 690 | }; |
| 691 | |
| 692 | UIREGISTER ( OMpmsmOT ); |
| 693 | |