| 27 | | <a name="l00014"></a>00014 |
| 28 | | <a name="l00015"></a>00015 <span class="comment">// class uipmsm : public uibase{</span> |
| 29 | | <a name="l00016"></a>00016 <span class="comment">// double Rs, Ls, dt, Ypm, kp, p, J, Mz;</span> |
| 30 | | <a name="l00017"></a>00017 <span class="comment">// };</span> |
| 31 | | <a name="l00018"></a>00018 |
| 32 | | <a name="l00020"></a><a class="code" href="classIMpmsm.html">00020</a> <span class="keyword">class </span><a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a> : <span class="keyword">public</span> <a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> { |
| 33 | | <a name="l00021"></a>00021 <span class="keyword">protected</span>: |
| 34 | | <a name="l00022"></a>00022 <span class="keywordtype">double</span> Rs, Ls, dt, Ypm, kp, p, J, Mz; |
| 35 | | <a name="l00023"></a>00023 |
| 36 | | <a name="l00024"></a>00024 <span class="keyword">public</span>: |
| 37 | | <a name="l00025"></a>00025 <a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a>() :<a class="code" href="classdiffbifn.html#797772c0d5aab8ddccec19dfe4bb2d77" title="Default constructor (dimy is not set!).">diffbifn</a> (rx.<a class="code" href="classRV.html#f5c7b8bd589eef09ccdf3329a0addea0" title="Return number of scalars in the RV.">count</a>(), rx, ru ) {}; |
| 38 | | <a name="l00027"></a><a class="code" href="classIMpmsm.html#42818f3426d99fecb7e97be8ffe2e228">00027</a> <span class="keywordtype">void</span> <a class="code" href="classIMpmsm.html#42818f3426d99fecb7e97be8ffe2e228" title="Set mechanical and electrical variables.">set_parameters</a> ( <span class="keywordtype">double</span> Rs0, <span class="keywordtype">double</span> Ls0, <span class="keywordtype">double</span> dt0, <span class="keywordtype">double</span> Ypm0, <span class="keywordtype">double</span> kp0, <span class="keywordtype">double</span> p0, <span class="keywordtype">double</span> J0, <span class="keywordtype">double</span> Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;} |
| 39 | | <a name="l00028"></a>00028 |
| 40 | | <a name="l00029"></a><a class="code" href="classIMpmsm.html#45785869d978dda42828a072ec2caebe">00029</a> vec <a class="code" href="classIMpmsm.html#45785869d978dda42828a072ec2caebe" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0 ) { |
| 41 | | <a name="l00030"></a>00030 <span class="comment">// last state</span> |
| 42 | | <a name="l00031"></a>00031 <span class="keywordtype">double</span> iam = x0 ( 0 ); |
| 43 | | <a name="l00032"></a>00032 <span class="keywordtype">double</span> ibm = x0 ( 1 ); |
| 44 | | <a name="l00033"></a>00033 <span class="keywordtype">double</span> omm = x0 ( 2 ); |
| 45 | | <a name="l00034"></a>00034 <span class="keywordtype">double</span> thm = x0 ( 3 ); |
| 46 | | <a name="l00035"></a>00035 <span class="keywordtype">double</span> uam = u0 ( 0 ); |
| 47 | | <a name="l00036"></a>00036 <span class="keywordtype">double</span> ubm = u0 ( 1 ); |
| 48 | | <a name="l00037"></a>00037 |
| 49 | | <a name="l00038"></a>00038 vec xk=zeros ( 4 ); |
| 50 | | <a name="l00039"></a>00039 <span class="comment">//ia</span> |
| 51 | | <a name="l00040"></a>00040 xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
| 52 | | <a name="l00041"></a>00041 <span class="comment">//ib</span> |
| 53 | | <a name="l00042"></a>00042 xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
| 54 | | <a name="l00043"></a>00043 <span class="comment">//om</span> |
| 55 | | <a name="l00044"></a>00044 xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
| 56 | | <a name="l00045"></a>00045 <span class="comment">//th</span> |
| 57 | | <a name="l00046"></a>00046 xk ( 3 ) = thm + omm*dt; <span class="comment">// <0..2pi></span> |
| 58 | | <a name="l00047"></a>00047 <span class="keywordflow">if</span> ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
| 59 | | <a name="l00048"></a>00048 <span class="keywordflow">if</span> ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
| 60 | | <a name="l00049"></a>00049 <span class="keywordflow">return</span> xk; |
| 61 | | <a name="l00050"></a>00050 } |
| 62 | | <a name="l00051"></a>00051 |
| 63 | | <a name="l00052"></a><a class="code" href="classIMpmsm.html#b4378b5d3bf64c683e4cf5c5f1cd56f1">00052</a> <span class="keywordtype">void</span> <a class="code" href="classIMpmsm.html#b4378b5d3bf64c683e4cf5c5f1cd56f1" title="Evaluates and writes result into A .">dfdx_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) { |
