root/applications/pmsm/experiments/ukf.cfg

// settings for pmsm_estim.cpp

experiment={
        ndat = 120000;
};

system= {
        class= "pmsmDS";
        params = "pmsm107@../cfg/zcu.cfg";
        tstep = 1; // steps for profile in [s]
//      profileW = [0, 1, 5, 10, 10, 3, 0, 0, -3, -3, -10, -10, -4, 0, 0];
        profileW = [1, 10, 50, 100, 100, 30, 0, 0, -30, -30, -100, -100, -40, 0, 0];
        profileM = [0, 10, 0, 0, 10, 0, 0, 0, 0, 0, 10, 0, 0];
//      profileM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
};

estimator = (
         {class="EKFfull";
         IM = {class="IMpmsmMz";
                params = "pmsm107@../cfg/zcu.cfg";
         };
         OM = {class="OMpmsmRO";};
        dQ=[0.0017, 0.0017, 0.00000004, 1e-14, 1e-1];
//      dQ=[0.05, 0.05, 0.001, 0.000001, 0.1]; ///////// <====== OK
//      dQ=[0.017, 0.017, 0.000004, 1e-8, 1e-1];
        dR=[90, 90];
        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=("o_ua","o_ub");};  // observed u
         //drv = {class="RV"; names=("o_ia","o_ib","t_ua","t_ub");}; // true u
         rv = {class="RV"; names=("EKFMz_ia","EKFMz_ib","EKFMz_om","EKFMz_th","EKFMz_M");};
         log_level="logmean,logevidence,logbounds";
         } ,
         {class="EKF_UD";
         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=("o_ua","o_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";
         }
);
        
logger= {
        class="dirfilelog";
        maxlen = 100;
        dirname = "exp/UKF";
};