[295] | 1 | /*! |
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| 2 | \file |
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| 3 | \brief TR 2525 file for testing Wishart random walk on PMSM simulator |
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| 4 | \author Vaclav Smidl. |
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| 5 | |
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| 6 | ----------------------------------- |
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| 7 | BDM++ - C++ library for Bayesian Decision Making under Uncertainty |
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| 8 | |
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| 9 | Using IT++ for numerical operations |
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| 10 | ----------------------------------- |
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| 11 | */ |
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| 12 | |
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| 13 | |
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| 14 | |
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[384] | 15 | #include <estim/particles.h> |
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| 16 | #include <estim/ekf_template.h> |
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| 17 | #include <stat/functions.h> |
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[295] | 18 | |
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[357] | 19 | #include "user_info.h" |
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| 20 | #include "../pmsmDS.h" |
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[295] | 21 | |
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| 22 | using namespace bdm; |
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| 23 | |
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| 24 | int main ( int argc, char* argv[] ) { |
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| 25 | const char *fname; |
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| 26 | if ( argc>1 ) {fname = argv[1]; } |
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| 27 | else { fname = "pmsm_wishart.cfg"; } |
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[394] | 28 | UIFile F ( fname ); |
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[295] | 29 | |
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| 30 | double h = 1e-6; |
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| 31 | int Nsimstep = 125; |
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| 32 | |
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[357] | 33 | // Kalman filter |
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[295] | 34 | double k; |
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| 35 | double l; |
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[357] | 36 | F.lookupValue ( "k",k); |
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| 37 | F.lookupValue ( "l",l); |
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[295] | 38 | |
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[357] | 39 | int Ndat; |
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| 40 | int Npart; |
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| 41 | F.lookupValue ( "ndat", Ndat ); |
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| 42 | F.lookupValue ( "Npart", Npart ); |
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| 43 | |
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| 44 | vec Qdiag; |
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| 45 | vec Rdiag; |
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| 46 | UI::get( Qdiag, F, "dQ" ); //( "1e-6 1e-6 0.001 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.0001 |
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| 47 | UI::get( Rdiag, F, "dR" );// ( "1e-8 1e-8" ); //var(diff(xth)) = "0.034 0.034" |
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[295] | 48 | |
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[357] | 49 | pmsmDS* DS = UI::build<pmsmDS>(F,"system"); |
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[295] | 50 | |
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[357] | 51 | // internal model |
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| 52 | IMpmsm fxu; |
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| 53 | // Rs Ls dt Fmag(Ypm) kp p J Bf(Mz) |
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| 54 | fxu.set_parameters ( 0.28, 0.003465, Nsimstep*h, 0.1989, 1.5 ,4.0, 0.04, 0.0 ); |
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[295] | 55 | // observation model |
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| 56 | OMpmsm hxu; |
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| 57 | |
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| 58 | vec mu0= "0.0 0.0 0.0 0.0"; |
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| 59 | chmat Q ( Qdiag ); |
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| 60 | chmat R ( Rdiag ); |
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| 61 | EKFCh KFE ; |
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| 62 | KFE.set_parameters ( &fxu,&hxu,Q,R ); |
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| 63 | KFE.set_est ( mu0, chmat ( 0.01*eye( 4 ) ) ); |
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| 64 | KFE.set_rv ( rx ); |
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| 65 | |
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| 66 | RV rQ ( "{Q }","16" ); |
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| 67 | EKFCh_chQ KFEp ; |
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| 68 | KFEp.set_parameters ( &fxu,&hxu,Q,R ); |
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| 69 | KFEp.set_est ( mu0, chmat (0.01* eye( 4 ) ) ); |
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| 70 | |
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| 71 | rwiWishartCh* evolQw = new rwiWishartCh; |
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| 72 | evolQw->set_parameters(4, k, sqrt(Qdiag),l); |
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| 73 | MPF<EKFCh_chQ> M; |
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| 74 | M.set_parameters ( evolQw,evolQw,Npart ); |
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| 75 | // initialize |
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| 76 | chmat Ch0(diag(Qdiag)); |
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| 77 | evolQw->condition ( vec(Ch0._Ch()._data(),16) ); //Zdenek default |
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| 78 | M.set_statistics ( evolQw->_e() , &KFEp ); |
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| 79 | // |
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| 80 | |
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| 81 | M.set_rv ( concat ( rQ,rx ) ); |
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| 82 | |
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[357] | 83 | dirfilelog *L = UI::build<dirfilelog> ( F, "logger" );// ( "exp/mpf_test",100 ); |
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[295] | 84 | |
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| 85 | KFE.set_options ( "logbounds" ); |
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[317] | 86 | KFE.log_add ( *L,"KF" ); |
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[295] | 87 | M.set_options ( "logbounds" ); |
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[317] | 88 | M.log_add ( *L,"M" ); |
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[295] | 89 | DS->log_add(*L); |
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| 90 | L->init(); |
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| 91 | |
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| 92 | // SET SIMULATOR |
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| 93 | pmsmsim_set_parameters ( 0.28,0.003465,0.1989,0.0,4,1.5,0.04, 200., 3e-6, h ); |
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| 94 | vec dt ( 2 ); |
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| 95 | vec ut ( 2 ); |
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| 96 | vec xt ( 4 ); |
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| 97 | vec xtm=zeros ( 4 ); |
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[332] | 98 | // double Ww=0.0; |
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[295] | 99 | |
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| 100 | vec obs(6); |
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| 101 | for ( int tK=1;tK<Ndat;tK++ ) { |
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| 102 | //Number of steps of a simulator for one step of Kalman |
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| 103 | DS->step(); |
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| 104 | DS->getdata(obs); |
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| 105 | |
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| 106 | dt=obs.left(2); |
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| 107 | ut=obs.right(2); |
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| 108 | //estimator |
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| 109 | KFE.bayes ( concat ( dt,ut ) ); |
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| 110 | M.bayes ( concat ( dt,ut ) ); |
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| 111 | |
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| 112 | DS->logit (*L); |
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| 113 | |
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[317] | 114 | KFE.logit ( *L ); |
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| 115 | M.logit ( *L ); |
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[295] | 116 | L->step(); |
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| 117 | } |
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| 118 | L->finalize(); |
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| 119 | //Exit program: |
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| 120 | |
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| 121 | delete L; |
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| 122 | return 0; |
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| 123 | } |
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