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- subroutine RTable_Traction_Motor
-
- use CDrillingConsoleVariables
- use CDataDisplayConsoleVariables
- ! use CSimulationVariables
- use RTable_VARIABLES
- use equipments_PowerLimit
-
- IMPLICIT NONE
-
- !integer :: jnomb
- !jnomb = 0
-
- !>>>>>>>>>>>>>>>>>>>>>>> DATA <<<<<<<<<<<<<<<<<<<<<<<<<<<
- RTable%TL = (RTable%String_Torque+RTable%ConstLoad)/(RTable%Mech_Efficiency*RTable%Conv_Ratio)
- !RTable%TL = 5700.
- !print*, 'RTable%TLtr=', RTable%TL , RTable%Te
- !print*, 'RTable%String_JCoef=', RTable%String_JCoef , RTable%J_coef+(RTable%String_JCoef/(RTable%Mech_Efficiency*RTable%Conv_Ratio))
- La = 1700.*1d-6
- Lf = 260.*1d-6
- Ra = 9.5*1d-3
- !Rf = 5.4*1d-3
- Rf = 0.
-
- !******** controller *******
- Kpn = 50.d0
- Kin = 3.d0
- Kpi = 100.d0
- Kii = 900.d0
-
- RTable%time = RTable%time_step
- RTable%dt = 1.d-5
- RTable%error = .001
-
- !>>>>>>>>>>>>>>>>>>>>>>>>>>>><<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
-
- RTable%n = RTable%time/RTable%dt
- RTable%w_ref = (pi*(RTable%N_ref)/30.d0)
- RTable%ia_ref_limit = DrillingConsole%RTTorqueLimitKnob*100.d0
- !print* , 'N_ref=' , RTThrottle , RTable%w_ref , RTable%N_ref
-
- RTable%ia_er = 1.
- RTable%w_er = 1.
- RTable%x_er = 1.
- RTable%y_er = 1.
-
- RTable%i = 1
-
- !>>>>>>>>>>>>>>>>>>>>>>>>>>>><<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
- DO WHILE (RTable%i<=RTable%n)
-
-
- !>>>>>>>>>>>> Runge-Kutta Method (4th order) <<<<<<<<<<<<<<
-
- call RTable_dx((RTable%i*RTable%dt),RTable%ia,RTable%w,RTable%x,RTable%y)
- call RTable_dy((RTable%i*RTable%dt),RTable%ia,RTable%w,RTable%x,RTable%y)
- call RTable_dia((RTable%i*RTable%dt),RTable%ia,RTable%w,RTable%fii,RTable%x,RTable%y)
- call RTable_dw((RTable%i*RTable%dt),RTable%ia,RTable%w,RTable%fii,RTable%TL)
- RTable%K1x = RTable%dt*RTable%dx
- RTable%K1y = RTable%dt*RTable%dy
- RTable%K1ia = RTable%dt*RTable%dia
- RTable%K1w = RTable%dt*RTable%dw
-
- call RTable_dx((RTable%i*RTable%dt)+(RTable%dt/2.),RTable%ia+(RTable%K1ia/2.),RTable%w+(RTable%K1w/2.),RTable%x+(RTable%K1x/2.),RTable%y+(RTable%K1y/2.))
- call RTable_dy((RTable%i*RTable%dt)+(RTable%dt/2.),RTable%ia+(RTable%K1ia/2.),RTable%w+(RTable%K1w/2.),RTable%x+(RTable%K1x/2.),RTable%y+(RTable%K1y/2.))
- call RTable_dia((RTable%i*RTable%dt)+(RTable%dt/2.),RTable%ia+(RTable%K1ia/2.),RTable%w+(RTable%K1w/2.),RTable%fii,RTable%x+(RTable%K1x/2.),RTable%y+(RTable%K1y/2.))
- call RTable_dw((RTable%i*RTable%dt)+(RTable%dt/2.),RTable%ia+(RTable%K1ia/2.),RTable%w+(RTable%K1w/2.),RTable%fii,RTable%TL)
- RTable%K2x = RTable%dt*RTable%dx
- RTable%K2y = RTable%dt*RTable%dy
- RTable%K2ia = RTable%dt*RTable%dia
- RTable%K2w = RTable%dt*RTable%dw
-
- call RTable_dx((RTable%i*RTable%dt)+(RTable%dt/2.),RTable%ia+(RTable%K2ia/2.),RTable%w+(RTable%K2w/2.),RTable%x+(RTable%K2x/2.),RTable%y+(RTable%K2y/2.))
