| | 79 | //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$ |
| | 80 | class IMpmsm2o : public diffbifn { |
| | 81 | protected: |
| | 82 | double Rs, Ls, dt, Ypm, kp, p, J, Mz; |
| | 83 | |
| | 84 | public: |
| | 85 | IMpmsm2o() :diffbifn (rx.count(), rx, rU ) {}; |
| | 86 | //! Set mechanical and electrical variables |
| | 87 | 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;} |
| | 88 | |
| | 89 | vec eval ( const vec &x0, const vec &u0 ) { |
| | 90 | // last state |
| | 91 | double iam = x0 ( 0 ); |
| | 92 | double ibm = x0 ( 1 ); |
| | 93 | double omm = x0 ( 2 ); |
| | 94 | double thm = x0 ( 3 ); |
| | 95 | double uam = u0 ( 0 ); |
| | 96 | double ubm = u0 ( 1 ); |
| | 97 | double dua = u0 ( 2 )/dt; |
| | 98 | double dub = u0 ( 3 )/dt; |
| | 99 | |
| | 100 | double cth = cos(thm); |
| | 101 | double sth = sin(thm); |
| | 102 | double d2t = dt*dt/2; |
| | 103 | |
| | 104 | double dia = (- Rs/Ls*iam + Ypm/Ls*omm * sth + uam/Ls); |
| | 105 | double dib = (- Rs/Ls*ibm - Ypm/Ls*omm * cth + ubm/Ls); |
| | 106 | double dom = kp*p*p * Ypm/J *( ibm * cth-iam * sth ) - p/J*Mz; |
| | 107 | double dth = omm; |
| | 108 | |
| | 109 | double d2ia = (- Rs/Ls*dia + Ypm/Ls*(dom * sth + omm*cth) + dua/Ls); |
| | 110 | double d2ib = (- Rs/Ls*dib - Ypm/Ls*(dom * cth - omm*sth) + dub/Ls); |
| | 111 | double d2om = kp*p*p * Ypm/J *( dib * cth-ibm*sth - (dia * sth + iam *cth)); |
| | 112 | double d2th = dom; |
| | 113 | |
| | 114 | vec xk=zeros ( 4 ); |
| | 115 | xk ( 0 ) = iam + dt*dia;// +d2t*d2ia; |
| | 116 | xk ( 1 ) = ibm + dt*dib;// +d2t*d2ib; |
| | 117 | xk ( 2 ) = omm +dt*dom;// +d2t*d2om; |
| | 118 | xk ( 3 ) = thm + dt*dth;// +d2t*d2th; // <0..2pi> |
| | 119 | |
| | 120 | x2o_dbg(0)=d2t*d2ia; |
| | 121 | x2o_dbg(1)=d2t*d2ib; |
| | 122 | x2o_dbg(2)=d2t*d2om; |
| | 123 | x2o_dbg(3)=d2t*d2th; |
| | 124 | |
| | 125 | if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
| | 126 | if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
| | 127 | return xk; |
| | 128 | } |
| | 129 | |
| | 130 | void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) { |
| | 131 | double iam = x0 ( 0 ); |
| | 132 | double ibm = x0 ( 1 ); |
| | 133 | double omm = x0 ( 2 ); |
| | 134 | double thm = x0 ( 3 ); |
| | 135 | // d ia |
| | 136 | A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
| | 137 | A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
| | 138 | // d ib |
| | 139 | A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
| | 140 | A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
| | 141 | // d om |
| | 142 | A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
| | 143 | A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
| | 144 | A ( 2,2 ) = 1.0; |
| | 145 | A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
| | 146 | // d th |
| | 147 | A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
| | 148 | } |
| | 149 | |
| | 150 | void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );}; |
| | 151 | |
| | 152 | }; |
| | 153 | |
