Changeset 332 for applications/pmsm/pmsm.h

Timestamp:

04/29/09 20:14:56 (15 years ago)

Author:

smidl

Message:

pmsm experiments for Barcelona
- improved model of voltage
- new Mz experiment

Files:

• applications/pmsm/pmsm.h (modified) (6 diffs)

applications/pmsm/pmsm.h

@@ -28 +28 @@
         //! Set mechanical and electrical variables
         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;}
+
+        void modelpwm(const vec &x0, const vec u0, double &ua, double &ub){
+                double sq3=sqrt ( 3.0 );
+                double i1=x0(0);
+                double i2=0.5* ( -i1+sq3*x0[1] );
+                double i3=0.5* ( -i1-sq3*x0[1] );
+                double u1=u0(0);
+                double u2=0.5* ( -u1+sq3*u0(1) );
+                double u3=0.5* ( -u1-sq3*u0(1) );
+
+                double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1;
+                double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2;
+                double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3;
+                ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0;
+                ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3;
+        }
 
         vec eval ( const vec &x0, const vec &u0 ) {
@@ -35 +51 @@
                 const double &omm = x0 ( 2 );
                 const double &thm = x0 ( 3 );
-                const double &uam = u0 ( 0 );
-                const double &ubm = u0 ( 1 );
-
+                double uam;
+                double ubm;
+
+                modelpwm(x0,u0,uam,ubm);
+                
                 vec xk( 4 );
                 //ia
@@ -73 +91 @@
 
         void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );};
-
-};
+};
+
 
 //! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$
@@ -183 +201 @@
                 xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls;
                 //om
-                xk ( 2 ) = omm;// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz;
+                xk ( 2 ) = omm - p/J*dt*Mz;// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) );
                 //th
                 xk ( 3 ) = rem(thm + omm*dt,2*pi); // <0..2pi>
@@ -213 +231 @@
 };
 
+//! State for PMSM with unknown Mz
+class IMpmsmMz: public IMpmsm{
+        public:
+                IMpmsmMz()  {dimy=5; dimx = 5; dimu=2;};
+        //! extend eval by Mz
+                vec eval ( const vec &x0, const vec &u0 ) {
+                        vec x(4);
+                        Mz = x0(4); //last of the state is Mz
+                
+                //teh first 4 states are same as before (given that Mz is set)
+                        x=IMpmsm::eval(x0,u0); // including model of drops!
+                        return concat(x,Mz);
+                }
+                void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
+                //call initial
+                        if (full) A.clear();
+                        IMpmsm::dfdx_cond(x0,u0,A,full);
+                        A(2,4)=- p/J*dt;
+                        A(4,4)=1.0;
+                }       
+};
+
+//! State for PMSM with unknown Mz
+class IMpmsmStatMz: public IMpmsmStat{
+        public:
+                IMpmsmStatMz()  {dimy=5; dimx = 5; dimu=2;};
+        //! extend eval by Mz
+                vec eval ( const vec &x0, const vec &u0 ) {
+                        vec x(4);
+                        Mz = x0(4); //last of the state is Mz
+                
+                //teh first 4 states are same as before (given that Mz is set)
+                        x=IMpmsmStat::eval(x0,u0); // including model of drops!
+                        return concat(x,Mz);
+                }
+                void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
+                //call initial
+                        if (full) A.clear();
+                        IMpmsmStat::dfdx_cond(x0,u0,A,full);
+                        A(2,4)=- p/J*dt;
+                        A(4,4)=1.0;
+                }       
+};
+
+
 //! Observation model for PMSM drive and its derivative with respect to \f$x\f$
 class OMpmsm: public diffbifn {
@@ -232 +295 @@
 };
 
+//! Observation model for PMSM drive and its derivative with respect to \f$x\f$ for full vector of observations
+class OMpmsm4: public diffbifn {
+        public:
+                OMpmsm4() :diffbifn () {dimy=4;dimx=4;dimu=2;};
+
+                vec eval ( const vec &x0, const vec &u0 ) {
+                        vec y ( 4 );
+                        y  = x0 ;
+                        return y;
+                }
+
+                void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
+                        if (full) A=eye(4);
+                }
+};
+
 /*!@}*/
 #endif //PMSM_H