root/applications/pmsm/experiments/ctrl_lq_dq.cfg

// settings for pmsm_estim.cpp

experiment={
        Ndat = 20000;
};

system= {
        class= "pmsmDSctrl";
        params = "pmsm107@./cfg/zcu.cfg";
        tstep = 1; // steps for profile in [s]
        profileW = [0, 10, 0, 2 ];
//      profileW = [0, -10, 30, 60, 90, 60, 30, 0, -30, -60, -30];
//      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];
};

UD = {class="EKFfull";
         IM = {class="IMpmsmStat";
                params = "pmsm107@./cfg/zcu.cfg";
         };
         OM = {class="OMpmsm";};
        dQ=[0.1, 0.1, 0.1, 0.01]; ///???????????????
        dR=[0.05, 0.05];
         //connect
         log_level="logmean";
         name = "Est0";
         };

controllers=({
                class = "PMSM_LQCtrl_dq";
//              estim = "UD";
                r = 0.0001;
                h = 100;
        }
);
        
logger= {
        class="dirfilelog";
        maxlen = 100;
        dirname = "exp/ctrlLQdq";
};