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01/28/09 10:01:09 (16 years ago)
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  • doc/html/pmsm_8h-source.html

    r234 r255  
    2121<a name="l00004"></a>00004 <span class="preprocessor">#include &lt;stat/libFN.h&gt;</span> 
    2222<a name="l00005"></a>00005  
    23 <a name="l00010"></a>00010 <span class="comment">//TODO hardcoded RVs!!!</span> 
    24 <a name="l00011"></a>00011 <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> rx ( <span class="stringliteral">"{ia ib om th }"</span>); 
    25 <a name="l00012"></a>00012 <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> ru ( <span class="stringliteral">"{ua ub }"</span>); 
    26 <a name="l00013"></a>00013 <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> ry ( <span class="stringliteral">"{oia oib }"</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 &amp;x0, <span class="keyword">const</span> vec &amp;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">// &lt;0..2pi&gt;</span> 
    61 <a name="l00050"></a>00050                 <span class="keywordflow">if</span> ( xk ( 3 ) &gt;pi ) xk ( 3 )-=2*pi; 
    62 <a name="l00051"></a>00051                 <span class="keywordflow">if</span> ( xk ( 3 ) &lt;-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 &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;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 &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;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 &amp;x0, <span class="keyword">const</span> vec &amp;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; 
     23<a name="l00010"></a>00010 <span class="keyword">using namespace </span>bdm; 
     24<a name="l00011"></a>00011  
     25<a name="l00012"></a>00012 <span class="comment">//TODO hardcoded RVs!!!</span> 
     26<a name="l00013"></a>00013 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> rx ( <span class="stringliteral">"{ia ib om th }"</span>); 
     27<a name="l00014"></a>00014 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> ru ( <span class="stringliteral">"{ua ub }"</span>); 
     28<a name="l00015"></a>00015 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> ry ( <span class="stringliteral">"{oia oib }"</span>); 
     29<a name="l00016"></a>00016  
     30<a name="l00017"></a>00017 <span class="comment">// class uipmsm : public uibase{</span> 
     31<a name="l00018"></a>00018 <span class="comment">//      double Rs, Ls, dt, Ypm, kp, p,  J, Mz;</span> 
     32<a name="l00019"></a>00019 <span class="comment">// };</span> 
     33<a name="l00020"></a>00020  
     34<a name="l00022"></a><a class="code" href="classIMpmsm.html">00022</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="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> { 
     35<a name="l00023"></a>00023 <span class="keyword">protected</span>: 
     36<a name="l00024"></a>00024         <span class="keywordtype">double</span> Rs, Ls, dt, Ypm, kp, p,  J, Mz; 
     37<a name="l00025"></a>00025  
     38<a name="l00026"></a>00026 <span class="keyword">public</span>: 
     39<a name="l00027"></a>00027         <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="classbdm_1_1diffbifn.html#6ecfa9bf42b2421bd56c260a8b2c51e1" title="Default constructor (dimy is not set!).">diffbifn</a> (rx.<a class="code" href="classbdm_1_1RV.html#2174751a00ce19f941edd2c1a861be67" title="Return number of scalars in the RV.">count</a>(), rx, ru ) {}; 
     40<a name="l00029"></a><a class="code" href="classIMpmsm.html#42818f3426d99fecb7e97be8ffe2e228">00029</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;} 
     41<a name="l00030"></a>00030  
     42<a name="l00031"></a><a class="code" href="classIMpmsm.html#45785869d978dda42828a072ec2caebe">00031</a>         vec <a class="code" href="classIMpmsm.html#45785869d978dda42828a072ec2caebe" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0 ) { 
     43<a name="l00032"></a>00032                 <span class="comment">// last state</span> 
     44<a name="l00033"></a>00033                 <span class="keywordtype">double</span> iam = x0 ( 0 ); 
     45<a name="l00034"></a>00034                 <span class="keywordtype">double</span> ibm = x0 ( 1 ); 
     46<a name="l00035"></a>00035                 <span class="keywordtype">double</span> omm = x0 ( 2 ); 
