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(1)
commande, le couple rsistant Cr comme perturbation. Nous choisissons dans notre cas, le
vecteur dtat de lquation (1).
Ce choix de variable se justifie dune part, par le fait que les courants statoriques sont
mesurables et dautre part parce que lon veut contrler la norme du flux rotorique. Nous
obtenons :
( ) = ( ) ( ) + ( ) ( )
Avec :
( )=
Et :
( )=
+
0
(2)
( ) = 0
0
0
0
0
= +
(3)
)
(4)
Les quations (2), (3) et (4) peuvent tre mises sous un schma fonctionnel Simulink
base de blocs S-function, intgrateur et Mux Figure (1) :
=
=
=
=
=
=
-a*x(1)+u(4)*x(2)+c*b*x(3)+c*x(5)*x(4)+u(1)/d/ls;
-u(4)*x(1)-a*x(2)-c*x(5)*x(3)+c*b*x(4)+u(2)/d/ls;
lm*b*x(1)-b*x(3)+u(5)*x(4);
lm*b*x(2)-u(5)*x(3)-b*x(4);
(P/J)*(k*(x(2)*x(3)-x(1)*x(4))-u(3))-(fc/J)*x(5);
u(4);
function sys=Calcul_Sortie(t,x,u,rs,rr,ls,lr,lm,P,J,fc,d,ad,a,b,c,k)
%cr = u(3);
sys(1) = x(1);
sys(2) = x(2);
sys(3) = x(3);
sys(4) = x(4);
sys(5) =
sys(6) =
sys(7) =
sys(8) =
% sys(9)
x(5);
k*(x(2)*x(3)-x(1)*x(4));
sqrt(2/3)*(cos(x(6))*x(1)+sin(x(6))*x(2));
x(6);
= (P/J)*(k*(x(2)*x(3)-x(1)*x(4))-u(3))-(fc/J)*x(5);
function sys=Calcul_Derivee_etat(x,u,rs,rr,ls,lr,lm,P,J,fc,d,ad,a,b,c,k)
sys(1) = -a*x(1)+u(4)*x(2)+c*b*x(3)+c*x(5)*x(4)+u(1)/d/ls;
sys(2) = -u(4)*x(1)-a*x(2)-c*x(5)*x(3)+c*b*x(4)+u(2)/d/ls;
sys(3) = lm*b*x(1)-b*x(3)+u(5)*x(4);
sys(4) = lm*b*x(2)-u(5)*x(3)-b*x(4);
sys(5) = (P/J)*(k*(x(2)*x(3)-x(1)*x(4))-u(3))-(fc/J)*x(5);
sys(6) = u(4);
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