[258] | 1 | /*! |
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| 2 | \file |
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| 3 | \brief DataSource for experiments with realistic simulator of the PMSM model |
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| 4 | \author Vaclav Smidl. |
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| 5 | |
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| 6 | ----------------------------------- |
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| 7 | BDM++ - C++ library for Bayesian Decision Making under Uncertainty |
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| 8 | |
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| 9 | Using IT++ for numerical operations |
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| 10 | ----------------------------------- |
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| 11 | */ |
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| 12 | |
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[1243] | 13 | #ifndef PMSM_DS |
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| 14 | #define PMSM_DS |
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| 15 | |
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[654] | 16 | #include <base/loggers.h> |
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[384] | 17 | #include <estim/kalman.h> |
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[349] | 18 | #include "simulator_zdenek/simulator.h" |
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[258] | 19 | #include "pmsm.h" |
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| 20 | |
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[366] | 21 | using namespace bdm; |
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| 22 | |
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[258] | 23 | //! Simulator of PMSM machine with predefined profile on omega |
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[357] | 24 | class pmsmDS : public DS |
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| 25 | { |
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[871] | 26 | LOG_LEVEL(pmsmDS,logvoltage); |
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[258] | 27 | |
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| 28 | protected: |
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[897] | 29 | //! indices of logged variables |
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[357] | 30 | int L_x, L_ou, L_oy, L_iu, L_optu; |
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| 31 | //! Setpoints of omega in timespans given by dt_prof |
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| 32 | vec profileWw; |
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| 33 | //! Setpoints of Mz in timespans given by dt_prof |
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| 34 | vec profileMz; |
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| 35 | //! time-step for profiles |
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| 36 | double dt_prof; |
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| 37 | //! Number of miliseconds per discrete time step |
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[871] | 38 | int Dt; |
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[258] | 39 | public: |
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[357] | 40 | //! Constructor with fixed sampling period |
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[686] | 41 | pmsmDS () : DS() |
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[357] | 42 | { |
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| 43 | Dt=125; |
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[895] | 44 | Drv=RV ( "{o_ua o_ub o_ia o_ib t_ua t_ub o_om o_th Mz }" ); |
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| 45 | dtsize = Drv._dsize(); |
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[357] | 46 | } |
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| 47 | void set_parameters ( double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0 ) |
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| 48 | { |
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| 49 | pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 ); |
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| 50 | } |
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[871] | 51 | |
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| 52 | void getdata ( vec &dt ) const |
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[357] | 53 | { |
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| 54 | dt.set_subvector(0,vec ( KalmanObs,6 )); |
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| 55 | dt(6)=x[2]; |
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| 56 | dt(7)=x[3]; |
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| 57 | dt(8)=x[8]; |
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| 58 | } |
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| 59 | void write ( vec &ut ) {} |
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[258] | 60 | |
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[357] | 61 | void step() |
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| 62 | { |
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| 63 | static int ind=0; |
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| 64 | static double dW; // increase of W |
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| 65 | static double Ww; // W |
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| 66 | static double Mz; // W |
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| 67 | if ( t>=dt_prof*ind ) |
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| 68 | { |
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| 69 | ind++; |
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| 70 | // check omega profile and set dW |
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[654] | 71 | if ( ind <2 && profileWw.length() ==1 ) |
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| 72 | { |
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| 73 | Ww=profileWw ( 0 ); |
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| 74 | dW=0.0; |
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| 75 | } |
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| 76 | if ( ind<profileWw.length() ) |
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[357] | 77 | { |
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| 78 | dW = profileWw ( ind )-profileWw ( ind-1 ); |
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| 79 | dW *=125e-6/dt_prof; |
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| 80 | } |
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| 81 | else |
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| 82 | { |
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| 83 | dW = 0; |
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| 84 | } |
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| 85 | // Check Mz profile and set Mz |
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| 86 | if ( ind<profileMz.length() ) |
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| 87 | { |
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| 88 | //sudden increase |
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| 89 | Mz = profileMz(ind); |
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| 90 | } |
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| 91 | else |
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| 92 | { |
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| 93 | Mz = 0; |
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| 94 | } |
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| 95 | } |
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| 96 | Ww += dW; |
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| 97 | //Simulate Dt seconds! |
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| 98 | for ( int i=0; i<Dt; i++ ) |
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| 99 | { |
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| 100 | pmsmsim_step ( Ww , Mz); |
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| 101 | } |
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[326] | 102 | // for ( int i=0;i<Dt;i++ ) { pmsmsim_noreg_step ( Ww , Mz);} |
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[332] | 103 | |
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[357] | 104 | //discretization |
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[1198] | 105 | /* double ustep=1.2; |