     47<a name="l00036"></a>00036                 <span class="keywordtype">double</span> thm = x0 ( 3 ); 
     48<a name="l00037"></a>00037                 <span class="keywordtype">double</span> uam = u0 ( 0 ); 
     49<a name="l00038"></a>00038                 <span class="keywordtype">double</span> ubm = u0 ( 1 ); 
     50<a name="l00039"></a>00039  
     51<a name="l00040"></a>00040                 vec xk=zeros ( 4 ); 
     52<a name="l00041"></a>00041                 <span class="comment">//ia</span> 
     53<a name="l00042"></a>00042                 xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; 
     54<a name="l00043"></a>00043                 <span class="comment">//ib</span> 
     55<a name="l00044"></a>00044                 xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; 
     56<a name="l00045"></a>00045                 <span class="comment">//om</span> 
     57<a name="l00046"></a>00046                 xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz; 
     58<a name="l00047"></a>00047                 <span class="comment">//th</span> 
     59<a name="l00048"></a>00048                 xk ( 3 ) = thm + omm*dt; <span class="comment">// &lt;0..2pi&gt;</span> 
     60<a name="l00049"></a>00049                 <span class="keywordflow">if</span> ( xk ( 3 ) &gt;pi ) xk ( 3 )-=2*pi; 
     61<a name="l00050"></a>00050                 <span class="keywordflow">if</span> ( xk ( 3 ) &lt;-pi ) xk ( 3 ) +=2*pi; 
     62<a name="l00051"></a>00051                 <span class="keywordflow">return</span> xk; 
     63<a name="l00052"></a>00052         } 
     64<a name="l00053"></a>00053  
     65<a name="l00054"></a><a class="code" href="classIMpmsm.html#b4378b5d3bf64c683e4cf5c5f1cd56f1">00054</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 &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) { 
     66<a name="l00055"></a>00055                 <span class="keywordtype">double</span> iam = x0 ( 0 ); 
     67<a name="l00056"></a>00056                 <span class="keywordtype">double</span> ibm = x0 ( 1 ); 
     68<a name="l00057"></a>00057                 <span class="keywordtype">double</span> omm = x0 ( 2 ); 
     69<a name="l00058"></a>00058                 <span class="keywordtype">double</span> thm = x0 ( 3 ); 
     70<a name="l00059"></a>00059                 <span class="comment">// d ia</span> 
     71<a name="l00060"></a>00060                 A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; 
     72<a name="l00061"></a>00061                 A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); 
     73<a name="l00062"></a>00062                 <span class="comment">// d ib</span> 
     74<a name="l00063"></a>00063                 A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); 
     75<a name="l00064"></a>00064                 A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); 
     76<a name="l00065"></a>00065                 <span class="comment">// d om</span> 
     77<a name="l00066"></a>00066                 A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); 
     78<a name="l00067"></a>00067                 A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); 
     79<a name="l00068"></a>00068                 A ( 2,2 ) = 1.0; 
     80<a name="l00069"></a>00069                 A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); 
     81<a name="l00070"></a>00070                 <span class="comment">// d th</span> 
     82<a name="l00071"></a>00071                 A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; 
     83<a name="l00072"></a>00072         } 
     84<a name="l00073"></a>00073  
     85<a name="l00074"></a><a class="code" href="classIMpmsm.html#c3f8dad22ae9855c04a1d593b45c99b5">00074</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 &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {it_error ( <span class="stringliteral">"not needed"</span> );}; 
     86<a name="l00075"></a>00075  
     87<a name="l00076"></a>00076 }; 
     88<a name="l00077"></a>00077  
     89<a name="l00079"></a><a class="code" href="classIMpmsm2o.html">00079</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="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> { 
     90<a name="l00080"></a>00080         <span class="keyword">protected</span>: 
     91<a name="l00081"></a>00081                 <span class="keywordtype">double</span> Rs, Ls, dt, Ypm, kp, p,  J, Mz; 
