00001 #ifndef PMSM_H
00002 #define PMSM_H
00003
00004 #include <stat/libFN.h>
00005
00010 using namespace bdm;
00011
00012
00013 RV rx ( "{ia ib om th }");
00014 RV ru ( "{ua ub }");
00015 RV ry ( "{oia oib }");
00016
00017
00018
00019
00020
00022 class IMpmsm : public diffbifn {
00023 protected:
00024 double Rs, Ls, dt, Ypm, kp, p, J, Mz;
00025
00026 public:
00027 IMpmsm() :diffbifn (rx.count(), rx, ru ) {};
00029 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;}
00030
00031 vec eval ( const vec &x0, const vec &u0 ) {
00032
00033 double iam = x0 ( 0 );
00034 double ibm = x0 ( 1 );
00035 double omm = x0 ( 2 );
00036 double thm = x0 ( 3 );
00037 double uam = u0 ( 0 );
00038 double ubm = u0 ( 1 );
00039
00040 vec xk=zeros ( 4 );
00041
00042 xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls;
00043
00044 xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls;
00045
00046 xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz;
00047
00048 xk ( 3 ) = thm + omm*dt;
00049 if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi;
00050 if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi;
00051 return xk;
00052 }
00053
00054 void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
00055 double iam = x0 ( 0 );
00056 double ibm = x0 ( 1 );
00057 double omm = x0 ( 2 );
00058 double thm = x0 ( 3 );
00059
00060 A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0;
00061 A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) );
00062
00063 A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt );
00064 A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) );
00065
00066 A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) );
00067 A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) );
00068 A ( 2,2 ) = 1.0;
00069 A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );
00070
00071 A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0;
00072 }
00073
00074 void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );};
00075
00076 };
00077
00079 class IMpmsm2o : public diffbifn {
00080 protected:
00081 double Rs, Ls, dt, Ypm, kp, p, J, Mz;
00083 double dia, dib, dom, dth;
00085 double d2t, cth, sth;
00086 double iam, ibm, omm, thm, uam, ubm;
00087 public:
00088 IMpmsm2o() :diffbifn (rx.count(), rx, ru ) {};
00090 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;}
00091
00092 vec eval ( const vec &x0, const vec &u0 ) {
00093
00094 iam = x0 ( 0 );
00095 ibm = x0 ( 1 );
00096 omm = x0 ( 2 );
00097 thm = x0 ( 3 );
00098 uam = u0 ( 0 );
00099 ubm = u0 ( 1 );
00100
00101 cth = cos(thm);
00102 sth = sin(thm);
00103
00104 dia = (- Rs/Ls*iam + Ypm/Ls*omm * sth + uam/Ls);
00105 dib = (- Rs/Ls*ibm - Ypm/Ls*omm * cth + ubm/Ls);
00106 dom = kp*p*p * Ypm/J *( ibm * cth-iam * sth ) - p/J*Mz;
00107 dth = omm;
00108
00109 vec xk=zeros ( 4 );
00110 xk ( 0 ) = iam + dt*dia;
00111 xk ( 1 ) = ibm + dt*dib;
00112 xk ( 2 ) = omm +dt*dom;
00113 xk ( 3 ) = thm + dt*dth;
00114
00115 if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi;
00116 if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi;
00117 return xk;
00118 }
00119
00121 vec eval2o(const vec &du){
00122 double dua = du ( 0 )/dt;
00123 double dub = du ( 1 )/dt;
00124
00125 vec xth2o(4);
00126 xth2o(0) = (- Rs/Ls*dia + Ypm/Ls*(dom * sth + omm*cth) + dua/Ls);
00127 xth2o(1) = (- Rs/Ls*dib - Ypm/Ls*(dom * cth - omm*sth) + dub/Ls);
00128 xth2o(2) = kp*p*p * Ypm/J *( dib * cth-ibm*sth - (dia * sth + iam *cth));
00129 xth2o(3) = dom;
00130 return xth2o;
00131 }
00132 void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
00133 iam = x0 ( 0 );
00134 ibm = x0 ( 1 );
00135 omm = x0 ( 2 );
00136 thm = x0 ( 3 );
00137
00138 A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0;
00139 A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) );
00140
00141 A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt );
00142 A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) );
00143
00144 A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) );
00145 A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) );
00146 A ( 2,2 ) = 1.0;
00147 A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );
00148
00149 A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0;
00150 }
00151
00152 void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );};
00153
00154 };
00155
00157 class IMpmsmStat : public IMpmsm {
00158 public:
00159 IMpmsmStat() :IMpmsm() {};
00161 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;}
00162
00163 vec eval ( const vec &x0, const vec &u0 ) {
00164
00165 double iam = x0 ( 0 );
00166 double ibm = x0 ( 1 );
00167 double omm = x0 ( 2 );
00168 double thm = x0 ( 3 );
00169 double uam = u0 ( 0 );
00170 double ubm = u0 ( 1 );
00171
00172 vec xk=zeros ( 4 );
00173
00174 xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls;
00175
00176 xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls;
00177
00178 xk ( 2 ) = omm;
00179
00180 xk ( 3 ) = rem(thm + omm*dt,2*pi);
00181 return xk;
00182 }
00183
00184 void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
00185
00186
00187 double omm = x0 ( 2 );
00188 double thm = x0 ( 3 );
00189
00190 A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0;
00191 A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) );
00192
00193 A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt );
00194 A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) );
00195
00196 A ( 2,0 ) = 0.0;
00197 A ( 2,1 ) = 0.0;
00198 A ( 2,2 ) = 1.0;
00199 A ( 2,3 ) = 0.0;
00200
00201 A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0;
00202 }
00203
00204 void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );};
00205
00206 };
00207
00209 class OMpmsm: public diffbifn {
00210 public:
00211 OMpmsm() :diffbifn (2, rx,ru ) {};
00212
00213 vec eval ( const vec &x0, const vec &u0 ) {
00214 vec y ( 2 );
00215 y ( 0 ) = x0 ( 0 );
00216 y ( 1 ) = x0 ( 1 );
00217 return y;
00218 }
00219
00220 void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
00221 A.clear();
00222 A ( 0,0 ) = 1.0;
00223 A ( 1,1 ) = 1.0;
00224 }
00225 };
00226
00228 #endif //PMSM_H
