root/applications/pmsm/experiments/EKFfixedCh.cfg @ 1366

// settings for pmsm_estim.cpp

experiment={
        ndat = 100000;
};

system= {
        class= "pmsmDS";
        params = "pmsm107@../cfg/zcu.cfg";
        tstep = 1; // steps for profile in [s]
//      profileW = [0, 0, -30, -60, -90, -60, -30, 0, 30, 60];
        profileW = [0, 0, 0, 0, 10, 20, 10, 0, -10, -20, -10];
//      profileW = [1, 10, 50, 200, 200, 30, 0, 0, -30, -30, -100, -100, -40, 0, 0];
//      profileM = [0, 30, 0, 0, 30, 0, 0, 0, 0, 0, 10, 0, 0];
        profileM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
};

estimators = (
         {class="EKF_UD";
         IM = {class="IMpmsmStat";
                params = "pmsm107@../cfg/zcu.cfg";
         };
         OM = {class="OMpmsm";};
        dQ=[0.001, 0.001, 0.00001, 0.00000001];
//      dQ=[18., 18., 157., 0.001];
        dR=[0.05, 0.05];
//      dR=[90., 90.];
        dP0=[1800., 1800., 1570000., 10.];
         //connect
         yrv = {class="RV"; names=("o_ia","o_ib");};  // observed u
         rvc = {class="RV"; names=("o_ua","o_ub");};  // observed u
         rv = {class="RV"; names=("ia","ib","om","th");};
         log_level="logmean,logevidence,logbounds";
         name = "Est0";
         },
         {class="EKFfixedCh";
         //connect
         yrv = {class="RV"; names=("o_ia","o_ib");};  // observed u
         rvc = {class="RV"; names=("o_ua","o_ub");};  // observed u
         rv = {class="RV"; names=("fix_ia","fix_ib","fix_om","fix_th","fix_M");};
         log_level="logmean,logevidence,logbounds,logU,logG,logD";
         name = "Est1";
         }
         );
estimator0=(
        {class="EKF_UDfix";
         IM = {class="IMpmsmMz";
                params = "pmsm107@../cfg/zcu.cfg";
         };
         OM = {class="OMpmsmRO";};
        //dQ=[0.0, 0.0, 0.0000, 1e-10, 0.0];
        dQ=[0.05, 0.05, 0.001, 0.000001, 0.1]; ///////// <====== OK
//      dQ=[0.017, 0.017, 0.0004, 1e-5, 1e-1];
        dR=[0.025, 0.025];
        dP0=[0.1, 0.1, 0.1, 0.1, 0.1];
         //connect
         yrv = {class="RV"; names=("o_ia","o_ib");};  // observed u
         rvc = {class="RV"; names=("t_ua","t_ub");};  // observed u
         //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u
         rv = {class="RV"; names=("UKFMz_ia","UKFMz_ib","UKFMz_om","UKFMz_th","UKFMz_M");};
         log_level="logmean,logevidence,logbounds,logU,logG,logD";
         }
);
        
logger= {
        class="dirfilelog";
        maxlen = 100;
        dirname = "exp/fixch";
};