| 64 | | <a name="l00053"></a>00053 <span class="keywordtype">double</span> iam = x0 ( 0 ); |
| 65 | | <a name="l00054"></a>00054 <span class="keywordtype">double</span> ibm = x0 ( 1 ); |
| 66 | | <a name="l00055"></a>00055 <span class="keywordtype">double</span> omm = x0 ( 2 ); |
| 67 | | <a name="l00056"></a>00056 <span class="keywordtype">double</span> thm = x0 ( 3 ); |
| 68 | | <a name="l00057"></a>00057 <span class="comment">// d ia</span> |
| 69 | | <a name="l00058"></a>00058 A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
| 70 | | <a name="l00059"></a>00059 A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
| 71 | | <a name="l00060"></a>00060 <span class="comment">// d ib</span> |
| 72 | | <a name="l00061"></a>00061 A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
| 73 | | <a name="l00062"></a>00062 A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
| 74 | | <a name="l00063"></a>00063 <span class="comment">// d om</span> |
| 75 | | <a name="l00064"></a>00064 A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
| 76 | | <a name="l00065"></a>00065 A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
| 77 | | <a name="l00066"></a>00066 A ( 2,2 ) = 1.0; |
| 78 | | <a name="l00067"></a>00067 A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
| 79 | | <a name="l00068"></a>00068 <span class="comment">// d th</span> |
| 80 | | <a name="l00069"></a>00069 A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
| 81 | | <a name="l00070"></a>00070 } |
| 82 | | <a name="l00071"></a>00071 |
| 83 | | <a name="l00072"></a><a class="code" href="classIMpmsm.html#c3f8dad22ae9855c04a1d593b45c99b5">00072</a> <span class="keywordtype">void</span> <a class="code" href="classIMpmsm.html#c3f8dad22ae9855c04a1d593b45c99b5" title="Evaluates and writes result into A .">dfdu_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {it_error ( <span class="stringliteral">"not needed"</span> );}; |
| 84 | | <a name="l00073"></a>00073 |
| 85 | | <a name="l00074"></a>00074 }; |
| 86 | | <a name="l00075"></a>00075 |
| 87 | | <a name="l00077"></a><a class="code" href="classIMpmsmStat.html">00077</a> <span class="keyword">class </span><a class="code" href="classIMpmsmStat.html" title="State evolution model for a PMSM drive and its derivative with respect to , equation...">IMpmsmStat</a> : <span class="keyword">public</span> <a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a> { |
| 88 | | <a name="l00078"></a>00078 <a class="code" href="classIMpmsmStat.html" title="State evolution model for a PMSM drive and its derivative with respect to , equation...">IMpmsmStat</a>() :<a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a>() {}; |
| 89 | | <a name="l00080"></a>00080 <span class="keywordtype">void</span> set_parameters ( <span class="keywordtype">double</span> Rs0, <span class="keywordtype">double</span> Ls0, <span class="keywordtype">double</span> dt0, <span class="keywordtype">double</span> Ypm0, <span class="keywordtype">double</span> kp0, <span class="keywordtype">double</span> p0, <span class="keywordtype">double</span> J0, <span class="keywordtype">double</span> Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;} |
| 90 | | <a name="l00081"></a>00081 |
| 91 | | <a name="l00082"></a>00082 vec eval ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0 ) { |
| 92 | | <a name="l00083"></a>00083 <span class="comment">// last state</span> |
| 93 | | <a name="l00084"></a>00084 <span class="keywordtype">double</span> iam = x0 ( 0 ); |
| 94 | | <a name="l00085"></a>00085 <span class="keywordtype">double</span> ibm = x0 ( 1 ); |
| 95 | | <a name="l00086"></a>00086 <span class="keywordtype">double</span> omm = x0 ( 2 ); |
| 96 | | <a name="l00087"></a>00087 <span class="keywordtype">double</span> thm = x0 ( 3 ); |
| 97 | | <a name="l00088"></a>00088 <span class="keywordtype">double</span> uam = u0 ( 0 ); |
| 98 | | <a name="l00089"></a>00089 <span class="keywordtype">double</span> ubm = u0 ( 1 ); |
| 99 | | <a name="l00090"></a>00090 |
| 100 | | <a name="l00091"></a>00091 vec xk=zeros ( 4 ); |
| 101 | | <a name="l00092"></a>00092 <span class="comment">//ia</span> |
| 102 | | <a name="l00093"></a>00093 xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
| 103 | | <a name="l00094"></a>00094 <span class="comment">//ib</span> |
| 104 | | <a name="l00095"></a>00095 xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
