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 ( ) {dimy=4; dimx = 4; dimu=2;};
00029 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;}
00030
00031 vec eval ( const vec &x0, const vec &u0 ) {
00032
00033 const double &iam = x0 ( 0 );
00034 const double &ibm = x0 ( 1 );
00035 const double &omm = x0 ( 2 );
00036 const double &thm = x0 ( 3 );
00037 const double &uam = u0 ( 0 );
00038 const double &ubm = u0 ( 1 );
00039
00040 vec xk( 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 const double &iam = x0 ( 0 );
00056 const double &ibm = x0 ( 1 );
00057 const double &omm = x0 ( 2 );
00058 const 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 IMpmsm {
00080 protected:
00081
00083 double dia, dib, dom, dth;
00085 double d2t, cth, sth;
00086 double iam, ibm, omm, thm, uam, ubm;
00087 public:
00088 IMpmsm2o() :IMpmsm () {};
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
00153
00154
00155 }
00156
00157 void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );};
00158
00159 };
00160
00162 class IMpmsmStat : public IMpmsm {
00163 public:
00164 IMpmsmStat() :IMpmsm() {};
00166 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;}
00167
00168 vec eval ( const vec &x0, const vec &u0 ) {
00169
00170 double iam = x0 ( 0 );
00171 double ibm = x0 ( 1 );
00172 double omm = x0 ( 2 );
00173 double thm = x0 ( 3 );
00174 double uam = u0 ( 0 );
00175 double ubm = u0 ( 1 );
00176
00177 vec xk=zeros ( 4 );
00178
00179 xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls;
00180
00181 xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls;
00182
00183 xk ( 2 ) = omm;
00184
00185 xk ( 3 ) = rem(thm + omm*dt,2*pi);
00186 return xk;
00187 }
00188
00189 void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
00190
00191
00192 double omm = x0 ( 2 );
00193 double thm = x0 ( 3 );
00194
00195 A ( 0,0 ) = ( 1.0- Rs/Ls*dt ); A ( 0,1 ) = 0.0;
00196 A ( 0,2 ) = Ypm/Ls*dt* sin ( thm ); A ( 0,3 ) = Ypm/Ls*dt*omm * ( cos ( thm ) );
00197
00198 A ( 1,0 ) = 0.0 ; A ( 1,1 ) = ( 1.0- Rs/Ls*dt );
00199 A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) );
00200
00201 A ( 2,0 ) = 0.0;
00202 A ( 2,1 ) = 0.0;
00203 A ( 2,2 ) = 1.0;
00204 A ( 2,3 ) = 0.0;
00205
00206 A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0;
00207 }
00208
00209 void dfdu_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {it_error ( "not needed" );};
00210
00211 };
00212
00214 class OMpmsm: public diffbifn {
00215 public:
00216 OMpmsm() :diffbifn () {dimy=2;dimx=4;dimu=2;};
00217
00218 vec eval ( const vec &x0, const vec &u0 ) {
00219 vec y ( 2 );
00220 y ( 0 ) = x0 ( 0 );
00221 y ( 1 ) = x0 ( 1 );
00222 return y;
00223 }
00224
00225 void dfdx_cond ( const vec &x0, const vec &u0, mat &A, bool full=true ) {
00226 A.clear();
00227 A ( 0,0 ) = 1.0;
00228 A ( 1,1 ) = 1.0;
00229 }
00230 };
00231
00233 #endif //PMSM_H
