Changeset 1403 for applications
- Timestamp:
- 10/17/11 21:00:32 (13 years ago)
- Location:
- applications/pmsm
- Files:
-
- 2 modified
-
pmsm.h (modified) (2 diffs)
-
pmsm_ctrl.h (modified) (24 diffs)
Legend:
- Unmodified
- Added
- Removed
-
applications/pmsm/pmsm.h
r1341 r1403 20 20 // double Rs, Ls, dt, Ypm, kp, p, J, Mz; 21 21 // }; 22 23 inline double va_drop_interp(double i){ 24 //double va_char[16]={0,10,50,100,200,300,500,1000, 0,1,1.8,2.4,3.2,3.8,4.8,6.8}; 25 //* 26 double si = sign(i); 27 i = abs(i); 28 double du; 29 30 if(i < 0.1) du = 5.0*i; 31 else if(i < 0.5) du = 1.0*(i-0.1) + 0.5; 32 else if(i < 1.0) du = 0.6*(i-0.5) + 0.9; 33 else if(i < 2.0) du = 0.4*(i-1.0) + 1.2; 34 else if(i < 3.0) du = 0.3*(i-2.0) + 1.6; 35 else if(i < 5.0) du = 0.25*(i-3.0) + 1.9; 36 else du = 0.2*(i - 5.0) + 2.4; 37 38 return si*du*1.0; 39 40 /*/ 41 double msi = sign(i); 42 43 i = abs(i) - 0.3; 44 45 double si = sign(i); 46 i = abs(i); 47 double du; 48 49 if(i < 0.0654) du = 5.0*i; 50 else if(i < 0.3225) du = 1.0*(i-0.0654) + 0.3225; 51 else if(i < 0.654) du = 0.6*(i-0.3225) + 0.5805; 52 else if(i < 1.29) du = 0.4*(i-0.654) + 0.774; 53 else if(i < 1.935) du = 0.3*(i-1.29) + 1.032; 54 else if(i < 3.225) du = 0.25*(i-1.935) + 1.2255; 55 else du = 0.2*(i - 3.225) + 1.548; 56 57 return msi*(si*du+0.558); 58 /*/ 59 } 22 60 23 61 //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ … … 44 82 double u2=0.5* ( -u1+sq3*u0(1) ); 45 83 double u3=0.5* ( -u1-sq3*u0(1) ); 46 84 // 85 double du1=va_drop_interp(i1); 86 double du2=va_drop_interp(i2); 87 double du3=va_drop_interp(i3); 88 /*/ 47 89 double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; 48 90 double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; 49 91 double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; 92 */ 50 93 ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; 51 94 ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; -
applications/pmsm/pmsm_ctrl.h
r1398 r1403 9 9 10 10 #include <fstream> 11 #include <sstream> 11 12 12 13 /*! \defgroup PMSM … … 533 534 mat L; 534 535 vec uab; 535 vec icondpd;536 //vec icondpd; 536 537 vec u_old; 537 538 … … 549 550 r(0.005), rpd(0.1), Dt(0.000125), rec_hor(10), //for r is a default value rewrited by pcp.txt file value 550 551 A(5, 5), B(5, 2), Q(5, 5), R(2, 2), Rpd(2, 4), 551 uab(2), u_old(2), icondpd(8),MAXu(100.0), MAXuflag(0) {552 uab(2), u_old(2), /*icondpd(8),*/ MAXu(100.0), MAXuflag(0) { 552 553 //set fix matrices