| 105 | | <a name="l00096"></a>00096 <span class="comment">//om</span> |
| 106 | | <a name="l00097"></a>00097 xk ( 2 ) = omm;<span class="comment">// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz;</span> |
| 107 | | <a name="l00098"></a>00098 <span class="comment">//th</span> |
| 108 | | <a name="l00099"></a>00099 xk ( 3 ) = rem(thm + omm*dt,2*pi); <span class="comment">// <0..2pi></span> |
| 109 | | <a name="l00100"></a>00100 <span class="keywordflow">return</span> xk; |
| 110 | | <a name="l00101"></a>00101 } |
| 111 | | <a name="l00102"></a>00102 |
| 112 | | <a name="l00103"></a>00103 <span class="keywordtype">void</span> dfdx_cond ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) { |
| 113 | | <a name="l00104"></a>00104 <span class="comment">// double iam = x0 ( 0 );</span> |
| 114 | | <a name="l00105"></a>00105 <span class="comment">// double ibm = x0 ( 1 );</span> |
| 115 | | <a name="l00106"></a>00106 <span class="keywordtype">double</span> omm = x0 ( 2 ); |
| 116 | | <a name="l00107"></a>00107 <span class="keywordtype">double</span> thm = x0 ( 3 ); |
| 117 | | <a name="l00108"></a>00108 <span class="comment">// d ia</span> |
| 118 | | <a name="l00109"></a>00109 A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
| 119 | | <a name="l00110"></a>00110 A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
| 120 | | <a name="l00111"></a>00111 <span class="comment">// d ib</span> |
| 121 | | <a name="l00112"></a>00112 A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
| 122 | | <a name="l00113"></a>00113 A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
| 123 | | <a name="l00114"></a>00114 <span class="comment">// d om</span> |
| 124 | | <a name="l00115"></a>00115 A ( 2,0 ) = 0.0;<span class="comment">//kp*p*p * Ypm/J*dt* ( - sin ( thm ) );</span> |
| 125 | | <a name="l00116"></a>00116 A ( 2,1 ) = 0.0;<span class="comment">//kp*p*p * Ypm/J*dt* ( cos ( thm ) );</span> |
| 126 | | <a name="l00117"></a>00117 A ( 2,2 ) = 1.0; |
| 127 | | <a name="l00118"></a>00118 A ( 2,3 ) = 0.0;<span class="comment">//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );</span> |
| 128 | | <a name="l00119"></a>00119 <span class="comment">// d th</span> |
| 129 | | <a name="l00120"></a>00120 A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
| 130 | | <a name="l00121"></a>00121 } |
| 131 | | <a name="l00122"></a>00122 |
| 132 | | <a name="l00123"></a>00123 <span class="keywordtype">void</span> dfdu_cond ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {it_error ( <span class="stringliteral">"not needed"</span> );}; |
| 133 | | <a name="l00124"></a>00124 |
| 134 | | <a name="l00125"></a>00125 }; |
| 135 | | <a name="l00126"></a>00126 |
| 136 | | <a name="l00128"></a><a class="code" href="classOMpmsm.html">00128</a> <span class="keyword">class </span><a class="code" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</a>: <span class="keyword">public</span> <a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> { |
| 137 | | <a name="l00129"></a>00129 <span class="keyword">public</span>: |
| 138 | | <a name="l00130"></a>00130 <a class="code" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</a>() :<a class="code" href="classdiffbifn.html#797772c0d5aab8ddccec19dfe4bb2d77" title="Default constructor (dimy is not set!).">diffbifn</a> (2, rx,ru ) {}; |
| 139 | | <a name="l00131"></a>00131 |
| 140 | | <a name="l00132"></a><a class="code" href="classOMpmsm.html#8e32392c9c635584606287b8c0e8c9da">00132</a> vec <a class="code" href="classOMpmsm.html#8e32392c9c635584606287b8c0e8c9da" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0 ) { |
| 141 | | <a name="l00133"></a>00133 vec y ( 2 ); |
| 142 | | <a name="l00134"></a>00134 y ( 0 ) = x0 ( 0 ); |
| 143 | | <a name="l00135"></a>00135 y ( 1 ) = x0 ( 1 ); |
| 144 | | <a name="l00136"></a>00136 <span class="keywordflow">return</span> y; |
| 145 | | <a name="l00137"></a>00137 } |
| 146 | | <a name="l00138"></a>00138 |
| 147 | | <a name="l00139"></a><a class="code" href="classOMpmsm.html#b75b5fd55b2ac5ed74b5b953af122821">00139</a> <span class="keywordtype">void</span> <a class="code" href="classOMpmsm.html#b75b5fd55b2ac5ed74b5b953af122821" title="Evaluates and writes result into A .">dfdx_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) { |
| 148 | | <a name="l00140"></a>00140 A.clear(); |
| 149 | | <a name="l00141"></a>00141 A ( 0,0 ) = 1.0; |
| 150 | | <a name="l00142"></a>00142 A ( 1,1 ) = 1.0; |
