root/applications/pmsm/Barcelona/pwm.cfg @ 373

// settings for pmsm_estim.cpp

experiment={
        ndat = 60000;
};

system= {
        type = "pmsmDS";
        params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
        tstep = 1.0; // steps for profile in [s]
        profileW = [1, 5, 10, 100, 3, 3, 0, 0];
        //profileM = [0, 0, 10,  10, 10, 0, 10, 0];
        opt = "modelu";
};

estimator = (
        {type="EKF";
        IM = {type="pmsmIM";
          params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
          variant = "2o";
        };
        OM = {type="pmsmOM";};
        dQ=[0.17, 0.17, 0.0000004, 1e-11];
        dR=[0.0001, 0.0001];
        //connect
        drv = {type="rv"; names=["o_ia","o_ib","o_ua","o_ub"];};  // observed u
        //drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];}; // true u
        rv = {type="rv"; names=["EKF"]; sizes=[4];};
        options="logbounds";
        },
                ///////////
        {type="pmsmCRB";
        IM = {type="pmsmIM";
          params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
          variant = "2o";// 2nd order Taylor
        };
        OM = {type="pmsmOM";};
        dQ=[0.017, 0.017, 0.00000004, 1e-12];
        dR=[0.0000000001, 0.000000001];
        //connect
        drv = {type="rv"; names=["o_ia","o_ib","o_ua","o_ub"];};  // observed u
        //drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];}; // true u
        rv = {type="rv"; names=["EKF"]; sizes=[4];};
        },
                ///////////
        {type="EKF";
        IM = {type="pmsmIM";
          params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
          variant = "2o";// 2nd order Taylor
        };
        OM = {type="pmsmOM4";};
        dQ=[0.017, 0.017, 0.00000004, 1e-12];
        dR=[0.0000000001, 0.000000001, 0.000000001, 0.000000001];
        //connect
        drv = {type="rv"; names=["o_ia","o_ib","o_om","o_th","o_ua","o_ub"];};  // observed u
        //drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];}; // true u
        rv = {type="rv"; names=["ekff"]; sizes=[4];};
        }


);
        
logger= {
        type="dirfilelog";
        maxlen = 1;
        dirname = "exp/pwm";
};