Changeset 1341 for applications/pmsm/pmsm.h

Timestamp:

04/28/11 22:18:55 (13 years ago)

Author:

smidl

Message:

extended reduced model for unknown Torque

Files:

• applications/pmsm/pmsm.h (modified) (5 diffs)

applications/pmsm/pmsm.h

@@ -29 +29 @@
         bool cutoff;
 public:
-        IMpmsm() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2; dimc=6;compensate=true;cutoff=true;};
+        IMpmsm() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2; dimc=6;compensate=false;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;}
@@ -134 +134 @@
         bool cutoff;
 public:
-        IMpmsmOT() :diffbifn ( ) {dimy=2; dimx = 2; dimu=4; dimc=6;compensate=true;cutoff=true;};
+        IMpmsmOT() :diffbifn ( ) {dimy=2; dimx = 2; dimu=4; dimc=6;compensate=false;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;}
@@ -188 +188 @@
         
         void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
-                const double &omm = x0 ( 0 );
+//              const double &omm = x0 ( 0 );
                 const double &thm = x0 ( 1 );
 
@@ -223 +223 @@
 
 UIREGISTER ( IMpmsmOT );
+
+//! Evolution model of \f$ \omega, \vartheta\f$ for a PMSM drive and its derivative with respect to \f$x\f$
+class IMpmsmOTM : public diffbifn {
+protected:
+        double Rs, Ls, dt, Ypm, kp, p,  J, Mz;
+        
+        bool compensate;
+        bool cutoff;
+public:
+        IMpmsmOTM() :diffbifn ( ) {dimy=2; dimx = 3; dimu=4; dimc=6;compensate=false;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;}
+        
+        void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){
+                /*              ua=u0[0];
+                 *              ub=u0[1];
+                 *              return;*/
+                double sq3=sqrt ( 3.0 );
+                double i1=x0(0);
+                double i2=0.5* ( -i1+sq3*x0[1] );
+                double i3=0.5* ( -i1-sq3*x0[1] );
+                double u1=u0(0);
+                double u2=0.5* ( -u1+sq3*u0(1) );
+                double u3=0.5* ( -u1-sq3*u0(1) );
+                
+                double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1;
+                double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2;
+                double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3;
+                ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0;
+                ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3;
+        }
+        
+        vec eval ( const vec &x0, const vec &u0 ) {
+                // last state
+                const double &omm = x0 ( 0 );
+                const double &thm = x0 ( 1 );
+                const double &Mm  = x0 ( 2 );
+                double uam;
+                double ubm;
+                
+                if (compensate){
+                        modelpwm(x0,u0,uam,ubm);
+                } else {
+                        uam = u0(0);
+                        ubm = u0(1);
+                }
+                
+                const double &iam = u0 ( 2 );
+                const double &ibm = u0 ( 3 );
+                
+                vec xk( 3 );
+                //ia
+                //om
+                xk ( 0 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mm;
+                //th
+                xk ( 1 ) = thm + omm*dt; // <0..2pi>
+                xk (2) = Mm;
+                
+                if (cutoff) {
+                        if ( xk ( 1 ) >pi ) xk ( 1 )-=2*pi;
+                        if ( xk ( 1 ) <-pi ) xk ( 1 ) +=2*pi;
+                }
+                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 &Mm  = x0 ( 2 );
+                
+                const double &iam = u0 ( 2 );
+                const double &ibm = u0 ( 3 );
+                
+                // d ia
+                // d om
+                A ( 0,0 ) = 1.0;
+                A ( 0,1 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );
+                A ( 0,2 ) = -p/J*dt;
+                // d th
+                A ( 1,0 ) = dt; 
+                A ( 1,1 ) = 1.0;
+                A ( 1,2 ) = 0.0;
+                // d M
+                A ( 2,0 ) = 0.0;
+                A ( 2,1 ) = 0.0;
+                A ( 2,2 ) = 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 comp=0;
+                if (UI::get(comp,root,"compensate",UI::optional)){compensate=(comp==1);}
+                int cuto=0;
+                if (UI::get(cuto,root,"cutoff",UI::optional)){cutoff=(cuto==1);}
+        };
+        
+        // TODO dodelat void to_setting( Setting &root ) const;
+};
+
+UIREGISTER ( IMpmsmOTM );
 
 //! Evolution model of \f$ \omega, \vartheta\f$ for a PMSM drive and its derivative with respect to \f$x\f$ -- Scaled to [-1,1]
@@ -766 +874 @@
 UIREGISTER ( OMpmsmOT );
 
+//! Observation model for PMSM drive in reduced form coordinates
+class OMpmsmOTM: 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;}
+        
+        OMpmsmOTM() :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 * sin ( thm ) + uam*dt/Ls;
+                //ib
+                y ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls;
+                
+                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* sin ( thm ); 
+                A ( 0,1 ) = Ypm/Ls*dt*omm * ( cos ( thm ) );
+                A( 0,2) = 0.0;
+                // d ib
+                A ( 1,0 ) = -Ypm/Ls*dt* cos ( thm ); 
+                A ( 1,1 ) = Ypm/Ls*dt*omm * ( sin ( thm ) );
+                A(1,2) = 0.0;
+                
+        }
+        
+        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 ( OMpmsmOTM );
+
+
+
 //! Observation model for PMSM drive in reduced form coordinates -- scaled to [-1,1]
 class OMpmsmOTsc: public diffbifn {