root/applications/pmsm/TR2245/pmsm_wishart.cpp @ 905

/*!
  \file
  \brief TR 2525 file for testing Wishart random walk on PMSM simulator
  \author Vaclav Smidl.

  -----------------------------------
  BDM++ - C++ library for Bayesian Decision Making under Uncertainty

  Using IT++ for numerical operations
  -----------------------------------
*/



#include <estim/particles.h>
#include <estim/ekf_template.h>
#include <stat/functions.h>

#include "user_info.h"
#include "../pmsmDS.h"

using namespace bdm;

int main ( int argc, char* argv[] ) {
        const char *fname;
        if ( argc>1 ) {fname = argv[1]; }
        else { fname = "pmsm_wishart.cfg"; }
        UIFile F ( fname );

        double h = 1e-6;
        int Nsimstep = 125;

        // Kalman filter
        double k;
        double l;
        F.lookupValue ( "k",k);
        F.lookupValue ( "l",l);

        int Ndat;
        int Npart;
        F.lookupValue ( "ndat", Ndat );
        F.lookupValue ( "Npart", Npart );

        vec Qdiag;
        vec Rdiag;
        UI::get( Qdiag, F, "dQ" ); //( "1e-6 1e-6 0.001 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.0001
        UI::get( Rdiag, F, "dR" );// ( "1e-8 1e-8" ); //var(diff(xth)) = "0.034 0.034"
                
        pmsmDS* DS = UI::build<pmsmDS>(F,"system");

        // internal model
        IMpmsm fxu;
        //                  Rs    Ls        dt       Fmag(Ypm)    kp   p    J     Bf(Mz)
        fxu.set_parameters ( 0.28, 0.003465, Nsimstep*h, 0.1989, 1.5 ,4.0, 0.04, 0.0 );
        // observation model
        OMpmsm hxu;

        vec mu0= "0.0 0.0 0.0 0.0";
        chmat Q ( Qdiag );
        chmat R ( Rdiag );
        EKFCh KFE ;
        KFE.set_parameters ( &fxu,&hxu,Q,R );
        KFE.set_est ( mu0, chmat ( 0.01*eye( 4 ) ) );
        KFE.set_rv ( rx );

        RV rQ ( "{Q }","16" );
        EKFCh_chQ KFEp ;
        KFEp.set_parameters ( &fxu,&hxu,Q,R );
        KFEp.set_est ( mu0, chmat (0.01* eye( 4 ) ) );

        rwiWishartCh* evolQw = new rwiWishartCh; 
        evolQw->set_parameters(4, k, sqrt(Qdiag),l);
        MPF<EKFCh_chQ> M;
        M.set_parameters ( evolQw,evolQw,Npart );
        // initialize
        chmat Ch0(diag(Qdiag));
        evolQw->condition ( vec(Ch0._Ch()._data(),16) ); //Zdenek default
        M.set_statistics ( evolQw->_e() , &KFEp );
        //

        M.set_rv ( concat ( rQ,rx ) );

        dirfilelog *L = UI::build<dirfilelog> ( F, "logger" );// ( "exp/mpf_test",100 );
        
        KFE.log_level[logbounds] = true;
        KFE.log_add ( *L,"KF" );
        M.log_level[logbounds] = true;
        M.log_add ( *L,"M" );
        DS->log_add(*L);
        L->init();

        // SET SIMULATOR
        pmsmsim_set_parameters ( 0.28,0.003465,0.1989,0.0,4,1.5,0.04, 200., 3e-6, h );
        vec dt ( 2 );
        vec ut ( 2 );
        vec xt ( 4 );
        vec xtm=zeros ( 4 );
//      double Ww=0.0;
        
        vec obs(6);
        for ( int tK=1;tK<Ndat;tK++ ) {
                //Number of steps of a simulator for one step of Kalman
                DS->step();
                DS->getdata(obs);
                
                dt=obs.left(2);
                ut=obs.right(2);
                //estimator
                KFE.bayes ( concat ( dt,ut ) );
                M.bayes ( concat ( dt,ut ) );

                DS->logit (*L);

                KFE.logit ( *L );
                M.logit ( *L );
                L->step();
        }
        L->finalize();
        //Exit program:

        delete L;
        return 0;
}