function dydt=tongbufadianji(t,y)
% 下面輸入電機基本數據：
r=.26;Rfd=0.13;Rkd=0.0224;Rkq=0.02;ufd=17.8876;w=314;Ll=1.14e-3;Lmd=13.7e-3;Lmq=11.0e-3;
Llfd=2.1e-3;Llkd=1.4e-3;Llkq=1e-3;
Lfd=Llfd+Lmd;Lkd=Llkd+Lmd;Lkq=Llkq+Lmq;Ld=Lmd+Ll;Lq=Lmq+Ll;L0=Ll;
 %--------------------------------------------------------------------------------------------------------------------------------------   
 L=[  
        Lfd,          Lmd,         0,            -2*Lmd*cos(w*t);
        Lmd,          Lkd,         0,            -2*Lmd*cos(w*t);
        0,            0,           Lkq,          2*Lmq*sin(w*t);
        Lmd*cos(w*t), Lmd*cos(w*t),-Lmq*sin(w*t), -(Ld+Lq+L0)+(Ld-Lq)/2*cos(2*w*t)] ;
 %--------------------------------------------------------------------------------------------------------------------------------------   
G=[ 
         0,       0,        0,  2*Lmd*sin(w*t);
         0,       0,        0,  2*Lmd*sin(w*t);
         0,       0,        0,  2*Lmq*cos(w*t);
     -Lmd*sin(w*t), -Lmd*sin(w*t),-Lmq*cos(w*t), 2*(Ld-Lq)*sin(2*w*t)];
 %--------------------------------------------------------------------------------------------------------------------------------------   
 R=[ 
       Rfd,  0,   0,  0;
       0,    Rkd, 0,  0;
       0,    0,   Rkq,0;
      0,    0,   0,   -3*r];
 %--------------------------------------------------------------------------------------------------------------------------------------   
Uabc=[ufd,0,0,0]';
dydt=L\(Uabc-w*G*y-R*y);