     92<a name="l00083"></a><a class="code" href="classIMpmsm2o.html#5b668744a1e5189f324897a62b9c3ea6">00083</a>                 <span class="keywordtype">double</span> <a class="code" href="classIMpmsm2o.html#5b668744a1e5189f324897a62b9c3ea6" title="store first derivatives for the use in second derivatives">dia</a>, dib, dom, dth; 
     93<a name="l00085"></a><a class="code" href="classIMpmsm2o.html#74954dedce055db9ee50d53790e8341c">00085</a>                 <span class="keywordtype">double</span> <a class="code" href="classIMpmsm2o.html#74954dedce055db9ee50d53790e8341c" title="d2t = dt^2/2, cth = cos(th), sth=sin(th)">d2t</a>, cth, sth; 
     94<a name="l00086"></a>00086                 <span class="keywordtype">double</span> iam, ibm, omm, thm, uam, ubm; 
     95<a name="l00087"></a>00087         <span class="keyword">public</span>: 
     96<a name="l00088"></a>00088                 <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="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> (rx.count(), rx, ru ) {}; 
     97<a name="l00090"></a><a class="code" href="classIMpmsm2o.html#abdefc0467678a05abf12f5c77eaf49d">00090</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; <a class="code" href="classIMpmsm2o.html#74954dedce055db9ee50d53790e8341c" title="d2t = dt^2/2, cth = cos(th), sth=sin(th)">d2t</a>=dt*dt/2;} 
     98<a name="l00091"></a>00091  
     99<a name="l00092"></a><a class="code" href="classIMpmsm2o.html#86e04b5118e567ea7a2540059f553f41">00092</a>                 vec <a class="code" href="classIMpmsm2o.html#86e04b5118e567ea7a2540059f553f41" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0 ) { 
     100<a name="l00093"></a>00093                 <span class="comment">// last state</span> 
     101<a name="l00094"></a>00094                         iam = x0 ( 0 ); 
     102<a name="l00095"></a>00095                         ibm = x0 ( 1 ); 
     103<a name="l00096"></a>00096                         omm = x0 ( 2 ); 
     104<a name="l00097"></a>00097                         thm = x0 ( 3 ); 
     105<a name="l00098"></a>00098                         uam = u0 ( 0 ); 
     106<a name="l00099"></a>00099                         ubm = u0 ( 1 ); 
     107<a name="l00100"></a>00100  
     108<a name="l00101"></a>00101                         cth = cos(thm); 
     109<a name="l00102"></a>00102                         sth = sin(thm); 
    112110<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; // &lt;0..2pi&gt;</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; 
     111<a name="l00104"></a>00104                         <a class="code" href="classIMpmsm2o.html#5b668744a1e5189f324897a62b9c3ea6" title="store first derivatives for the use in second derivatives">dia</a> = (- Rs/Ls*iam +  Ypm/Ls*omm * sth + uam/Ls); 
     112<a name="l00105"></a>00105                         dib = (- Rs/Ls*ibm -  Ypm/Ls*omm * cth + ubm/Ls); 
     113<a name="l00106"></a>00106                         dom = kp*p*p * Ypm/J *( ibm * cth-iam * sth ) - p/J*Mz; 
     114<a name="l00107"></a>00107                         dth = omm; 
     115<a name="l00108"></a>00108                                                  
     116<a name="l00109"></a>00109                         vec xk=zeros ( 4 ); 
     117<a name="l00110"></a>00110                         xk ( 0 ) =  iam + dt*<a class="code" href="classIMpmsm2o.html#5b668744a1e5189f324897a62b9c3ea6" title="store first derivatives for the use in second derivatives">dia</a>;<span class="comment">// +d2t*d2ia;</span> 
     118<a name="l00111"></a>00111                         xk ( 1 ) = ibm + dt*dib;<span class="comment">// +d2t*d2ib;</span> 
     119<a name="l00112"></a>00112                         xk ( 2 ) = omm +dt*dom;<span class="comment">// +d2t*d2om;</span> 
     120<a name="l00113"></a>00113                         xk ( 3 ) = thm + dt*dth;<span class="comment">// +d2t*d2th; // &lt;0..2pi&gt;</span> 
     121<a name="l00114"></a>00114                          
     122<a name="l00115"></a>00115                         <span class="keywordflow">if</span> ( xk ( 3 ) &gt;pi ) xk ( 3 )-=2*pi; 
     123<a name="l00116"></a>00116                         <span class="keywordflow">if</span> ( xk ( 3 ) &lt;-pi ) xk ( 3 ) +=2*pi; 
     124<a name="l00117"></a>00117                         <span class="keywordflow">return</span> xk; 
