Changeset 1327

Timestamp:

04/12/11 22:30:39 (15 years ago)

Author:

smidl

Message:

scaled models for direct comparison

Files:

• applications/pmsm/pmsm.h (modified) (3 diffs)

applications/pmsm/pmsm.h

@@ -4 +4 @@
 #include <math/functions.h>
 #include "base/user_info.h"
+#include "ekf_example/reference_Q15.h"
 
 /*! \defgroup PMSM 
@@ -222 +223 @@
 
 UIREGISTER ( IMpmsmOT );
+
+//! Evolution model of \f$ \omega, \vartheta\f$ for a PMSM drive and its derivative with respect to \f$x\f$ -- Scaled to [-1,1]
+class IMpmsmOTsc : public diffbifn {
+protected:
+        double Rs, Ls, dt, Ypm, kp, p,  J, Mz;
+        
+        bool cutoff;
+public:
+        IMpmsmOTsc() :diffbifn ( ) {dimy=2; dimx = 2; dimu=4; dimc=6;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;}
+        
+        
+        vec eval ( const vec &x0, const vec &u0 ) {
+                // last state
+                const double &omm = x0 ( 0 );
+                const double &thm = x0 ( 1 );
+                double uam;
+                double ubm;
+                
+                uam = u0(0);
+                ubm = u0(1);
+                
+                const double &iam = u0 ( 2 );
+                const double &ibm = u0 ( 3 );
+                
+                vec xk( 2 );
+                //ia
+                //om
+                xk ( 0 ) = omm + kp*p*p * Ypm/J*dt *Iref/Wref* ( ibm * cos ( thm*Thetaref/(1<<15) )-iam * sin ( thm*Thetaref/(1<<15) ) );
+                //th
+                xk ( 1 ) = thm + omm*Wref/Thetaref*dt; // <0..2pi>
+                if (cutoff) {
+                        if ( xk ( 1 ) >(1<<15) ) xk ( 1 )=-(1<<15);
+                        if ( xk ( 1 ) <-(1<<15) ) xk ( 1 ) =(1<<15);
+                }
+                return xk;
+        }
+        
+        void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
+                const double &omm = x0 ( 0 );
+                const double &thm = x0 ( 1 );
+                
+                const double &iam = u0 ( 2 );
+                const double &ibm = u0 ( 3 );
+                
+                // d ia
+                // d om
+                A ( 0,0 ) = 1.0;
+                A ( 0,1 ) = 0.0;//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );
+                // d th
+                A ( 1,0 ) = dt*Wref/Thetaref; 
+                A ( 1,1 ) = 1.0;
+        }
+        
+        void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );};
+        
+        void from_setting( const Setting &root )
+        {       
+                
+                const SettingResolver& params_b=root["params"];
+                const Setting& params=params_b.result;
+                
+                set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \
+                params["kp"], params["p"], params["J"], 0.0);
+                int cuto=0;
+                if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);}
+        };
+        
+        // TODO dodelat void to_setting( Setting &root ) const;
+};
+
+UIREGISTER ( IMpmsmOTsc );
 
 
@@ -692 +766 @@
 UIREGISTER ( OMpmsmOT );
 
+//! Observation model for PMSM drive in reduced form coordinates -- scaled to [-1,1]
+class OMpmsmOTsc: public diffbifn {
+public:
+        double Rs, Ls, dt, Ypm, kp, p,  J, Mz;
+        
+        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;}
+        
+        OMpmsmOTsc() :diffbifn () {dimy=2;dimx=2;dimu=4;};
+        
+        vec eval ( const vec &x0, const vec &u0 ) {
+                vec y ( 2 );
+                const double &omm = x0(0);
+                const double &thm = x0(1);
+                
+                const double &uam = u0 ( 0 );
+                const double &ubm = u0 ( 1 );
+                const double &iam = u0 ( 2 );
+                const double &ibm = u0 ( 3 );
+                
+                y ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm *Wref/Iref* sin ( thm*Thetaref/(1<<15) ) + (1<<15)*uam*dt/Ls /Iref;
+                //ib
+                y ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm *Wref/Iref* cos ( thm*Thetaref/(1<<15) ) + (1<<15)*ubm*dt/Ls /Iref;
+                
+                return y;
+        }
+        
+        void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
+                const double &omm = x0(0);
+                const double &thm = x0(1);
+                
+                A ( 0,0 ) = Ypm/Ls*dt* Wref/Iref*sin ( thm*Thetaref/(1<<15) ); 
+                A ( 0,1 ) = Ypm/Ls*dt*omm *Wref/Iref*Thetaref/(1<<15)* ( cos ( thm*Thetaref/(1<<15) ) );
+                // d ib
+                A ( 1,0 ) = -Ypm/Ls*dt* Wref/Iref*cos ( thm*Thetaref/(1<<15) ); 
+                A ( 1,1 ) = Ypm/Ls*dt*omm *Wref/Iref*Thetaref/(1<<15)* ( sin ( thm*Thetaref/(1<<15) ) );
+                
+                
+        }
+        
+        void from_setting( const Setting &root )
+        {       
+                
+                const SettingResolver& params_b=root["params"];
+                const Setting& params=params_b.result;
+                
+                set_parameters ( params["Rs"], params["Ls"], 125e-6, params["Fmag"], \
+                params["kp"], params["p"], params["J"], 0.0);
+        };
+        
+};
+
+UIREGISTER ( OMpmsmOTsc );
+
 
 /*!@}*/