Changeset 1436 for applications/dual/vahala/kim/assembDeriv.m

Timestamp:

03/04/12 19:28:08 (12 years ago)

Author:

vahalam

Message:

pridani a uprava lqg s hyperstavem viz clanek Kim2006

Files:

• applications/dual/vahala/kim/assembDeriv.m (modified) (4 diffs)

applications/dual/vahala/kim/assembDeriv.m

@@ -1 @@
-function [A_k, C_k, pre_k, A_l] = assembDeriv(ksi, iab, ksi0, Q, R, ref_ome)    
+function [A_k, C_k, pre_k, A_l] = assembDeriv(ksi, iab, ksi0, Q, R, ref_ome, inddq)    
     a = 0.9898;
     b = 0.0072;
@@ -6 +6 @@
     e = 0.0149;
     dt = 0.000125;
+
+    Rs = 0.28;
+    Ls = 0.003465;
+    psi = 0.1989;
+    B = 0;    
+    kp = 1.5;
+    pp = 4.0;
+    J = 0.04;
+    Lq = 1.0*Ls;
+    Ld = 0.9*Ls;
+    kpp = kp*pp*pp;
+    kppj = kpp/J;
     
     ome = ksi(1);
@@ -17 +29 @@
     
     %puvodni matice derivaci
-    A = [d, -e*(ia*cos(the)+ib*sin(the)); dt, 1.0];
+    if(inddq == 0)
+        %stejne indukcnosti
+        A = [d, -e*(ia*cos(the)+ib*sin(the)); dt, 1.0];
+    else
+        %ruzne indukcnosti
+        A = [d, -dt*kppj*(psi*(ia*cos(the) + ib*sin(the)) + (Ld - Lq)*(ia*cos(the) + ib*sin(the))^2 - (Ld - Lq)*(ib*cos(the) - ia*sin(the))^2); dt, 1.0];
+    end
     C = [b*sin(the), b*ome*cos(the); -b*cos(the), b*ome*sin(the)];
     
@@ -115 +133 @@
     pre_k(1) = Pnew(1,1);
     pre_k(2) = Pnew(1,2);
-    pre_k(3) = Pnew(2,2);    
+    pre_k(3) = Pnew(2,2); 
+    %max x(5) = pi^2/3 ... variance of uniform -pi,pi
+    if(pre_k(3) > pi^2/3)
+        pre_k(3) = pi^2/3;
+    end
 end