| 151 | | <a name="l00143"></a>00143 } |
| 152 | | <a name="l00144"></a>00144 }; |
| 153 | | <a name="l00145"></a>00145 |
| 154 | | <a name="l00147"></a>00147 <span class="preprocessor">#endif //PMSM_H</span> |
| | 27 | <a name="l00014"></a>00014 <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> rU = <a class="code" href="group__core.html#g33c114e83980d883c5b211c47d5322a4" title="Concat two random variables.">concat</a>(ru, <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a>(<span class="stringliteral">"{dua dub }"</span>)); |
| | 28 | <a name="l00015"></a>00015 |
| | 29 | <a name="l00016"></a>00016 <span class="comment">// class uipmsm : public uibase{</span> |
| | 30 | <a name="l00017"></a>00017 <span class="comment">// double Rs, Ls, dt, Ypm, kp, p, J, Mz;</span> |
| | 31 | <a name="l00018"></a>00018 <span class="comment">// };</span> |
| | 32 | <a name="l00019"></a>00019 |
| | 33 | <a name="l00020"></a>00020 vec x2o_dbg(4); |
| | 34 | <a name="l00021"></a>00021 |
| | 35 | <a name="l00023"></a><a class="code" href="classIMpmsm.html">00023</a> <span class="keyword">class </span><a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a> : <span class="keyword">public</span> <a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> { |
| | 36 | <a name="l00024"></a>00024 <span class="keyword">protected</span>: |
| | 37 | <a name="l00025"></a>00025 <span class="keywordtype">double</span> Rs, Ls, dt, Ypm, kp, p, J, Mz; |
| | 38 | <a name="l00026"></a>00026 |
| | 39 | <a name="l00027"></a>00027 <span class="keyword">public</span>: |
| | 40 | <a name="l00028"></a>00028 <a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a>() :<a class="code" href="classdiffbifn.html#797772c0d5aab8ddccec19dfe4bb2d77" title="Default constructor (dimy is not set!).">diffbifn</a> (rx.<a class="code" href="classRV.html#f5c7b8bd589eef09ccdf3329a0addea0" title="Return number of scalars in the RV.">count</a>(), rx, ru ) {}; |
| | 41 | <a name="l00030"></a><a class="code" href="classIMpmsm.html#42818f3426d99fecb7e97be8ffe2e228">00030</a> <span class="keywordtype">void</span> <a class="code" href="classIMpmsm.html#42818f3426d99fecb7e97be8ffe2e228" title="Set mechanical and electrical variables.">set_parameters</a> ( <span class="keywordtype">double</span> Rs0, <span class="keywordtype">double</span> Ls0, <span class="keywordtype">double</span> dt0, <span class="keywordtype">double</span> Ypm0, <span class="keywordtype">double</span> kp0, <span class="keywordtype">double</span> p0, <span class="keywordtype">double</span> J0, <span class="keywordtype">double</span> Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;} |
| | 42 | <a name="l00031"></a>00031 |
| | 43 | <a name="l00032"></a><a class="code" href="classIMpmsm.html#45785869d978dda42828a072ec2caebe">00032</a> vec <a class="code" href="classIMpmsm.html#45785869d978dda42828a072ec2caebe" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0 ) { |
| | 44 | <a name="l00033"></a>00033 <span class="comment">// last state</span> |
| | 45 | <a name="l00034"></a>00034 <span class="keywordtype">double</span> iam = x0 ( 0 ); |
| | 46 | <a name="l00035"></a>00035 <span class="keywordtype">double</span> ibm = x0 ( 1 ); |
| | 47 | <a name="l00036"></a>00036 <span class="keywordtype">double</span> omm = x0 ( 2 ); |
| | 48 | <a name="l00037"></a>00037 <span class="keywordtype">double</span> thm = x0 ( 3 ); |
| | 49 | <a name="l00038"></a>00038 <span class="keywordtype">double</span> uam = u0 ( 0 ); |
| | 50 | <a name="l00039"></a>00039 <span class="keywordtype">double</span> ubm = u0 ( 1 ); |
| | 51 | <a name="l00040"></a>00040 |
| | 52 | <a name="l00041"></a>00041 vec xk=zeros ( 4 ); |
| | 53 | <a name="l00042"></a>00042 <span class="comment">//ia</span> |
| | 54 | <a name="l00043"></a>00043 xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
| | 55 | <a name="l00044"></a>00044 <span class="comment">//ib</span> |
| | 56 | <a name="l00045"></a>00045 xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
| | 57 | <a name="l00046"></a>00046 <span class="comment">//om</span> |
| | 58 | <a name="l00047"></a>00047 xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; |
| | 59 | <a name="l00048"></a>00048 <span class="comment">//th</span> |
| | 60 | <a name="l00049"></a>00049 xk ( 3 ) = thm + omm*dt; <span class="comment">// <0..2pi></span> |
| | 61 | <a name="l00050"></a>00050 <span class="keywordflow">if</span> ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