elements & dimensions 553 554 A.zeros(); … … 574 575 vec udq; 575 576 vec tmp; 577 vec icondpd(8); 576 578 577 579 lq.resetTime(); … … 722 724 mat L; 723 725 vec uab,udq; 724 vec icondpd;726 //vec icondpd; 725 727 vec u_old; 726 728 … … 739 741 r(0.005), rpd(0.1), Dt(0.000125), rec_hor(10), //for r is a default value rewrited by pcp.txt file value 740 742 A(5, 5), B(5, 2), Q(5, 5), R(2, 2), Rpd(2, 4), 741 uab(2), udq(2), u_old(2), icondpd(8),MAXu(100.0), MAXuflag(0) {743 uab(2), udq(2), u_old(2), /*icondpd(8),*/ MAXu(100.0), MAXuflag(0) { 742 744 //set fix matrices elements & dimensions 743 745 A.zeros(); … … 763 765 int i; 764 766 vec tmp; 767 vec icondpd(8); 765 768 766 769 lq.resetTime(); … … 948 951 mat L; 949 952 vec uab,udq; 950 vec icondpd;953 //vec icondpd; 951 954 vec u_old; 952 955 … … 971 974 r(0.005), rpd(0.1), Dt(0.000125), rec_hor(10), //for r is a default value rewrited by pcp.txt file value 972 975 A(5, 5), B(5, 2), Q(5, 5), R(2, 2), Rpd(2, 4), //qqq(0.0), 973 uab(2), udq(2), u_old(2), icondpd(8),MAXu(100.0), MAXuflag(0), bcb(2), bcbv(0.0) {976 uab(2), udq(2), u_old(2), /*icondpd(8),*/ MAXu(100.0), MAXuflag(0), bcb(2), bcbv(0.0) { 974 977 //set fix matrices elements & dimensions 975 978 A.zeros(); … … 999 1002 int i; 1000 1003 vec tmp; 1004 vec icondpd(8); 1001 1005 1002 1006 lq.resetTime(); … … 1176 1180 mat L; 1177 1181 vec uab; 1178 vec icondpd;1182 //vec icondpd; 1179 1183 vec u_old; 1180 1184 … … 1203 1207 r(0.005), rpd(0.1), Dt(0.000125), rec_hor(10), //for r is a default value rewrited by pcp.txt file value 1204 1208 A(5, 5), B(5, 2), Q(5, 5), R(2, 2), Rpd(2, 4), 1205 uab(2), u_old(2), icondpd(8),MAXu(100.0), MAXuflag(0),1209 uab(2), u_old(2), /*icondpd(8),*/ MAXu(100.0), MAXuflag(0), 1206 1210 /*Cwq(3.0, 3.0*0.000125/0.1, -1200, 1200), 1207 1211 Cuq(20.0, 20.0*0.000125/0.005, -1200, 1200), … … 1234 1238 vec udq; 1235 1239 vec tmp; 1240 vec icondpd(8); 1236 1241 1237 1242 lq.resetTime(); … … 1409 1414 mat L; 1410 1415 vec uab; 1411 vec icondpd;1416 //vec icondpd; 1412 1417 vec u_old; 1413 1418 … … 1448 1453 double injkon, injome, injphi; 1449 1454 int minindex; 1455 1456 // grid 1457 int gsize; //grid matrix size 1458 mat qloss, dloss, vomeg, vthet, vdet; //quadratic & dual loss, omega & theta variances, variance mat det 1459 double gstep; //grid step size 1460 double wwold; // old reference value 1461 double kvo; //dual loss koeficient 1462 int cntr; 1463 int mini, minj; 1450 1464 1451 1465 