| 1 | M=pmsm_estim_mex('real_mx.cfg'); |
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| 2 | |
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| 3 | ids = [1:size(M.mean_EKFMz,1)]; |
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| 4 | kftime=[ids-ids(1)]*0.000125; |
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| 5 | |
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| 6 | figure(1); |
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| 7 | subplot(2,1,1); |
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| 8 | hold off |
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| 9 | plot(kftime,M.mean_EKFMz(ids,3)/2/pi,'-.'); |
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| 10 | hold on |
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| 11 | plot(kftime,M.mean_EKF(ids,3)/2/pi,'r'); |
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| 12 | |
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| 13 | title('Measured and estimated \omega_{me}'); |
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| 14 | xlabel('time [s]') |
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| 15 | |
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| 16 | subplot(2,1,2); |
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| 17 | plot(kftime, M.mean_EKFMz(ids,5)); |
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| 18 | title('Estimated load T_L'); |
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| 19 | |
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| 20 | |
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| 21 | % ----- |
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| 22 | |
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| 23 | load ~/work/vs/Pohony/DATA_MERENI/DATA_MCU/data9.dat -ascii |
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| 24 | |
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| 25 | data=data9; |
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| 26 | |
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| 27 | subplot(2,1,1); |
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| 28 | setime=[0:799]*0.004666; % fitted on currents |
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| 29 | plot(setime,data([0:799]+711,6),'--k','LineWidth',3); |
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| 30 | %plot(setime,data([0:799]+711,11),'--g','LineWidth',3); |
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| 31 | %plot(setime,2*pi*data1([0:799]+620,6),'--k','LineWidth',3); |
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| 32 | |
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| 33 | legend('EKF T_L estimate','EKF estimate','Sensor readings') |
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| 34 | |
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| 35 | set(gca,'XLim',[0,kftime(end)]) |
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