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[357] | 106 | KalmanObs [ 0 ] = ustep*itpp::round( KalmanObs [ 0 ]/ ustep) ; |
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[1198] | 107 | KalmanObs [ 1 ] = ustep*itpp::round(KalmanObs [ 1 ]/ ustep);*/ |
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| 108 | // double istep=0.085; |
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| 109 | // KalmanObs [ 2 ] = istep*itpp::round( KalmanObs [ 2 ]/ istep) ; |
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| 110 | // KalmanObs [ 3 ] = istep*itpp::round(KalmanObs [ 3 ]/ istep); |
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[258] | 111 | |
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[357] | 112 | }; |
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[258] | 113 | |
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[1153] | 114 | void log_register ( logger &L , const string &prefix) |
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[357] | 115 | { |
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[1153] | 116 | DS::log_register ( L, prefix ); |
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| 117 | |
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| 118 | // log differences |
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[871] | 119 | if ( log_level[logvoltage] ) |
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[357] | 120 | { |
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[1243] | 121 | L.add_vector ( log_level, logvoltage, RV("{ua, ub }"), "model" ); |
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[357] | 122 | } |
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| 123 | } |
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[280] | 124 | |
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[676] | 125 | void log_write ( logger &L ) |
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[357] | 126 | { |
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[871] | 127 | if ( log_level[logvoltage] ) |
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[357] | 128 | { |
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| 129 | double sq3=sqrt ( 3.0 ); |
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| 130 | double ua,ub; |
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| 131 | double i1=x[0]; |
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| 132 | double i2=0.5* ( -i1+sq3*x[1] ); |
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| 133 | double i3=0.5* ( -i1-sq3*x[1] ); |
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| 134 | double u1=KalmanObs[0]; |
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| 135 | double u2=0.5* ( -u1+sq3*KalmanObs[1] ); |
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| 136 | double u3=0.5* ( -u1-sq3*KalmanObs[1] ); |
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[258] | 137 | |
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[357] | 138 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
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| 139 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
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| 140 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
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| 141 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
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| 142 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
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[1153] | 143 | log_level.store( logvoltage , vec_2 ( ua,ub ) ); |
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[357] | 144 | } |
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| 145 | |
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| 146 | } |
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| 147 | |
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| 148 | void set_profile ( double dt, const vec &Ww, const vec &Mz ) |
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| 149 | { |
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| 150 | dt_prof=dt; |
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| 151 | profileWw=Ww; |
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| 152 | profileMz=Mz; |
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| 153 | } |
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| 154 | |
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| 155 | void from_setting( const Setting &root ) |
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| 156 | { |
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[654] | 157 | const SettingResolver& params_l(root["params"]); |
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| 158 | const Setting ¶ms = params_l.result; |
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[366] | 159 | set_parameters ( params["Rs"], params["Ls"], params["Fmag"], \ |
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| 160 | params["Bf"], params["p"], params["kp"], \ |
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| 161 | params["J"], params["Uc"], params["DT"], 1.0e-6 ); |
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| 162 | |
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[357] | 163 | // Default values of profiles for omega and Mz |
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| 164 | vec profW=vec("1.0"); |
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| 165 | vec profM=vec("0.0"); |
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| 166 | double tstep=1.0; |
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[894] | 167 | UI::get( tstep, root, "tstep"); |
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[357] | 168 | UI::get( profW, root, "profileW" ); |
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| 169 | UI::get( profM, root, "profileM" ); |
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| 170 | set_profile (tstep , profW, profM); |
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| 171 | |
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| 172 | } |
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| 173 | |
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| 174 | // TODO dodelat void to_setting( Setting &root ) const; |
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[258] | 175 | }; |
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[318] | 176 | |
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[357] | 177 | UIREGISTER ( pmsmDS ); |
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| 178 | |
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[1243] | 179 | //! Simulator of PMSM machine with predefined profile on omega |
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| 180 | class pmsmDSctrl : public pmsmDS |
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| 181 | { |
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| 182 | double Ww; |
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| 183 | double ua; |
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| 184 | double ub; |
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| 185 | public: |
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| 186 | //! Constructor with fixed sampling period |
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| 187 | pmsmDSctrl() : pmsmDS() |
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| 188 | { |
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| 189 | Drv.add(RV ( "{Ww }" )); |
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| 190 | Urv=RV ( "{ua ub }" ); |
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| 191 | dtsize = Drv._dsize(); |
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| 192 | utsize = Urv._dsize(); |
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| 193 | } |
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| 194 | |
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| 195 | void getdata ( vec &dt ) const |
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| 196 | { |
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| 197 | pmsmDS::getdata(dt); |
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| 198 | dt(9)=Ww; |
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| 199 | } |
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| 200 | void write (const vec &ut ) { |
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| 201 | ua = ut(0); |
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| 202 | ub = ut(1); |
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| 203 | } |