| | 62 | <a name="l00051"></a>00051 <span class="keywordflow">if</span> ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
| | 63 | <a name="l00052"></a>00052 <span class="keywordflow">return</span> xk; |
| | 64 | <a name="l00053"></a>00053 } |
| | 65 | <a name="l00054"></a>00054 |
| | 66 | <a name="l00055"></a><a class="code" href="classIMpmsm.html#b4378b5d3bf64c683e4cf5c5f1cd56f1">00055</a> <span class="keywordtype">void</span> <a class="code" href="classIMpmsm.html#b4378b5d3bf64c683e4cf5c5f1cd56f1" title="Evaluates and writes result into A .">dfdx_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) { |
| | 67 | <a name="l00056"></a>00056 <span class="keywordtype">double</span> iam = x0 ( 0 ); |
| | 68 | <a name="l00057"></a>00057 <span class="keywordtype">double</span> ibm = x0 ( 1 ); |
| | 69 | <a name="l00058"></a>00058 <span class="keywordtype">double</span> omm = x0 ( 2 ); |
| | 70 | <a name="l00059"></a>00059 <span class="keywordtype">double</span> thm = x0 ( 3 ); |
| | 71 | <a name="l00060"></a>00060 <span class="comment">// d ia</span> |
| | 72 | <a name="l00061"></a>00061 A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
| | 73 | <a name="l00062"></a>00062 A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
| | 74 | <a name="l00063"></a>00063 <span class="comment">// d ib</span> |
| | 75 | <a name="l00064"></a>00064 A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
| | 76 | <a name="l00065"></a>00065 A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
| | 77 | <a name="l00066"></a>00066 <span class="comment">// d om</span> |
| | 78 | <a name="l00067"></a>00067 A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
| | 79 | <a name="l00068"></a>00068 A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
| | 80 | <a name="l00069"></a>00069 A ( 2,2 ) = 1.0; |
| | 81 | <a name="l00070"></a>00070 A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
| | 82 | <a name="l00071"></a>00071 <span class="comment">// d th</span> |
| | 83 | <a name="l00072"></a>00072 A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
| | 84 | <a name="l00073"></a>00073 } |
| | 85 | <a name="l00074"></a>00074 |
| | 86 | <a name="l00075"></a><a class="code" href="classIMpmsm.html#c3f8dad22ae9855c04a1d593b45c99b5">00075</a> <span class="keywordtype">void</span> <a class="code" href="classIMpmsm.html#c3f8dad22ae9855c04a1d593b45c99b5" title="Evaluates and writes result into A .">dfdu_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {it_error ( <span class="stringliteral">"not needed"</span> );}; |
| | 87 | <a name="l00076"></a>00076 |
| | 88 | <a name="l00077"></a>00077 }; |
| | 89 | <a name="l00078"></a>00078 |
| | 90 | <a name="l00080"></a><a class="code" href="classIMpmsm2o.html">00080</a> <span class="keyword">class </span><a class="code" href="classIMpmsm2o.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm2o</a> : <span class="keyword">public</span> <a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> { |
| | 91 | <a name="l00081"></a>00081 <span class="keyword">protected</span>: |
| | 92 | <a name="l00082"></a>00082 <span class="keywordtype">double</span> Rs, Ls, dt, Ypm, kp, p, J, Mz; |
| | 93 | <a name="l00083"></a>00083 |
| | 94 | <a name="l00084"></a>00084 <span class="keyword">public</span>: |
| | 95 | <a name="l00085"></a>00085 <a class="code" href="classIMpmsm2o.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm2o</a>() :<a class="code" href="classdiffbifn.html#797772c0d5aab8ddccec19dfe4bb2d77" title="Default constructor (dimy is not set!).">diffbifn</a> (rx.<a class="code" href="classRV.html#f5c7b8bd589eef09ccdf3329a0addea0" title="Return number of scalars in the RV.">count</a>(), rx, rU ) {}; |
| | 96 | <a name="l00087"></a><a class="code" href="classIMpmsm2o.html#abdefc0467678a05abf12f5c77eaf49d">00087</a> <span class="keywordtype">void</span> <a class="code" href="classIMpmsm2o.html#abdefc0467678a05abf12f5c77eaf49d" title="Set mechanical and electrical variables.">set_parameters</a> ( <span class="keywordtype">double</span> Rs0, <span class="keywordtype">double</span> Ls0, <span class="keywordtype">double</span> dt0, <span class="keywordtype">double</span> Ypm0, <span class="keywordtype">double</span> kp0, <span class="keywordtype">double</span> p0, <span class="keywordtype">double</span> J0, <span class="keywordtype">double</span> Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;} |
