root/applications/pmsm/experiments/ctrl_lq_dq2.cfg @ 1301

// settings for pmsm_estim.cpp

experiment={
        Ndat = 120000;
};

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";
         };

OT= {class="EKFfull";
         IM = {class="IMpmsmOT";
                params = "pmsm107@./cfg/zcu.cfg";
         };
         name = "ekf";
         OM = {class="OMpmsmOT";
                params = "pmsm107@./cfg/zcu.cfg";
        };
        dQ=[0.1, 0.01]; ///////// <====== OK
        dR=[0.5, 0.5];
        dP0=[0.1, 0.1];
         //connect
         log_level="logmean,logevidence,logbounds";
         };

PF= {class = "PF";name="pf";
          particle = {class ="BootstrapParticle";
                parameter_pdf = {class="mgnorm<ldmat>";
                  g={class="IMpmsmOT";
                        params = "pmsm107@./cfg/zcu.cfg";
                  };
                  dR=[0.001,0.0001];
                  rv ={class="RV";names=("om","th");};
                  rvc ={class="RV";names=("om","th","o_ua","o_ub","o_ia","o_ib");times=[-1,-1,0,0,-1,-1];};
                };
                observation_pdf= {class="mgnorm<ldmat>";
                  g={class="OMpmsmOT";
                        params = "pmsm107@./cfg/zcu.cfg";
                  }; 
                  dR=[0.5,0.5]; 
                  rv ={class="RV";names=("o_ia","o_ib");};
                  rvc = {class="RV";names=("om","th","o_ua","o_ub","o_ia","o_ib");times=[0,0,0,0,-1,-1];};
                };
          };
          n = 100;
          log_level="logbounds,logmean";
          prior = {class="euni";
                high = [ 0.1, 1.0];
                low = [ -0.1, -1.0];
                rv ={class="RV";names=("om","th");};
          };
};

         
         
controllers=({
//              class = "PMSM_PICtrl";
                class = "PMSM_LQCtrl_dq2";
//              estim = "UD";
                estim = "PF";
                r = 0.0001;
                h = 10;
        }
);
        
logger= {
        class="dirfilelog";
        maxlen = 100;
        dirname = "exp/ctrlLQdq2";
};