root/applications/pmsm/experiments/ctrl_lq_dq2.cfg @ 1402

// settings for pmsm_estim.cpp

experiment={
        Ndat = 120000;
//      Ndat = 100000;
//      Ndat = 10000;
};

system= {
        class= "pmsmDSctrl";
        params = "pmsm107@./cfg/zcu.cfg";
        tstep = 1; // steps for profile in [s]
//      profileW = [0, 10, 0, 2 ];
//      profileW = [0, 500, 1000, 1500, 2000, 2500, 3000 ];     
//      profileW = [0, -10, 30, 60, 90, 60, 30, 0, -30, -60, -30];
//      profileW = [0, -1, 3, 6, 9, 6, 3, 0, 0, 0, 0, 0,0,-3, -6, -3];
        profileW = [1, 10, 50, 200, 200, 30, 0, 0, -30, -30, -100, -100, -40, 0, 0];
//      profileW = [1, 10, 50, 200, 200, 30, 1, 1, -1, -10, -50, -200, -200, -30, 0];
//      profileW = [250, 500, 750, 1000, 1250, 1500, 1750, 2000, 2250, 2500, 2750, 3000, 3000];
//      profileM = [0, 3, 0, 0, 3, 0, 0, 0, 0, 0, 1, 0, 0];
        profileM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
};

UD = {class="EKF_UD";
         IM = {class="IMpmsm";
                params = "pmsm107@./cfg/zcu.cfg";
                compensate = 0;
         };
         OM = {class="OMpmsm";};
//      dQ=[0.1, 0.1, 0.1, 0.001]; ///???????????????
//      dQ=[0.1, 0.1, 10.01, 10.01];
        dQ=[0.1, 0.1, 0.1, 0.001];//, 0.0000000000000000001];
//      dQ=[0.1, 0.1, 0.1, 0.00001];
        dR=[0.05, 0.05];
//      dR=[0.00001, 0.00001];
         //connect
         log_level="logmean,logU,logD,logC";
         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";
//              class = "PMSM_LQCtrl_dq";
//              class = "PMSM_LQCtrl_dq2";
//              class = "PMSM_LQCtrl_bic";
//              class = "PMSM_LQCtrl_bic2";
                class = "PMSM_LQCtrl_bic3";
//              class = "PMSM_LQCtrl_EKF_Inj";                  //biver legenda
                estim = "UD";                                                   //  0 - nic navic
//              estim = "PF";                                                   //  1 - signum
//              r = 0.0001;                                                     //  2 - signum + casovy posun
                r = 0.001;                                                      //  3 - 3 KF v dq               // 30 - pocita det misto varth
//              r = 0.04;                                                               //  4 - 5 KF v albe     // 40 - pocita det misto varth //44 - uprava
                h = 10;                                                         //  5 - konst v d
                MAXu = 400;                                                     //  6 - injektaz do d
//              MAXu = 100;                                                     //  7 - injektaz albe
                MAXuflag = 2;                                                   //  8 - injektaz do d i do q
//              rpd = 0.1;                                                      //  9 - nahodny vyber jako 5 KF
                rpd = 0.00417;                                                  // 10 - postupne jako 5 KF
                bcbv = 6.0;                                                     // 11 - injektaz albe round sin resp. cos
                //bcbv = 0.0;                                                   // 13 - grid
                biver = 13;
                injkon = 6.0;
                injome = 16000.0;
//              injome = 500.0;
                injphi = 0.0;
                
                //multiple Kalman Q & R mat.
                Qred00 = 0.1;
                Qred11 = 0.01;
//              Qred01 = 0.1;
//              Qred10 = 0.000001;
//              Qred10 = 0.01;
                Rred00 = 0.05;//00000001;
                Rred11 = 0.05;//00000001;
//              Rred00 = 0.000000001;
//              Rred11 = 0.000000001;
//              Rred01 = 0.0000000001;
//              Rred10 = 0.0000000001;
                
                // PI parametry
                PIw_Pd = 3.0;
                PIw_Pi = 0.0037;                
                PIu_Pd = 20.0;
                PIu_Pi = 0.5;
                //PIw_Pd = 5.0;
                //PIw_Pi = 0.0037;              
                //PIu_Pd = 4.0;
                //PIu_Pi = 0.5;

                log_level = "logModel";
        }
);
        
logger= {
        class="dirfilelog";
        maxlen = 100;
//      dirname = "exp/ctrlPI";
//      dirname = "exp/ctrlLQ";
//      dirname = "exp/ctrlLQdq";
//      dirname = "exp/ctrlLQdq2";
//      dirname = "exp/ctrlLQbic";
//      dirname = "exp/ctrlLQbic2";
        dirname = "exp/ctrlLQbic3";
//      dirname = "exp/ctrlLQEKFInj";

};