root/applications/pmsm/Barcelona/Mz.cfg @ 670

// settings for pmsm_estim.cpp

experiment={
        ndat = 120000;
};

system= {
        class= "pmsmDS";
        params = "pmsm107@../cfg/zcu.cfg";
        tstep = 1.0; // steps for profile in [s]
        profileW = [0, 1, 5, 10, 10, 3, 0, 0, -3, -3, -10, -10, -4, 0, 0];
        profileM = [0, 10, 0, 0, 10, 0, 0, 0, 0, 0, 10, 0, 0];
        options = "modelu";
};

estimator = (
         {class="EKFCh";
         IM = {class="IMpmsmMz";
                params = "pmsm107@../cfg/zcu.cfg";
         };
         OM = {class="OMpmsm";};
/*       dQ : 
        {
        elements = [ 0.001738643873, 0.001738643873, 1.00000004, 1.562501e-08, 1 ];
        cols = 4;
        };*/
        dQ=[0.0017, 0.0017, 0.00000004, 1e-14, 1e-1];
        dR=[0.025, 0.025];
        dP0=[0., 0., 0., 0., 0.];
         //connect
         drv = {class="RV"; names=("o_ia","o_ib","o_ua","o_ub");};  // observed u
         //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u
         rv = {class="RV"; names=("EKFMz"); sizes=[5];};
         options="logll,logbounds";
         },
                                 //
         {class="EKFCh";
         IM = {class="IMpmsm2o";
                params = "pmsm107@../cfg/zcu.cfg";
         };
         OM = {class="OMpmsm";};
         dQ=[0.017, 0.017, .1, 1e-6];
         dR=[0.025, 0.025];
         dP0=[1., 1., 1., 1.];
         //connect
         drv = {class="RV"; names=("o_ia","o_ib","o_ua","o_ub");};  // observed u
         //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u
         rv = {class="RV"; names=("EKF"); sizes=[4];};
         options="logll,logbounds";
         },
                                                                 //
         {class="EKFCh";
         IM = {class="IMpmsmStat";
                params ="pmsm107@../cfg/zcu.cfg";
         };
         OM = {class="OMpmsm";};
         dQ=[0.017, 0.017, .1, 1e-6];//[0.017, 0.017, 100., 1e-4];
         dR=[0.025, 0.025];
         dP0=[1., 1., 1., 1.];
         //connect
         drv = {class="RV"; names=("o_ia","o_ib","o_ua","o_ub");};  // observed u
         //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u
         rv = {class="RV"; names=("EKFw"); sizes=[4];};
         options="logll,logbounds";
         },

         {class="pmsmCRBMz";
         IM = {class="IMpmsmMz";
                params ="pmsm107@../cfg/zcu.cfg";
         };
         OM = {class="OMpmsm";};
        dQ=[0.0017, 0.0017, 0.00000004, 1e-14, 1e-1];
//       dQ=[0.017, 0.017, .1, 1e-6];//[0.017, 0.017, 100., 1e-4];
         dR=[0.025, 0.025];
         dP0=[0., 0., 0., 0., 0.];
         //connect
         drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");};  // observed u
         //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u
         rv = {class="RV"; names=("CRB"); sizes=[5];};
         options="logll,logbounds";
         }


);
        
logger= {
        class="dirfilelog";
        maxlen = 100;
        dirname = "exp/Mz";
};