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| 204 | |
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| 205 | void step() |
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| 206 | { |
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| 207 | static int ind=0; |
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| 208 | static double dW; // increase of W |
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| 209 | static double Mz; // W |
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| 210 | t+=125e-6; |
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| 211 | if ( t>=dt_prof*ind ) |
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| 212 | { |
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| 213 | ind++; |
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| 214 | // check omega profile and set dW |
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| 215 | if ( ind <2 && profileWw.length() ==1 ) |
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| 216 | { |
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| 217 | Ww=profileWw ( 0 ); |
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| 218 | dW=0.0; |
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| 219 | } |
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| 220 | if ( ind<profileWw.length() ) |
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| 221 | { |
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| 222 | dW = profileWw ( ind )-profileWw ( ind-1 ); |
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| 223 | dW *=125e-6/dt_prof; |
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| 224 | } |
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| 225 | else |
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| 226 | { |
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| 227 | dW = 0; |
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| 228 | } |
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| 229 | // Check Mz profile and set Mz |
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| 230 | if ( ind<profileMz.length() ) |
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| 231 | { |
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| 232 | //sudden increase |
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| 233 | Mz = profileMz(ind); |
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| 234 | } |
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| 235 | else |
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| 236 | { |
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| 237 | Mz = 0; |
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| 238 | } |
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| 239 | } |
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| 240 | Ww += dW; |
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| 241 | //Simulate Dt seconds! |
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| 242 | for ( int i=0; i<Dt; i++ ) |
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| 243 | { |
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| 244 | pmsmsim_noreg_step (ua , ub); |
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| 245 | } |
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| 246 | }; |
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| 247 | |
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| 248 | }; |
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| 249 | |
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| 250 | UIREGISTER ( pmsmDSctrl ); |
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| 251 | |
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[357] | 252 | |
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[318] | 253 | //! This class behaves like BM but it is evaluating EKF |
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[357] | 254 | class pmsmCRB : public EKFfull |
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| 255 | { |
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| 256 | protected: |
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| 257 | vec interr; |
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| 258 | vec old_true; |
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| 259 | vec secder; |
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| 260 | int L_CRB; |
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| 261 | int L_err; |
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| 262 | int L_sec; |
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| 263 | public: |
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| 264 | //! constructor |
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| 265 | pmsmCRB():EKFfull() |
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| 266 | { |
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| 267 | old_true=zeros(6); |
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| 268 | } |
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[318] | 269 | |
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[357] | 270 | void bayes(const vec &dt) |
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| 271 | { |
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| 272 | static vec umin(2); |
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[654] | 273 | vec u(2); |
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[686] | 274 | vec &mu = est._mu(); |
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[654] | 275 | //assume we know state exactly: |
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[357] | 276 | vec true_state=vec(x,4); // read from pmsm |
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| 277 | mu=true_state; |
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| 278 | |
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| 279 | //integration error |
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| 280 | old_true(4)=KalmanObs[4]; |
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| 281 | old_true(5)=KalmanObs[5];// add U |
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| 282 | u(0) = KalmanObs[0]; // use the required value for derivatives |
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| 283 | u(1) = KalmanObs[1]; |
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| 284 | interr = (true_state - pfxu->eval(old_true)); |
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| 285 | |
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| 286 | //second derivative |
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[654] | 287 | IMpmsm2o* pf = dynamic_cast<IMpmsm2o*>(pfxu.get()); |
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[357] | 288 | if (pf) |
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| 289 | { |
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| 290 | secder=pf->eval2o(u-umin); |
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| 291 | } |
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| 292 | |
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| 293 | umin =u; |
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| 294 | EKFfull::bayes(dt); |
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| 295 | old_true.set_subvector(0,true_state); |
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| 296 | } |
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| 297 | |
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| 298 | void from_setting( const Setting &root ) |
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| 299 | { |
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[654] | 300 | shared_ptr<diffbifn> IM = UI::build<diffbifn>(root, "IM"); |
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| 301 | shared_ptr<diffbifn> OM = UI::build<diffbifn>(root, "OM"); |
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[357] | 302 | |
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| 303 | //parameters |
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| 304 | |
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| 305 | //statistics |
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| 306 | int dim=IM->dimension(); |
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[359] | 307 | |
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[357] | 308 | vec mu0; |
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[359] | 309 | if(root.exists("mu0")) |
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| 310 | UI::get( mu0, root, "mu0"); |
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| 311 | else |