- call RTable_dy((RTable%i*RTable%dt)+(RTable%dt/2.),RTable%ia+(RTable%K2ia/2.),RTable%w+(RTable%K2w/2.),RTable%x+(RTable%K2x/2.),RTable%y+(RTable%K2y/2.))
- call RTable_dia((RTable%i*RTable%dt)+(RTable%dt/2.),RTable%ia+(RTable%K2ia/2.),RTable%w+(RTable%K2w/2.),RTable%fii,RTable%x+(RTable%K2x/2.),RTable%y+(RTable%K2y/2.))
- call RTable_dw((RTable%i*RTable%dt)+(RTable%dt/2.),RTable%ia+(RTable%K2ia/2.),RTable%w+(RTable%K2w/2.),RTable%fii,RTable%TL)
- RTable%K3x = RTable%dt*RTable%dx
- RTable%K3y = RTable%dt*RTable%dy
- RTable%K3ia = RTable%dt*RTable%dia
- RTable%K3w = RTable%dt*RTable%dw
-
- call RTable_dx((RTable%i*RTable%dt)+RTable%dt,RTable%ia+RTable%K3ia,RTable%w+RTable%K3w,RTable%x+RTable%K3x,RTable%y+RTable%K3y)
- call RTable_dy((RTable%i*RTable%dt)+RTable%dt,RTable%ia+RTable%K3ia,RTable%w+RTable%K3w,RTable%x+RTable%K3x,RTable%y+RTable%K3y)
- call RTable_dia((RTable%i*RTable%dt)+RTable%dt,RTable%ia+RTable%K3ia,RTable%w+RTable%K3w,RTable%fii,RTable%x+RTable%K3x,RTable%y+RTable%K3y)
- call RTable_dw((RTable%i*RTable%dt)+RTable%dt,RTable%ia+RTable%K3ia,RTable%w+RTable%K3w,RTable%fii,RTable%TL)
- RTable%K4x = RTable%dt*RTable%dx
- RTable%K4y = RTable%dt*RTable%dy
- RTable%K4ia = RTable%dt*RTable%dia
- RTable%K4w = RTable%dt*RTable%dw
-
- RTable%x_new = RTable%x_old+((RTable%K1x+(2.*RTable%K2x)+(2.*RTable%K3x)+RTable%K4x)/6.)
- RTable%y_new = RTable%y_old+((RTable%K1y+(2.*RTable%K2y)+(2.*RTable%K3y)+RTable%K4y)/6.)
- RTable%ia_new = RTable%ia_old+((RTable%K1ia+(2.*RTable%K2ia)+(2.*RTable%K3ia)+RTable%K4ia)/6.)
- RTable%w_new = RTable%w_old+((RTable%K1w+(2.*RTable%K2w)+(2.*RTable%K3w)+RTable%K4w)/6.)
-
- !>>>>>>>>>>>>>>>>>>>>>>>>>>>><<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
-
- RTable%x_old = RTable%x_new
- RTable%y_old = RTable%y_new
- RTable%ia_old = RTable%ia_new
- RTable%w_old = RTable%w_new
- RTable%x = RTable%x_new
- RTable%y = RTable%y_new
- RTable%ia = RTable%ia_new
- RTable%w = RTable%w_new
- RTable%Te = RTable%fii*RTable%ia_new
-
- !if (jnomb==0) then
- ! print*, 'RTable%Vt0=', RTable%Vt
- ! jnomb=1
- !end if
- RTable%ia_ref = RTable%y_new+Kpn*((30.0*RTable%w_ref/pi)-(30.0*RTable%w_new/pi))
- call RTTorqueLimit
- RTable%Vt = RTable%x_new+(Kpi*(RTable%ia_ref-RTable%ia_new))
- !call PowerLimits
- !if (Power_sigma>max_Power_sigma) then
- ! RTable%Vt = RTable%Vt
- !else
- ! RTable%Vt = RTable%x_new+(Kpi*(RTable%ia_ref-RTable%ia_new))
- !end if
-
- IF (RTable%Vt>810.) THEN
- RTable%Vt = 810.0
- ELSE IF (RTable%Vt<0.) THEN
- RTable%Vt = 0.0
- END IF
-
-
-
-
- RTable%i = RTable%i+1
-
-
- END DO
- !>>>>>>>>>>>>>>>>>>>>>>>>>>>><<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<<
- !print*, 'RTable%wtr=', RTable%w_new , RTable%ia_new , RTable%dw , RTable%dia
-
-
-
-
- END subroutine RTable_Traction_Motor
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