PMSM_LQCtrl_bic3():PMSMCtrl(), a(0.9898), b(0.0072), c(0.0361), d(1.0), e(0.0149), 1452 1466 r(0.005), rpd(0.1), Dt(0.000125), rec_hor(10), //for r is a default value rewrited by pcp.txt file value 1453 A(5, 5), B(5, 2), Q(5, 5), R(2, 2), Rpd(2, 4), biver(0),1454 uab(2), u_old(2), icondpd(8),MAXu(100.0), MAXuflag(0),1467 A(5, 5), B(5, 2), Q(5, 5), R(2, 2), Rpd(2, 4), /*biver(0),*/ 1468 uab(2), u_old(2), /*icondpd(8),*/ MAXu(100.0), MAXuflag(0), 1455 1469 Ptp(2,2),Kt(2,2),Ared(2,2),Cred(2,2),Qred(2,2),Rred(2,2), 1456 1470 Pt1(2,2),Pt2(2,2),Pt3(2,2),Pt4(2,2),Pt5(2,2), varPth(5), … … 1461 1475 Cwq(10.0, 0.0005, -1200, 1200), 1462 1476 Cuq(0.4, 0.0005, -1200, 1200), 1463 Cud(0.4, 0.0005, -1200, 1200) { 1477 Cud(0.4, 0.0005, -1200, 1200), 1478 gsize(21) { 1464 1479 //set fix matrices elements & dimensions 1465 1480 A.zeros(); … … 1478 1493 Rpd.zeros(); 1479 1494 u_old.zeros(); 1495 uab.zeros(); 1480 1496 1481 1497 Ared(0,0) = d; … … 1484 1500 Qred(0,0) = 0.1; 1485 1501 Qred(1,1) = 0.01; 1486 Rred(0,0) = Rred(1,1) = 0. 5;1502 Rred(0,0) = Rred(1,1) = 0.05; 1487 1503 Pt1(0,0) = Pt2(0,0) = Pt3(0,0) = Pt4(0,0) = Pt5(0,0) = 1.0; 1488 1504 Pt1(1,1) = Pt2(1,1) = Pt3(1,1) = Pt4(1,1) = Pt5(1,1) = 1.0; 1489 1505 1506 biver = 0; 1490 1507 timeid = 0; 1491 1508 f.open("skf.dat", ios::out); … … 1507 1524 ovA(3,2) = Dt; 1508 1525 ovC(0,0) = ovC(1,1) = 1.0; 1509 ovR(0,0) = ovR(1,1) = 0.0 0001;1526 ovR(0,0) = ovR(1,1) = 0.05; 1510 1527 ovQ(0,0) = ovQ(1,1) = 0.1; 1511 ovQ(2,2) = 0. 1;1512 ovQ(3,3) = 0.000 01;1528 ovQ(2,2) = 0.01; 1529 ovQ(3,3) = 0.0001; 1513 1530 varome = 1.0; 1531 1532 qloss.set_size(gsize,gsize); 1533 dloss.set_size(gsize,gsize); 1534 vomeg.set_size(gsize,gsize); 1535 vthet.set_size(gsize,gsize); 1536 vdet.set_size(gsize,gsize); 1537 1538 gstep = 0.5; 1539 wwold = 0.0; 1540 kvo = 0.00001; 1541 cntr = 0; 1514 1542 } 1515 1543 … … 1656 1684 1657 1685 1658 ovA(0,2) = b*sin(the);1686 /*ovA(0,2) = b*sin(the); 1659 1687 ovA(0,3) = b*ome*cos(the); 1660 1688 ovA(1,2) = -b*cos(the); … … 1665 1693 mat ovPp = ovA*ovP*ovA.T() + ovQ; 1666 1694 ovP = (eye(4) - ovPp*ovC.T()*inv(ovC*ovPp*ovC.T() + ovR )*ovC)*ovPp; 1667 varome = ovP(2,2); 1695 varome = ovP(2,2);*/ 1668 1696 1669 1697 //bcbv = (sqrt( (ome)*(ome) + bcbv0*bcbv0 ) - abs(ome)); … … 1924 1952 //*/ 1925 1953 1954 //verze 13: grid 1955 if(biver == 13){ 1956 double ia,ib,om,th,ps; 1957 int hsize = floor(gsize/2); 1958 double dua, dub; 1959 double prww = 3.0*Ww - 2.0*wwold; 1960 int i,j; 1961 