[332] | 1 | // settings for pmsm_estim.cpp |
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[325] | 2 | |
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| 3 | experiment={ |
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[342] | 4 | ndat = 120000; |
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[325] | 5 | }; |
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| 6 | |
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| 7 | system= { |
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| 8 | type = "pmsmDS"; |
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| 9 | params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";}; |
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| 10 | tstep = 1.0; // steps for profile in [s] |
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[342] | 11 | profileW = [0, 1, 5, 10, 10, 3, 0, 0, -3, -3, -10, -10, -4, 0, 0]; |
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| 12 | profileM = [0, 10, 0, 0, 10, 0, 0, 0, 0, 0, 10, 0, 0]; |
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| 13 | options = "modelu"; |
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[325] | 14 | }; |
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| 15 | |
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| 16 | estimator = ( |
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[360] | 17 | {class="EKF"; |
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| 18 | IM = {class="pmsmIM"; |
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[335] | 19 | params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";}; |
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| 20 | variant = "Mz"; |
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| 21 | }; |
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[360] | 22 | OM = {class="pmsmOM";}; |
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[342] | 23 | /* dQ : |
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| 24 | { |
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| 25 | elements = [ 0.001738643873, 0.001738643873, 1.00000004, 1.562501e-08, 1 ]; |
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| 26 | cols = 4; |
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| 27 | };*/ |
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| 28 | dQ=[0.0017, 0.0017, 0.00000004, 1e-14, 1e-1]; |
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[360] | 29 | dR=[0.025, 0.025]; |
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| 30 | dP0=[0., 0., 0., 0., 0.]; |
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[335] | 31 | //connect |
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[360] | 32 | drv = {class="RV"; names=("o_ia","o_ib","o_ua","o_ub");}; // observed u |
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| 33 | //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u |
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| 34 | rv = {class="RV"; names=("EKFMz"); sizes=[5];}; |
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[342] | 35 | options="logll,logbounds"; |
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[335] | 36 | }, |
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| 37 | // |
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[360] | 38 | {class="EKF"; |
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| 39 | IM = {class="pmsmIM"; |
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[335] | 40 | params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";}; |
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| 41 | variant = "2o"; |
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| 42 | }; |
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[360] | 43 | OM = {class="pmsmOM";}; |
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[342] | 44 | dQ=[0.017, 0.017, .1, 1e-6]; |
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[335] | 45 | dR=[0.025, 0.025]; |
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| 46 | dP0=[1., 1., 1., 1.]; |
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| 47 | //connect |
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[360] | 48 | drv = {class="RV"; names=("o_ia","o_ib","o_ua","o_ub");}; // observed u |
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| 49 | //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u |
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| 50 | rv = {class="RV"; names=("EKF"); sizes=[4];}; |
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[342] | 51 | options="logll,logbounds"; |
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[335] | 52 | }, |
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| 53 | // |
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[360] | 54 | {class="EKF"; |
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| 55 | IM = {class="pmsmIM"; |
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[335] | 56 | params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";}; |
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| 57 | variant = "Stat"; |
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| 58 | }; |
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[360] | 59 | OM = {class="pmsmOM";}; |
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[342] | 60 | dQ=[0.017, 0.017, .1, 1e-6];//[0.017, 0.017, 100., 1e-4]; |
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[335] | 61 | dR=[0.025, 0.025]; |
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| 62 | dP0=[1., 1., 1., 1.]; |
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| 63 | //connect |
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[360] | 64 | drv = {class="RV"; names=("o_ia","o_ib","o_ua","o_ub");}; // observed u |
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| 65 | //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u |
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| 66 | rv = {class="RV"; names=("EKFw"); sizes=[4];}; |
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[342] | 67 | options="logll,logbounds"; |
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| 68 | }, |
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| 69 | |
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[360] | 70 | {class="pmsmCRBMz"; |
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| 71 | IM = {class="pmsmIM"; |
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[342] | 72 | params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";}; |
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| 73 | variant = "Mz"; |
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| 74 | }; |
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[360] | 75 | OM = {class="pmsmOM";}; |
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[342] | 76 | dQ=[0.0017, 0.0017, 0.00000004, 1e-14, 1e-1]; |
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| 77 | // dQ=[0.017, 0.017, .1, 1e-6];//[0.017, 0.017, 100., 1e-4]; |
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| 78 | dR=[0.025, 0.025]; |
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| 79 | dP0=[0., 0., 0., 0., 0.]; |
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| 80 | //connect |
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[360] | 81 | drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // observed u |
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| 82 | //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u |
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| 83 | rv = {class="RV"; names=("CRB"); sizes=[5];}; |
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[342] | 84 | options="logll,logbounds"; |
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[335] | 85 | } |
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[325] | 86 | |
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[335] | 87 | |
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[325] | 88 | ); |
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| 89 | |
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| 90 | logger= { |
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[360] | 91 | class="dirfilelog"; |
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[342] | 92 | maxlen = 100; |
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[332] | 93 | dirname = "exp/Mz"; |
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[325] | 94 | }; |
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