     125<a name="l00118"></a>00118                 } 
     126<a name="l00119"></a>00119  
     127<a name="l00121"></a><a class="code" href="classIMpmsm2o.html#cf66e75d9e532b0a1c2135b34ac57c89">00121</a>                 vec <a class="code" href="classIMpmsm2o.html#cf66e75d9e532b0a1c2135b34ac57c89" title="eval 2nd order Taylor expansion, MUST be used only as a follow up AFTER eval()!!">eval2o</a>(<span class="keyword">const</span> vec &amp;du){ 
     128<a name="l00122"></a>00122                         <span class="keywordtype">double</span> dua = du ( 0 )/dt; 
     129<a name="l00123"></a>00123                         <span class="keywordtype">double</span> dub = du ( 1 )/dt; 
    133130<a name="l00124"></a>00124                          
    134 <a name="l00125"></a>00125                         <span class="keywordflow">if</span> ( xk ( 3 ) &gt;pi ) xk ( 3 )-=2*pi; 
    135 <a name="l00126"></a>00126                         <span class="keywordflow">if</span> ( xk ( 3 ) &lt;-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 &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;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 &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {it_error ( <span class="stringliteral">"not needed"</span> );}; 
     131<a name="l00125"></a>00125                         vec xth2o(4); 
     132<a name="l00126"></a>00126                         xth2o(0) = (- Rs/Ls*<a class="code" href="classIMpmsm2o.html#5b668744a1e5189f324897a62b9c3ea6" title="store first derivatives for the use in second derivatives">dia</a> +  Ypm/Ls*(dom * sth + omm*cth) + dua/Ls); 
     133<a name="l00127"></a>00127                         xth2o(1) = (- Rs/Ls*dib -  Ypm/Ls*(dom * cth - omm*sth) + dub/Ls); 
     134<a name="l00128"></a>00128                         xth2o(2) = kp*p*p * Ypm/J *( dib * cth-ibm*sth - (<a class="code" href="classIMpmsm2o.html#5b668744a1e5189f324897a62b9c3ea6" title="store first derivatives for the use in second derivatives">dia</a> * sth + iam *cth)); 
     135<a name="l00129"></a>00129                         xth2o(3) = dom; 
     136<a name="l00130"></a>00130                         <span class="keywordflow">return</span> xth2o; 
     137<a name="l00131"></a>00131                 } 
     138<a name="l00132"></a><a class="code" href="classIMpmsm2o.html#0a3e125df1e53821e08accbd4960d713">00132</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 &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) { 
     139<a name="l00133"></a>00133                          iam = x0 ( 0 ); 
     140<a name="l00134"></a>00134                          ibm = x0 ( 1 ); 
     141<a name="l00135"></a>00135                          omm = x0 ( 2 ); 
     142<a name="l00136"></a>00136                          thm = x0 ( 3 ); 
     143<a name="l00137"></a>00137                 <span class="comment">// d ia</span> 
     144<a name="l00138"></a>00138                         A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; 
     145<a name="l00139"></a>00139                         A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); 
     146<a name="l00140"></a>00140                 <span class="comment">// d ib</span> 
     147<a name="l00141"></a>00141                         A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); 
     148<a name="l00142"></a>00142                         A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); 
     149<a name="l00143"></a>00143                 <span class="comment">// d om</span> 
     150<a name="l00144"></a>00144                         A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) ); 
     151<a name="l00145"></a>00145                         A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) ); 
     152<a name="l00146"></a>00146                         A ( 2,2 ) = 1.0; 
     153<a name="l00147"></a>00147                         A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) ); 
     154<a name="l00148"></a>00148                 <span class="comment">// d th</span> 
     155<a name="l00149"></a>00149                         A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; 
     156<a name="l00150"></a>00150                 } 
    160157<a name="l00151"></a>00151  
    161 <a name="l00152"></a>00152 }; 
