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    1617<h1>work/mixpp/pmsm/pmsm.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef PMSM_H</span> 
    1718<a name="l00002"></a>00002 <span class="preprocessor"></span><span class="preprocessor">#define PMSM_H</span> 
    … …  
    3031<a name="l00015"></a>00015 }; 
    3132<a name="l00016"></a>00016  
    32 <a name="l00018"></a><a class="code" href="classIMpmsm.html">00018</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 $x$.">IMpmsm</a> : <span class="keyword">public</span> <a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables $f(x,u)$.">diffbifn</a> { 
     33<a name="l00018"></a><a class="code" href="classIMpmsm.html">00018</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 $x$.">IMpmsm</a> : <span class="keyword">public</span> <a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> { 
    3334<a name="l00019"></a>00019 <span class="keyword">protected</span>: 
    3435<a name="l00020"></a>00020         <span class="keywordtype">double</span> Rs, Ls, dt, Ypm, kp, p,  J, Mz; 
    3536<a name="l00021"></a>00021  
    3637<a name="l00022"></a>00022 <span class="keyword">public</span>: 
    37 <a name="l00023"></a>00023         <a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to $x$.">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 length (number of scalars) of the RV.">count</a>(), rx, ru ) {}; 
     38<a name="l00023"></a>00023         <a class="code" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to $x$.">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 ) {}; 
    3839<a name="l00025"></a><a class="code" href="classIMpmsm.html#42818f3426d99fecb7e97be8ffe2e228">00025</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;} 
    3940<a name="l00026"></a>00026  
    40 <a name="l00027"></a><a class="code" href="classIMpmsm.html#45785869d978dda42828a072ec2caebe">00027</a>         vec <a class="code" href="classIMpmsm.html#45785869d978dda42828a072ec2caebe" title="Evaluates $f(x0,u0)$.">eval</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0 ) { 
     41<a name="l00027"></a><a class="code" href="classIMpmsm.html#45785869d978dda42828a072ec2caebe">00027</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 ) { 
    4142<a name="l00028"></a>00028                 <span class="comment">// last state</span> 
    4243<a name="l00029"></a>00029                 <span class="keywordtype">double</span> iam = x0 ( 0 ); 
    … …  
    8990<a name="l00077"></a>00077         <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;} 
    9091<a name="l00078"></a>00078  
    91 <a name="l00079"></a>00079         vec <a class="code" href="classIMpmsm.html#45785869d978dda42828a072ec2caebe" title="Evaluates $f(x0,u0)$.">eval</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0 ) { 
     92<a name="l00079"></a>00079         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 ) { 
    9293<a name="l00080"></a>00080                 <span class="comment">// last state</span> 
    9394<a name="l00081"></a>00081                 <span class="keywordtype">double</span> iam = x0 ( 0 ); 
    … …  
    111112<a name="l00099"></a>00099  
    112113<a name="l00100"></a>00100         <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> ) { 
    113 <a name="l00101"></a>00101                 <span class="keywordtype">double</span> iam = x0 ( 0 ); 
    114 <a name="l00102"></a>00102                 <span class="keywordtype">double</span> ibm = x0 ( 1 ); 
     114<a name="l00101"></a>00101 <span class="comment">//              double iam = x0 ( 0 );</span> 
     115<a name="l00102"></a>00102 <span class="comment">//              double ibm = x0 ( 1 );</span> 
    115116<a name="l00103"></a>00103                 <span class="keywordtype">double</span> omm = x0 ( 2 ); 
    116117<a name="l00104"></a>00104                 <span class="keywordtype">double</span> thm = x0 ( 3 ); 
    … …  
    134135<a name="l00122"></a>00122 }; 
    135136<a name="l00123"></a>00123  
    136 <a name="l00125"></a><a class="code" href="classOMpmsm.html">00125</a> <span class="keyword">class </span><a class="code" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to $x$.">OMpmsm</a>: <span class="keyword">public</span> <a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables $f(x,u)$.">diffbifn</a> { 
     137<a name="l00125"></a><a class="code" href="classOMpmsm.html">00125</a> <span class="keyword">class </span><a class="code" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to $x$.">OMpmsm</a>: <span class="keyword">public</span> <a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> { 
    137138<a name="l00126"></a>00126 <span class="keyword">public</span>: 
    138139<a name="l00127"></a>00127         <a class="code" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to $x$.">OMpmsm</a>() :<a class="code" href="classdiffbifn.html#797772c0d5aab8ddccec19dfe4bb2d77" title="Default constructor (dimy is not set!).">diffbifn</a> (2, rx,ru ) {}; 
    139140<a name="l00128"></a>00128  
    140 <a name="l00129"></a><a class="code" href="classOMpmsm.html#8e32392c9c635584606287b8c0e8c9da">00129</a>         vec <a class="code" href="classOMpmsm.html#8e32392c9c635584606287b8c0e8c9da" title="Evaluates $f(x0,u0)$.">eval</a> ( <span class="keyword">const</span> vec &amp;x0, <span class="keyword">const</span> vec &amp;u0 ) { 
     141<a name="l00129"></a><a class="code" href="classOMpmsm.html#8e32392c9c635584606287b8c0e8c9da">00129</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 ) { 
    141142<a name="l00130"></a>00130                 vec y ( 2 ); 
    142143<a name="l00131"></a>00131                 y ( 0 ) = x0 ( 0 ); 
    … …  
    153154<a name="l00142"></a>00142  
    154155<a name="l00143"></a>00143 <span class="preprocessor">#endif //PMSM_H</span> 
    155 </pre></div><hr size="1"><address style="text-align: right;"><small>Generated on Fri Apr 18 11:15:15 2008 for mixpp by&nbsp; 
     156</pre></div></div> 
     157<hr size="1"><address style="text-align: right;"><small>Generated on Tue Apr 29 20:46:25 2008 for mixpp by&nbsp; 
    156158<a href="http://www.doxygen.org/index.html"> 
    157 <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address> 
     159<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.5 </small></address> 
    158160</body> 
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