| | 97 | <a name="l00088"></a>00088 |
| | 98 | <a name="l00089"></a><a class="code" href="classIMpmsm2o.html#86e04b5118e567ea7a2540059f553f41">00089</a> vec <a class="code" href="classIMpmsm2o.html#86e04b5118e567ea7a2540059f553f41" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0 ) { |
| | 99 | <a name="l00090"></a>00090 <span class="comment">// last state</span> |
| | 100 | <a name="l00091"></a>00091 <span class="keywordtype">double</span> iam = x0 ( 0 ); |
| | 101 | <a name="l00092"></a>00092 <span class="keywordtype">double</span> ibm = x0 ( 1 ); |
| | 102 | <a name="l00093"></a>00093 <span class="keywordtype">double</span> omm = x0 ( 2 ); |
| | 103 | <a name="l00094"></a>00094 <span class="keywordtype">double</span> thm = x0 ( 3 ); |
| | 104 | <a name="l00095"></a>00095 <span class="keywordtype">double</span> uam = u0 ( 0 ); |
| | 105 | <a name="l00096"></a>00096 <span class="keywordtype">double</span> ubm = u0 ( 1 ); |
| | 106 | <a name="l00097"></a>00097 <span class="keywordtype">double</span> dua = u0 ( 2 )/dt; |
| | 107 | <a name="l00098"></a>00098 <span class="keywordtype">double</span> dub = u0 ( 3 )/dt; |
| | 108 | <a name="l00099"></a>00099 |
| | 109 | <a name="l00100"></a>00100 <span class="keywordtype">double</span> cth = cos(thm); |
| | 110 | <a name="l00101"></a>00101 <span class="keywordtype">double</span> sth = sin(thm); |
| | 111 | <a name="l00102"></a>00102 <span class="keywordtype">double</span> d2t = dt*dt/2; |
| | 112 | <a name="l00103"></a>00103 |
| | 113 | <a name="l00104"></a>00104 <span class="keywordtype">double</span> dia = (- Rs/Ls*iam + Ypm/Ls*omm * sth + uam/Ls); |
| | 114 | <a name="l00105"></a>00105 <span class="keywordtype">double</span> dib = (- Rs/Ls*ibm - Ypm/Ls*omm * cth + ubm/Ls); |
| | 115 | <a name="l00106"></a>00106 <span class="keywordtype">double</span> dom = kp*p*p * Ypm/J *( ibm * cth-iam * sth ) - p/J*Mz; |
| | 116 | <a name="l00107"></a>00107 <span class="keywordtype">double</span> dth = omm; |
| | 117 | <a name="l00108"></a>00108 |
| | 118 | <a name="l00109"></a>00109 <span class="keywordtype">double</span> d2ia = (- Rs/Ls*dia + Ypm/Ls*(dom * sth + omm*cth) + dua/Ls); |
| | 119 | <a name="l00110"></a>00110 <span class="keywordtype">double</span> d2ib = (- Rs/Ls*dib - Ypm/Ls*(dom * cth - omm*sth) + dub/Ls); |
| | 120 | <a name="l00111"></a>00111 <span class="keywordtype">double</span> d2om = kp*p*p * Ypm/J *( dib * cth-ibm*sth - (dia * sth + iam *cth)); |
| | 121 | <a name="l00112"></a>00112 <span class="keywordtype">double</span> d2th = dom; |
| | 122 | <a name="l00113"></a>00113 |
| | 123 | <a name="l00114"></a>00114 vec xk=zeros ( 4 ); |
| | 124 | <a name="l00115"></a>00115 xk ( 0 ) = iam + dt*dia;<span class="comment">// +d2t*d2ia;</span> |
| | 125 | <a name="l00116"></a>00116 xk ( 1 ) = ibm + dt*dib;<span class="comment">// +d2t*d2ib;</span> |
| | 126 | <a name="l00117"></a>00117 xk ( 2 ) = omm +dt*dom;<span class="comment">// +d2t*d2om;</span> |
| | 127 | <a name="l00118"></a>00118 xk ( 3 ) = thm + dt*dth;<span class="comment">// +d2t*d2th; // <0..2pi></span> |
| | 128 | <a name="l00119"></a>00119 |
| | 129 | <a name="l00120"></a>00120 x2o_dbg(0)=d2t*d2ia; |
| | 130 | <a name="l00121"></a>00121 x2o_dbg(1)=d2t*d2ib; |
| | 131 | <a name="l00122"></a>00122 x2o_dbg(2)=d2t*d2om; |
| | 132 | <a name="l00123"></a>00123 x2o_dbg(3)=d2t*d2th; |
| | 133 | <a name="l00124"></a>00124 |
| | 134 | <a name="l00125"></a>00125 <span class="keywordflow">if</span> ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi; |
| | 135 | <a name="l00126"></a>00126 <span class="keywordflow">if</span> ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi; |
| | 136 | <a name="l00127"></a>00127 <span class="keywordflow">return</span> xk; |
| | 137 | <a name="l00128"></a>00128 } |
| | 138 | <a name="l00129"></a>00129 |
| | 139 | <a name="l00130"></a><a class="code" href="classIMpmsm2o.html#0a3e125df1e53821e08accbd4960d713">00130</a> <span class="keywordtype">void</span> <a class="code" href="classIMpmsm2o.html#0a3e125df1e53821e08accbd4960d713" title="Evaluates and writes result into A .">dfdx_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) { |
| | 140 | <a name="l00131"></a>00131 <span class="keywordtype">double</span> iam = x0 ( 0 ); |
| | 141 | <a name="l00132"></a>00132 <span class="keywordtype">double</span> ibm = x0 ( 1 ); |
| | 142 | <a name="l00133"></a>00133 <span class="keywordtype">double</span> omm = x0 ( 2 ); |
