Changeset 63 for tests/pmsm.h

Timestamp:

04/09/08 15:29:53 (16 years ago)

Author:

smidl

Message:

odstraneni net a drobne upravy

Files:

• tests/pmsm.h (modified) (1 diff)

tests/pmsm.h

@@ -12 +12 @@
 //! State evolution model for a PMSM drive and its derivative with respect to \$x\$
 class IMpmsm : public diffbifn {
+protected:
         double Rs, Ls, dt, Ypm, kp, p,  J, Mz;
 
 public:
         IMpmsm() :diffbifn (rx.count(), rx, ru ) {};
+        //! 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;}
+
+        vec eval ( const vec &x0, const vec &u0 ) {
+                // last state
+                double iam = x0 ( 0 );
+                double ibm = x0 ( 1 );
+                double omm = x0 ( 2 );
+                double thm = x0 ( 3 );
+                double uam = u0 ( 0 );
+                double ubm = u0 ( 1 );
+
+                vec xk=zeros ( 4 );
+                //ia
+                xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls;
+                //ib
+                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;
+                //th
+                xk ( 3 ) = rem(thm + omm*dt,2*pi); // <0..2pi>
+                return xk;
+        }
+
+        void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
+                double iam = x0 ( 0 );
+                double ibm = x0 ( 1 );
+                double omm = x0 ( 2 );
+                double thm = x0 ( 3 );
+                // d ia
+                A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0;
+                A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) );
+                // d ib
+                A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt );
+                A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) );
+                // d om
+                A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) );
+                A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) );
+                A ( 2,2 ) = 1.0;
+                A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );
+                // d th
+                A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0;
+        }
+
+        void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );};
+
+};
+
+class IMpmsmStat : public IMpmsm {
+        IMpmsmStat() :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;}