     158<a name="l00152"></a><a class="code" href="classIMpmsm2o.html#27f9d89bce832056f747d985df77a726">00152</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 &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {it_error ( <span class="stringliteral">"not needed"</span> );}; 
    162159<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 &amp;x0, <span class="keyword">const</span> vec &amp;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">// &lt;0..2pi&gt;</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 &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;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 &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;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 &amp;x0, <span class="keyword">const</span> vec &amp;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 &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;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> 
     160<a name="l00154"></a>00154 }; 
     161<a name="l00155"></a>00155  
     162<a name="l00157"></a><a class="code" href="classIMpmsmStat.html">00157</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> { 
     163<a name="l00158"></a>00158         <span class="keyword">public</span>: 
     164<a name="l00159"></a>00159         <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="l00161"></a><a class="code" href="classIMpmsmStat.html#6379210623a2d353d42bfc87ccbd4384">00161</a>         <span class="keywordtype">void</span> <a class="code" href="classIMpmsmStat.html#6379210623a2d353d42bfc87ccbd4384" 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;} 
     166<a name="l00162"></a>00162  
     167<a name="l00163"></a><a class="code" href="classIMpmsmStat.html#5ed3582c2c0edb0753387a82598f8d21">00163</a>         vec <a class="code" href="classIMpmsmStat.html#5ed3582c2c0edb0753387a82598f8d21" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0 ) { 
     168<a name="l00164"></a>00164                 <span class="comment">// last state</span> 
     169<a name="l00165"></a>00165                 <span class="keywordtype">double</span> iam = x0 ( 0 ); 
     170<a name="l00166"></a>00166                 <span class="keywordtype">double</span> ibm = x0 ( 1 ); 
     171<a name="l00167"></a>00167                 <span class="keywordtype">double</span> omm = x0 ( 2 ); 
     172<a name="l00168"></a>00168                 <span class="keywordtype">double</span> thm = x0 ( 3 ); 
     173<a name="l00169"></a>00169                 <span class="keywordtype">double</span> uam = u0 ( 0 ); 
     174<a name="l00170"></a>00170                 <span class="keywordtype">double</span> ubm = u0 ( 1 ); 
     175<a name="l00171"></a>00171  
     176<a name="l00172"></a>00172                 vec xk=zeros ( 4 ); 
     177<a name="l00173"></a>00173                 <span class="comment">//ia</span> 
     178<a name="l00174"></a>00174                 xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls; 
     179<a name="l00175"></a>00175                 <span class="comment">//ib</span> 
     180<a name="l00176"></a>00176                 xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls; 
     181<a name="l00177"></a>00177                 <span class="comment">//om</span> 
     182<a name="l00178"></a>00178                 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="l00179"></a>00179                 <span class="comment">//th</span> 
     184<a name="l00180"></a>00180                 xk ( 3 ) = rem(thm + omm*dt,2*pi); <span class="comment">// &lt;0..2pi&gt;</span> 
     185<a name="l00181"></a>00181                 <span class="keywordflow">return</span> xk; 
     186<a name="l00182"></a>00182         } 
     187<a name="l00183"></a>00183  
     188<a name="l00184"></a><a class="code" href="classIMpmsmStat.html#29a9c09fd328e89748d9be0801e84831">00184</a>         <span class="keywordtype">void</span> <a class="code" href="classIMpmsmStat.html#29a9c09fd328e89748d9be0801e84831" title="Evaluates  and writes result into A .">dfdx_cond</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) { 
     189<a name="l00185"></a>00185 <span class="comment">//              double iam = x0 ( 0 );</span> 
     190<a name="l00186"></a>00186 <span class="comment">//              double ibm = x0 ( 1 );</span> 
     191<a name="l00187"></a>00187                 <span class="keywordtype">double</span> omm = x0 ( 2 ); 
     192<a name="l00188"></a>00188                 <span class="keywordtype">double</span> thm = x0 ( 3 ); 