| | 143 | <a name="l00134"></a>00134 <span class="keywordtype">double</span> thm = x0 ( 3 ); |
| | 144 | <a name="l00135"></a>00135 <span class="comment">// d ia</span> |
| | 145 | <a name="l00136"></a>00136 A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
| | 146 | <a name="l00137"></a>00137 A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
| | 147 | <a name="l00138"></a>00138 <span class="comment">// d ib</span> |
| | 148 | <a name="l00139"></a>00139 A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
| | 149 | <a name="l00140"></a>00140 A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
| | 150 | <a name="l00141"></a>00141 <span class="comment">// d om</span> |
| | 151 | <a name="l00142"></a>00142 A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); |
| | 152 | <a name="l00143"></a>00143 A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); |
| | 153 | <a name="l00144"></a>00144 A ( 2,2 ) = 1.0; |
| | 154 | <a name="l00145"></a>00145 A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); |
| | 155 | <a name="l00146"></a>00146 <span class="comment">// d th</span> |
| | 156 | <a name="l00147"></a>00147 A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
| | 157 | <a name="l00148"></a>00148 } |
| | 158 | <a name="l00149"></a>00149 |
| | 159 | <a name="l00150"></a><a class="code" href="classIMpmsm2o.html#27f9d89bce832056f747d985df77a726">00150</a> <span class="keywordtype">void</span> <a class="code" href="classIMpmsm2o.html#27f9d89bce832056f747d985df77a726" title="Evaluates and writes result into A .">dfdu_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {it_error ( <span class="stringliteral">"not needed"</span> );}; |
| | 160 | <a name="l00151"></a>00151 |
| | 161 | <a name="l00152"></a>00152 }; |
| | 162 | <a name="l00153"></a>00153 |
| | 163 | <a name="l00155"></a><a class="code" href="classIMpmsmStat.html">00155</a> <span class="keyword">class </span><a class="code" href="classIMpmsmStat.html" title="State evolution model for a PMSM drive and its derivative with respect to , equation...">IMpmsmStat</a> : <span class="keyword">public</span> <a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a> { |
| | 164 | <a name="l00156"></a>00156 <a class="code" href="classIMpmsmStat.html" title="State evolution model for a PMSM drive and its derivative with respect to , equation...">IMpmsmStat</a>() :<a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm</a>() {}; |
| | 165 | <a name="l00158"></a>00158 <span class="keywordtype">void</span> set_parameters ( <span class="keywordtype">double</span> Rs0, <span class="keywordtype">double</span> Ls0, <span class="keywordtype">double</span> dt0, <span class="keywordtype">double</span> Ypm0, <span class="keywordtype">double</span> kp0, <span class="keywordtype">double</span> p0, <span class="keywordtype">double</span> J0, <span class="keywordtype">double</span> Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;} |
| | 166 | <a name="l00159"></a>00159 |
| | 167 | <a name="l00160"></a>00160 vec eval ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0 ) { |
| | 168 | <a name="l00161"></a>00161 <span class="comment">// last state</span> |
| | 169 | <a name="l00162"></a>00162 <span class="keywordtype">double</span> iam = x0 ( 0 ); |
| | 170 | <a name="l00163"></a>00163 <span class="keywordtype">double</span> ibm = x0 ( 1 ); |
| | 171 | <a name="l00164"></a>00164 <span class="keywordtype">double</span> omm = x0 ( 2 ); |
| | 172 | <a name="l00165"></a>00165 <span class="keywordtype">double</span> thm = x0 ( 3 ); |
| | 173 | <a name="l00166"></a>00166 <span class="keywordtype">double</span> uam = u0 ( 0 ); |
| | 174 | <a name="l00167"></a>00167 <span class="keywordtype">double</span> ubm = u0 ( 1 ); |
| | 175 | <a name="l00168"></a>00168 |
| | 176 | <a name="l00169"></a>00169 vec xk=zeros ( 4 ); |
| | 177 | <a name="l00170"></a>00170 <span class="comment">//ia</span> |
| | 178 | <a name="l00171"></a>00171 xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; |
| | 179 | <a name="l00172"></a>00172 <span class="comment">//ib</span> |
| | 180 | <a name="l00173"></a>00173 xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; |
| | 181 | <a name="l00174"></a>00174 <span class="comment">//om</span> |
| | 182 | <a name="l00175"></a>00175 xk ( 2 ) = omm;<span class="comment">// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz;</span> |
