[1290] | 1 | // settings for pmsm_estim.cpp |
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| 2 | |
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| 3 | experiment={ |
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[1298] | 4 | Ndat = 120000; |
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[1303] | 5 | // Ndat = 50000; |
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[1290] | 6 | }; |
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| 7 | |
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| 8 | system= { |
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| 9 | class= "pmsmDSctrl"; |
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| 10 | params = "pmsm107@./cfg/zcu.cfg"; |
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| 11 | tstep = 1; // steps for profile in [s] |
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[1298] | 12 | // profileW = [0, 10, 0, 2 ]; |
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[1303] | 13 | // profileW = [0, 500, 1000, 1500, 2000, 2500, 3000 ]; |
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[1290] | 14 | // profileW = [0, -10, 30, 60, 90, 60, 30, 0, -30, -60, -30]; |
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[1298] | 15 | profileW = [1, 10, 50, 200, 200, 30, 0, 0, -30, -30, -100, -100, -40, 0, 0]; |
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[1290] | 16 | // profileM = [0, 30, 0, 0, 30, 0, 0, 0, 0, 0, 10, 0, 0]; |
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| 17 | profileM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; |
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| 18 | }; |
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| 19 | |
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| 20 | UD = {class="EKFfull"; |
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| 21 | IM = {class="IMpmsmStat"; |
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| 22 | params = "pmsm107@./cfg/zcu.cfg"; |
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| 23 | }; |
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| 24 | OM = {class="OMpmsm";}; |
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| 25 | dQ=[0.1, 0.1, 0.1, 0.01]; ///??????????????? |
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| 26 | dR=[0.05, 0.05]; |
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| 27 | //connect |
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| 28 | log_level="logmean"; |
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| 29 | name = "Est0"; |
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| 30 | }; |
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| 31 | |
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[1298] | 32 | OT= {class="EKFfull"; |
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| 33 | IM = {class="IMpmsmOT"; |
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| 34 | params = "pmsm107@./cfg/zcu.cfg"; |
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| 35 | }; |
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| 36 | name = "ekf"; |
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| 37 | OM = {class="OMpmsmOT"; |
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| 38 | params = "pmsm107@./cfg/zcu.cfg"; |
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| 39 | }; |
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| 40 | dQ=[0.1, 0.01]; ///////// <====== OK |
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| 41 | dR=[0.5, 0.5]; |
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| 42 | dP0=[0.1, 0.1]; |
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| 43 | //connect |
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| 44 | log_level="logmean,logevidence,logbounds"; |
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| 45 | }; |
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| 46 | |
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| 47 | PF= {class = "PF";name="pf"; |
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| 48 | particle = {class ="BootstrapParticle"; |
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| 49 | parameter_pdf = {class="mgnorm<ldmat>"; |
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| 50 | g={class="IMpmsmOT"; |
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| 51 | params = "pmsm107@./cfg/zcu.cfg"; |
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| 52 | }; |
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| 53 | dR=[0.001,0.0001]; |
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| 54 | rv ={class="RV";names=("om","th");}; |
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| 55 | rvc ={class="RV";names=("om","th","o_ua","o_ub","o_ia","o_ib");times=[-1,-1,0,0,-1,-1];}; |
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| 56 | }; |
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| 57 | observation_pdf= {class="mgnorm<ldmat>"; |
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| 58 | g={class="OMpmsmOT"; |
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| 59 | params = "pmsm107@./cfg/zcu.cfg"; |
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| 60 | }; |
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| 61 | dR=[0.5,0.5]; |
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| 62 | rv ={class="RV";names=("o_ia","o_ib");}; |
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| 63 | rvc = {class="RV";names=("om","th","o_ua","o_ub","o_ia","o_ib");times=[0,0,0,0,-1,-1];}; |
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| 64 | }; |
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| 65 | }; |
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| 66 | n = 100; |
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| 67 | log_level="logbounds,logmean"; |
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| 68 | prior = {class="euni"; |
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| 69 | high = [ 0.1, 1.0]; |
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| 70 | low = [ -0.1, -1.0]; |
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| 71 | rv ={class="RV";names=("om","th");}; |
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| 72 | }; |
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| 73 | }; |
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| 74 | |
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| 75 | |
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| 76 | |
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[1290] | 77 | controllers=({ |
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[1298] | 78 | // class = "PMSM_PICtrl"; |
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[1303] | 79 | // class = "PMSM_LQCtrl_dq"; |
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[1290] | 80 | class = "PMSM_LQCtrl_dq2"; |
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[1303] | 81 | estim = "UD"; |
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| 82 | // estim = "PF"; |
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[1317] | 83 | // r = 0.0001; |
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| 84 | r = 0.001; |
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[1303] | 85 | // r = 0.04; |
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[1290] | 86 | h = 10; |
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[1303] | 87 | MAXu = 400; |
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| 88 | MAXuflag = 2; |
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[1317] | 89 | rpd = 0;//.1; |
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[1290] | 90 | } |
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| 91 | ); |
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| 92 | |
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| 93 | logger= { |
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| 94 | class="dirfilelog"; |
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| 95 | maxlen = 100; |
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[1303] | 96 | // dirname = "exp/ctrlPI"; |
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| 97 | // dirname = "exp/ctrlLQdq"; |
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[1290] | 98 | dirname = "exp/ctrlLQdq2"; |
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| 99 | }; |
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