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[357] | 312 | mu0=zeros(dim); |
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[359] | 313 | |
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[357] | 314 | mat P0; |
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[359] | 315 | if(root.exists( "dP0" )) |
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| 316 | { |
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| 317 | vec dP0; |
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| 318 | UI::get(dP0,root, "dP0"); |
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[357] | 319 | P0=diag(dP0); |
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[359] | 320 | } |
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| 321 | else if (root.exists("P0")) |
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| 322 | UI::get(P0,root, "P0"); |
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| 323 | else |
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[357] | 324 | P0=eye(dim); |
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| 325 | |
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| 326 | set_statistics(mu0,P0); |
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| 327 | |
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| 328 | vec dQ; |
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| 329 | UI::get( dQ, root, "dQ"); |
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| 330 | vec dR; |
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| 331 | UI::get( dR, root, "dR"); |
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| 332 | set_parameters(IM, OM, diag(dQ) , diag(dR)); |
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| 333 | |
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| 334 | //connect |
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[654] | 335 | shared_ptr<RV> drv = UI::build<RV>(root, "drv"); |
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[679] | 336 | set_yrv(*drv); |
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[654] | 337 | shared_ptr<RV> rv = UI::build<RV>(root, "rv"); |
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[357] | 338 | set_rv(*rv); |
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| 339 | } |
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| 340 | |
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| 341 | // TODO dodelat void to_setting( Setting &root ) const; |
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[332] | 342 | }; |
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[342] | 343 | |
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[357] | 344 | UIREGISTER ( pmsmCRB ); |
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| 345 | |
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| 346 | |
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[342] | 347 | //! This class behaves like BM but it is evaluating EKF |
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[357] | 348 | class pmsmCRBMz : public EKFfull |
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| 349 | { |
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| 350 | protected: |
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| 351 | int L_CRB; |
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| 352 | public: |
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| 353 | //! constructor |
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| 354 | pmsmCRBMz():EKFfull() {} |
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[342] | 355 | |
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[357] | 356 | void bayes(const vec &dt) |
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| 357 | { |
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[342] | 358 | //assume we know state exactly: |
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[357] | 359 | vec true_state(5); |
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| 360 | true_state.set_subvector(0,vec(x,4)); // read from pmsm |
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| 361 | true_state(4)=x[8]; |
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| 362 | |
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[686] | 363 | vec &mu = est._mu(); |
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[357] | 364 | mu = true_state; |
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| 365 | //hack for ut |
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| 366 | EKFfull::bayes(dt); |
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| 367 | } |
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| 368 | |
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| 369 | |
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| 370 | void from_setting( const Setting &root ) |
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| 371 | { |
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[654] | 372 | shared_ptr<diffbifn> IM = UI::build<diffbifn>(root,"IM"); |
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| 373 | shared_ptr<diffbifn> OM = UI::build<diffbifn>(root,"OM"); |
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[357] | 374 | |
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| 375 | //statistics |
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| 376 | int dim=IM->dimension(); |
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| 377 | vec mu0; |
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[359] | 378 | if( root.exists( "mu0")) |
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| 379 | UI::get(mu0, root, "mu0"); |
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| 380 | else |
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[357] | 381 | mu0=zeros(dim); |
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| 382 | |
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[359] | 383 | mat P0; |
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| 384 | |
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| 385 | if(root.exists("dP0")) |
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| 386 | { |
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| 387 | vec dP0; |
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| 388 | UI::get(dP0, root, "dP0"); |
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| 389 | P0=diag(dP0); |
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| 390 | } |
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| 391 | else if(root.exists("P0")) |
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| 392 | UI::get( P0, root, "P0" ); |
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| 393 | else |
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| 394 | P0=eye(dim); |
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| 395 | |
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[357] | 396 | set_statistics(mu0,P0); |
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| 397 | |
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| 398 | vec dQ; |
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| 399 | UI::get(dQ, root, "dQ"); |
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| 400 | vec dR; |
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| 401 | UI::get(dR, root, "dR"); |
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| 402 | set_parameters(IM, OM, diag(dQ), diag(dR)); |
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| 403 | |
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| 404 | //connect |
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[654] | 405 | shared_ptr<RV> drv = UI::build<RV>(root, "drv"); |
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[679] | 406 | set_yrv(*drv); |
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[654] | 407 | shared_ptr<RV> rv = UI::build<RV>(root, "rv"); |
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[357] | 408 | set_rv(*rv); |
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| 409 | } |
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| 410 | |
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| 411 | // TODO dodelat void to_setting( Setting &root ) const; |
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[342] | 412 | }; |
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[357] | 413 | |
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| 414 | UIREGISTER ( pmsmCRBMz ); |
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[1243] | 415 | |
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| 416 | #endif |
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