| | 183 | <a name="l00176"></a>00176 <span class="comment">//th</span> |
| | 184 | <a name="l00177"></a>00177 xk ( 3 ) = rem(thm + omm*dt,2*pi); <span class="comment">// <0..2pi></span> |
| | 185 | <a name="l00178"></a>00178 <span class="keywordflow">return</span> xk; |
| | 186 | <a name="l00179"></a>00179 } |
| | 187 | <a name="l00180"></a>00180 |
| | 188 | <a name="l00181"></a>00181 <span class="keywordtype">void</span> dfdx_cond ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) { |
| | 189 | <a name="l00182"></a>00182 <span class="comment">// double iam = x0 ( 0 );</span> |
| | 190 | <a name="l00183"></a>00183 <span class="comment">// double ibm = x0 ( 1 );</span> |
| | 191 | <a name="l00184"></a>00184 <span class="keywordtype">double</span> omm = x0 ( 2 ); |
| | 192 | <a name="l00185"></a>00185 <span class="keywordtype">double</span> thm = x0 ( 3 ); |
| | 193 | <a name="l00186"></a>00186 <span class="comment">// d ia</span> |
| | 194 | <a name="l00187"></a>00187 A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; |
| | 195 | <a name="l00188"></a>00188 A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); |
| | 196 | <a name="l00189"></a>00189 <span class="comment">// d ib</span> |
| | 197 | <a name="l00190"></a>00190 A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); |
| | 198 | <a name="l00191"></a>00191 A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); |
| | 199 | <a name="l00192"></a>00192 <span class="comment">// d om</span> |
| | 200 | <a name="l00193"></a>00193 A ( 2,0 ) = 0.0;<span class="comment">//kp*p*p * Ypm/J*dt* ( - sin ( thm ) );</span> |
| | 201 | <a name="l00194"></a>00194 A ( 2,1 ) = 0.0;<span class="comment">//kp*p*p * Ypm/J*dt* ( cos ( thm ) );</span> |
| | 202 | <a name="l00195"></a>00195 A ( 2,2 ) = 1.0; |
| | 203 | <a name="l00196"></a>00196 A ( 2,3 ) = 0.0;<span class="comment">//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );</span> |
| | 204 | <a name="l00197"></a>00197 <span class="comment">// d th</span> |
| | 205 | <a name="l00198"></a>00198 A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; |
| | 206 | <a name="l00199"></a>00199 } |
| | 207 | <a name="l00200"></a>00200 |
| | 208 | <a name="l00201"></a>00201 <span class="keywordtype">void</span> dfdu_cond ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {it_error ( <span class="stringliteral">"not needed"</span> );}; |
| | 209 | <a name="l00202"></a>00202 |
| | 210 | <a name="l00203"></a>00203 }; |
| | 211 | <a name="l00204"></a>00204 |
| | 212 | <a name="l00206"></a><a class="code" href="classOMpmsm.html">00206</a> <span class="keyword">class </span><a class="code" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</a>: <span class="keyword">public</span> <a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> { |
| | 213 | <a name="l00207"></a>00207 <span class="keyword">public</span>: |
| | 214 | <a name="l00208"></a>00208 <a class="code" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</a>() :<a class="code" href="classdiffbifn.html#797772c0d5aab8ddccec19dfe4bb2d77" title="Default constructor (dimy is not set!).">diffbifn</a> (2, rx,ru ) {}; |
| | 215 | <a name="l00209"></a>00209 |
| | 216 | <a name="l00210"></a><a class="code" href="classOMpmsm.html#8e32392c9c635584606287b8c0e8c9da">00210</a> vec <a class="code" href="classOMpmsm.html#8e32392c9c635584606287b8c0e8c9da" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0 ) { |
| | 217 | <a name="l00211"></a>00211 vec y ( 2 ); |
| | 218 | <a name="l00212"></a>00212 y ( 0 ) = x0 ( 0 ); |
| | 219 | <a name="l00213"></a>00213 y ( 1 ) = x0 ( 1 ); |
| | 220 | <a name="l00214"></a>00214 <span class="keywordflow">return</span> y; |
| | 221 | <a name="l00215"></a>00215 } |
| | 222 | <a name="l00216"></a>00216 |
| | 223 | <a name="l00217"></a><a class="code" href="classOMpmsm.html#b75b5fd55b2ac5ed74b5b953af122821">00217</a> <span class="keywordtype">void</span> <a class="code" href="classOMpmsm.html#b75b5fd55b2ac5ed74b5b953af122821" title="Evaluates and writes result into A .">dfdx_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) { |
| | 224 | <a name="l00218"></a>00218 A.clear(); |
| | 225 | <a name="l00219"></a>00219 A ( 0,0 ) = 1.0; |
| | 226 | <a name="l00220"></a>00220 A ( 1,1 ) = 1.0; |
| | 227 | <a name="l00221"></a>00221 } |
| | 228 | <a name="l00222"></a>00222 }; |
| | 229 | <a name="l00223"></a>00223 |
| | 230 | <a name="l00225"></a>00225 <span class="preprocessor">#endif //PMSM_H</span> |
