1 | // settings for pmsm_estim.cpp |
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2 | |
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3 | experiment={ |
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4 | ndat = 120000; |
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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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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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14 | }; |
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15 | |
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16 | estimator = ( |
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17 | {class="EKF"; |
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18 | IM = {class="pmsmIM"; |
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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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22 | OM = {class="pmsmOM";}; |
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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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29 | dR=[0.025, 0.025]; |
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30 | dP0=[0., 0., 0., 0., 0.]; |
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31 | //connect |
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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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35 | options="logll,logbounds"; |
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36 | }, |
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37 | // |
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38 | {class="EKF"; |
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39 | IM = {class="pmsmIM"; |
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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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43 | OM = {class="pmsmOM";}; |
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44 | dQ=[0.017, 0.017, .1, 1e-6]; |
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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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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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51 | options="logll,logbounds"; |
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52 | }, |
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53 | // |
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54 | {class="EKF"; |
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55 | IM = {class="pmsmIM"; |
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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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59 | OM = {class="pmsmOM";}; |
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60 | dQ=[0.017, 0.017, .1, 1e-6];//[0.017, 0.017, 100., 1e-4]; |
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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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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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67 | options="logll,logbounds"; |
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68 | }, |
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69 | |
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70 | {class="pmsmCRBMz"; |
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71 | IM = {class="pmsmIM"; |
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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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75 | OM = {class="pmsmOM";}; |
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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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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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84 | options="logll,logbounds"; |
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85 | } |
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86 | |
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87 | |
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88 | ); |
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89 | |
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90 | logger= { |
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91 | class="dirfilelog"; |
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92 | maxlen = 100; |
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93 | dirname = "exp/Mz"; |
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94 | }; |
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