double omoo; 1962 double minloss = 1.0e300; 1963 mini=hsize; 1964 minj=hsize; 1965 mat ovPp; 1966 mat tmpP; 1967 1968 for(i = 0; i < gsize; i++){ 1969 for(j = 0; j < gsize; j++){ 1970 dua = (double)(i - hsize)*gstep; 1971 dub = (double)(j - hsize)*gstep; 1972 1973 ia = a*isa + b*ome*sin(the) + c*(uab(0) + dua); 1974 ib = a*isb - b*ome*cos(the) + c*(uab(1) + dub); 1975 om = d*ome + e*(isb*cos(the) - isa*sin(the)); 1976 th = the + Dt*ome; 1977 //ps = th + Dt*om; 1978 /*Ared(0,1) = -e*(ib*sin(th) + ia*cos(th)); 1979 Cred(0,0) = b*sin(th); 1980 Cred(0,1) = b*om*cos(th); 1981 Cred(1,0) = -b*cos(th); 1982 Cred(1,1) = b*om*sin(th);*/ 1983 Ared(0,0) = d+e*Dt*(ib*sin(th)+ia*cos(th)); 1984 Ared(0,1) = -e*(ib*sin(th)+ia*cos(th)); 1985 Ared(1,0) = Dt*(d+e*Dt*(ib*sin(th)+ia*cos(th))); 1986 Ared(1,1) = 1-e*Dt*(ib*sin(th)+ia*cos(th)); 1987 Cred(0,0) = b*sin(th)-Dt*b*om*cos(th); 1988 Cred(0,1) = b*om*cos(th); 1989 Cred(1,0) = -b*cos(th)-Dt*b*om*sin(th); 1990 Cred(1,1) = b*om*sin(th); 1991 Ptp = Ared*Pt1*Ared.T() + Qred; 1992 Kt = Ptp*Cred.T()*inv(Cred*Ptp*Cred.T() + Rred); 1993 Pt2 = (eye(2) - Kt*Cred)*Ptp; 1994 1995 1996 /*ovA(0,2) = b*sin(th); 1997 ovA(0,3) = b*om*cos(th); 1998 ovA(1,2) = -b*cos(th); 1999 ovA(1,3) = b*om*sin(th); 2000 ovA(2,0) = -e*sin(th); 2001 ovA(2,1) = e*cos(th); 2002 ovA(2,3) = -e*(ib*sin(th)+ia*cos(th)); 2003 ovPp = ovA*ovP*ovA.T() + ovQ; 2004 tmpP = (eye(4) - ovPp*ovC.T()*inv(ovC*ovPp*ovC.T() + ovR )*ovC)*ovPp; 2005 */ 2006 omoo = d*om + e*(ib*cos(th) - ia*sin(th)); 2007 qloss(i,j) = (omoo - prww)*(omoo - prww); 2008 vomeg(i,j) = /*tmpP(2,2);/*/Pt2(0,0); 2009 dloss(i,j) = qloss(i,j) + kvo*vomeg(i,j); 2010 vthet(i,j) = /*tmpP(3,3);/*/Pt2(1,1); 2011 vdet(i,j) = /*det(tmpP);/*/Pt2(0,0)*Pt2(1,1) - Pt2(0,1)*Pt2(1,0); 2012 2013 if(vthet(i,j) < minloss){ 2014 minloss = vthet(i,j); 2015 mini = i; 2016 minj = j; 2017 } 2018 } 2019 } 2020 2021 if((timeid)<1000){ 2022 stringstream ss; 2023 2024 ss << "grid/qloss" << cntr << ".txt"; 2025 f.open(ss.str().data(),ios::out); 2026 for(i = 0; i < gsize; i++){ 2027 for(j = 0; j < gsize; j++){ 2028 f << (i - hsize)*gstep << "\t" << (j - hsize)*gstep << "\t" << qloss(i,j) << endl; 2029 } 2030 f << endl; 2031 } 2032 f.close(); 2033 2034 ss.str(""); 2035 ss << "grid/dloss" << cntr << ".txt"; 2036 f.open(ss.str().data(),ios::out); 2037 for(i = 0; i < gsize; i++){ 2038 for(j = 0; j < gsize; j++){ 2039 f << (i - hsize)*gstep << "\t" << (j - hsize)*gstep << "\t" << dloss(i,j) << endl; 2040 } 2041 f << endl; 2042 } 2043 f.close(); 2044 2045 ss.str(""); 2046 ss << "grid/vomeg" << cntr << ".txt"; 2047 f.open(ss.str().data(),ios::out); 2048 for(i = 0; i < gsize; i++){ 2049 for(j = 0; j < gsize; j++){ 2050 f << (i - hsize)*gstep << "\t" << (j - hsize)*gstep << "\t" << vomeg(i,j) << endl; 2051 } 2052 f << endl; 2053 } 2054 f.close(); 2055 2056 ss.str(""); 2057 ss << "grid/vthet" << cntr << ".txt"; 2058 f.open(ss.str().data(),ios::out); 2059 for(i = 0; i < gsize; i++){ 2060 for(j = 0; j < gsize; j++){ 2061 f << (i - hsize)*gstep << "\t" << (j - hsize)*gstep << "\t" << vthet(i,j) << endl; 2062 } 2063 f << endl; 2064 } 2065 f.close(); 2066 2067 ss.str(""); 2068 ss << "grid/vdet" << cntr << ".txt"; 2069 f.open(ss.str().data(),ios::out); 2070 for(i = 0; i < gsize; i++){ 2071 for(j = 0; j < gsize; j++){ 2072 f << (i - hsize)*gstep << "\t" << (j - hsize)*gstep << "\t" << vdet(i,j) << endl; 2073 } 2074 f << endl; 2075 } 2076 f.close(); 2077 cntr++; 2078 } 2079 2080 dua = (double)(mini - hsize)*gstep; 2081 dub = (double)(minj - hsize)*gstep; 2082 2083 uab(0) += dua; 2084 uab(1) += dub; 2085 2086 //save best variance 2087 ia = a*isa + b*ome*sin(the) + c*(uab(0)); 2088 ib = a*isb - b*ome*cos(the) + c*(uab(1)); 2089 //Ared(0,1) = -e*(ib*sin(th) + ia*cos(th)); 2090 Ared(0,0) = d+e*Dt*(ib*sin(th)+ia*cos(th)); 2091 Ared(0,1) = -e*(ib*sin(th)+ia*cos(th)); 2092 Ared(1,0) = Dt*(d+e*Dt*(ib*sin(th)+ia*cos(th))); 2093 Ared(1,1) = 1-e*Dt*(ib*sin(th)+ia*cos(th)); 2094 Ptp = Ared*Pt1*Ared.T() + Qred; 2095 Kt = Ptp*Cred.T()*inv(Cred*Ptp*Cred.T() + Rred); 2096 Pt1 = (eye(2) - Kt*Cred)*Ptp; 2097 /*ovA(0,2) = b*sin(th); 2098 ovA(0,3) = b*om*cos(th); 2099 ovA(1,2) = -b*cos(th); 2100 ovA(1,3) = b*om*sin(th); 2101 ovA(2,0) = -e*sin(th); 2102 ovA(2,1) = e*cos(th); 2103 ovA(2,3) = -e*(ib*sin(th)+ia*cos(th)); 2104 ovPp = ovA*ovP*ovA.T() + ovQ; 2105 ovP = (eye(4) - ovPp*ovC.T()*inv(ovC*ovPp*ovC.T() + ovR )*ovC)*ovPp; 2106 */ 2107 timeid++; 2108 wwold = Ww; 2109 } 2110 //*/ 2111 1926 2112 ////////////////////////////////////////////////////////////////////////// 1927 2113 … … 2028 2214 lq.validate(); 2029 2215 2030 uab.zeros();2216 2031 2217 2032 2218 //create control matrix … … 2044 2230 PMSMCtrl::log_write(); 2045 2231 vec tmp(2); 2046 tmp(0) = double(mini ndex);2047 tmp(1) = double( bcbv);2232 tmp(0) = double(mini);//minindex); 2233 tmp(1) = double(minj);//bcbv); 2048 2234 // tmp(1) = double(varome); 2049 2235 log_level.store( logModel , tmp);