     193<a name="l00189"></a>00189                 <span class="comment">// d ia</span> 
     194<a name="l00190"></a>00190                 A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0; 
     195<a name="l00191"></a>00191                 A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) ); 
     196<a name="l00192"></a>00192                 <span class="comment">// d ib</span> 
     197<a name="l00193"></a>00193                 A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt ); 
     198<a name="l00194"></a>00194                 A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) ); 
     199<a name="l00195"></a>00195                 <span class="comment">// d om</span> 
     200<a name="l00196"></a>00196                 A ( 2,0 ) = 0.0;<span class="comment">//kp*p*p * Ypm/J*dt* ( - sin ( thm ) );</span> 
     201<a name="l00197"></a>00197                 A ( 2,1 ) = 0.0;<span class="comment">//kp*p*p * Ypm/J*dt* ( cos ( thm ) );</span> 
     202<a name="l00198"></a>00198                 A ( 2,2 ) = 1.0; 
     203<a name="l00199"></a>00199                 A ( 2,3 ) = 0.0;<span class="comment">//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );</span> 
     204<a name="l00200"></a>00200                 <span class="comment">// d th</span> 
     205<a name="l00201"></a>00201                 A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0; 
     206<a name="l00202"></a>00202         } 
     207<a name="l00203"></a>00203  
     208<a name="l00204"></a><a class="code" href="classIMpmsmStat.html#ff740ee20100ae2a2d03a2538638f8e8">00204</a>         <span class="keywordtype">void</span> <a class="code" href="classIMpmsmStat.html#ff740ee20100ae2a2d03a2538638f8e8" title="Evaluates  and writes result into A .">dfdu_cond</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {it_error ( <span class="stringliteral">"not needed"</span> );}; 
     209<a name="l00205"></a>00205  
     210<a name="l00206"></a>00206 }; 
     211<a name="l00207"></a>00207  
     212<a name="l00209"></a><a class="code" href="classOMpmsm.html">00209</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="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> { 
     213<a name="l00210"></a>00210 <span class="keyword">public</span>: 
     214<a name="l00211"></a>00211         <a class="code" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</a>() :<a class="code" href="classbdm_1_1diffbifn.html#6ecfa9bf42b2421bd56c260a8b2c51e1" title="Default constructor (dimy is not set!).">diffbifn</a> (2, rx,ru ) {}; 
     215<a name="l00212"></a>00212  
     216<a name="l00213"></a><a class="code" href="classOMpmsm.html#8e32392c9c635584606287b8c0e8c9da">00213</a>         vec <a class="code" href="classOMpmsm.html#8e32392c9c635584606287b8c0e8c9da" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0 ) { 
     217<a name="l00214"></a>00214                 vec y ( 2 ); 
     218<a name="l00215"></a>00215                 y ( 0 ) = x0 ( 0 ); 
     219<a name="l00216"></a>00216                 y ( 1 ) = x0 ( 1 ); 
     220<a name="l00217"></a>00217                 <span class="keywordflow">return</span> y; 
     221<a name="l00218"></a>00218         } 
     222<a name="l00219"></a>00219  
     223<a name="l00220"></a><a class="code" href="classOMpmsm.html#b75b5fd55b2ac5ed74b5b953af122821">00220</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 &amp;x0, <span class="keyword">const</span> vec &amp;u0, mat &amp;A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) { 
     224<a name="l00221"></a>00221                 A.clear(); 
     225<a name="l00222"></a>00222                 A ( 0,0 ) = 1.0; 
     226<a name="l00223"></a>00223                 A ( 1,1 ) = 1.0; 
     227<a name="l00224"></a>00224         } 
     228<a name="l00225"></a>00225 }; 
     229<a name="l00226"></a>00226  
     230<a name="l00228"></a>00228 <span class="preprocessor">#endif //PMSM_H</span> 
    231231</pre></div></div> 
    232 <hr size="1"><address style="text-align: right;"><small>Generated on Thu Jan 15 10:50:26 2009 for mixpp by&nbsp; 
     232<hr size="1"><address style="text-align: right;"><small>Generated on Tue Jan 27 16:29:53 2009 for mixpp by&nbsp; 
    233233<a href="http://www.doxygen.org/index.html"> 
    234234<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.6 </small></address>