Changeset 318 for pmsm/pmsm.h

Timestamp:

04/23/09 13:19:04 (15 years ago)

Author:

smidl

Message:

pmsm CRB model

Files:

• pmsm/pmsm.h (modified) (5 diffs)

pmsm/pmsm.h

@@ -27 +27 @@
         IMpmsm() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2;};
         //! Set mechanical and electrical variables
-        void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;}
+        virtual void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;}
 
         vec eval ( const vec &x0, const vec &u0 ) {
@@ -77 +77 @@
 
 //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$
-class IMpmsm2o : public diffbifn {
+class IMpmsm2o : public IMpmsm {
         protected:
-                double Rs, Ls, dt, Ypm, kp, p,  J, Mz;
+//              double Rs, Ls, dt, Ypm, kp, p,  J, Mz;
                 //! store first derivatives for the use in second derivatives
                 double dia, dib, dom, dth;
@@ -86 +86 @@
                 double iam, ibm, omm, thm, uam, ubm;
         public:
-                IMpmsm2o() :diffbifn () {dimy=4;dimx=4;dimu=2;};
+                IMpmsm2o() :IMpmsm () {};
         //! Set mechanical and electrical variables
                 void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0; d2t=dt*dt/2;}
@@ -111 +111 @@
                         xk ( 1 ) = ibm + dt*dib;// +d2t*d2ib;
                         xk ( 2 ) = omm +dt*dom;// +d2t*d2om;
-                        xk ( 3 ) = thm + dt*dth;// +d2t*d2th; // <0..2pi>
+                        xk ( 3 ) = thm + dt*dth;// +d2t*dom; // <0..2pi>
                         
                         if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi;
@@ -148 +148 @@
                 // d th
                         A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0;
+                        // FOR d2t*dom!!!!!!!!!
+/*                      A ( 3,0 ) = dt* kp*p*p * Ypm/J*dt* ( - sin ( thm ) );
+                        A ( 3,1 ) = dt* kp*p*p * Ypm/J*dt* ( cos ( thm ) );
+                        A ( 3,2 ) = dt;
+                        A ( 3,3 ) = 1.0 + dt* kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );*/
                 }