[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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[654] | 13 | #include <base/loggers.h> |
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[384] | 14 | #include <estim/kalman.h> |
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[349] | 15 | #include "simulator_zdenek/simulator.h" |
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[258] | 16 | #include "pmsm.h" |
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| 17 | |
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[366] | 18 | using namespace bdm; |
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| 19 | |
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[258] | 20 | //! Simulator of PMSM machine with predefined profile on omega |
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[357] | 21 | class pmsmDS : public DS |
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| 22 | { |
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[871] | 23 | LOG_LEVEL(pmsmDS,logvoltage); |
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[258] | 24 | |
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| 25 | protected: |
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[897] | 26 | //! indices of logged variables |
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[357] | 27 | int L_x, L_ou, L_oy, L_iu, L_optu; |
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| 28 | //! Setpoints of omega in timespans given by dt_prof |
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| 29 | vec profileWw; |
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| 30 | //! Setpoints of Mz in timespans given by dt_prof |
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| 31 | vec profileMz; |
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| 32 | //! time-step for profiles |
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| 33 | double dt_prof; |
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| 34 | //! Number of miliseconds per discrete time step |
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[871] | 35 | int Dt; |
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[258] | 36 | public: |
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[357] | 37 | //! Constructor with fixed sampling period |
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[686] | 38 | pmsmDS () : DS() |
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[357] | 39 | { |
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| 40 | Dt=125; |
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[895] | 41 | Drv=RV ( "{o_ua o_ub o_ia o_ib t_ua t_ub o_om o_th Mz }" ); |
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| 42 | dtsize = Drv._dsize(); |
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[357] | 43 | } |
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| 44 | 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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| 45 | { |
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| 46 | pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 ); |
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| 47 | } |
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[871] | 48 | |
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| 49 | void getdata ( vec &dt ) const |
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[357] | 50 | { |
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| 51 | dt.set_subvector(0,vec ( KalmanObs,6 )); |
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| 52 | dt(6)=x[2]; |
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| 53 | dt(7)=x[3]; |
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| 54 | dt(8)=x[8]; |
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| 55 | } |
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| 56 | void write ( vec &ut ) {} |
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[258] | 57 | |
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[357] | 58 | void step() |
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| 59 | { |
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| 60 | static int ind=0; |
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| 61 | static double dW; // increase of W |
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| 62 | static double Ww; // W |
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| 63 | static double Mz; // W |
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| 64 | if ( t>=dt_prof*ind ) |
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| 65 | { |
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| 66 | ind++; |
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| 67 | // check omega profile and set dW |
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[654] | 68 | if ( ind <2 && profileWw.length() ==1 ) |
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| 69 | { |
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| 70 | Ww=profileWw ( 0 ); |
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| 71 | dW=0.0; |
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| 72 | } |
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| 73 | if ( ind<profileWw.length() ) |
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[357] | 74 | { |
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| 75 | dW = profileWw ( ind )-profileWw ( ind-1 ); |
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| 76 | dW *=125e-6/dt_prof; |
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| 77 | } |
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| 78 | else |
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| 79 | { |
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| 80 | dW = 0; |
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| 81 | } |
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| 82 | // Check Mz profile and set Mz |
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| 83 | if ( ind<profileMz.length() ) |
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| 84 | { |
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| 85 | //sudden increase |
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| 86 | Mz = profileMz(ind); |
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| 87 | } |
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| 88 | else |
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| 89 | { |
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| 90 | Mz = 0; |
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| 91 | } |
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| 92 | } |
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| 93 | Ww += dW; |
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| 94 | //Simulate Dt seconds! |
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| 95 | for ( int i=0; i<Dt; i++ ) |
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| 96 | { |
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| 97 | pmsmsim_step ( Ww , Mz); |
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| 98 | } |
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[326] | 99 | // for ( int i=0;i<Dt;i++ ) { pmsmsim_noreg_step ( Ww , Mz);} |
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[332] | 100 | |
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[357] | 101 | //discretization |
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| 102 | double ustep=1.2; |
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| 103 | KalmanObs [ 0 ] = ustep*itpp::round( KalmanObs [ 0 ]/ ustep) ; |
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| 104 | KalmanObs [ 1 ] = ustep*itpp::round(KalmanObs [ 1 ]/ ustep); |
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| 105 | double istep=0.085; |
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| 106 | KalmanObs [ 2 ] = istep*itpp::round( KalmanObs [ 2 ]/ istep) ; |
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| 107 | KalmanObs [ 3 ] = istep*itpp::round(KalmanObs [ 3 ]/ istep); |
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[258] | 108 | |
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[357] | 109 | }; |
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[258] | 110 | |
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[676] | 111 | void log_register ( logger &L ) |
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[357] | 112 | { |
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[744] | 113 | L_x = L.add_vector ( rx, "x" ); |
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| 114 | L_oy = L.add_vector ( ry, "o" ); |
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| 115 | L_ou = L.add_vector ( ru, "o" ); |
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| 116 | L_iu = L.add_vector ( ru, "t" ); |
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[357] | 117 | // log differences |
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[871] | 118 | if ( log_level[logvoltage] ) |
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[357] | 119 | { |
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[744] | 120 | L_optu = L.add_vector ( ru, "model" ); |
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[357] | 121 | } |
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| 122 | } |
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[280] | 123 | |
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[676] | 124 | void log_write ( logger &L ) |
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[357] | 125 | { |
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[744] | 126 | L.log_vector ( L_x, vec ( x,4 ) ); |
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| 127 | L.log_vector ( L_oy, vec_2 ( KalmanObs[2],KalmanObs[3] ) ); |
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| 128 | L.log_vector ( L_ou, vec_2 ( KalmanObs[0],KalmanObs[1] ) ); |
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| 129 | L.log_vector ( L_iu, vec_2 ( KalmanObs[4],KalmanObs[5] ) ); |
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[871] | 130 | if ( log_level[logvoltage] ) |
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[357] | 131 | { |
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| 132 | double sq3=sqrt ( 3.0 ); |
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| 133 | double ua,ub; |
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| 134 | double i1=x[0]; |
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| 135 | double i2=0.5* ( -i1+sq3*x[1] ); |
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| 136 | double i3=0.5* ( -i1-sq3*x[1] ); |
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| 137 | double u1=KalmanObs[0]; |
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| 138 | double u2=0.5* ( -u1+sq3*KalmanObs[1] ); |
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| 139 | double u3=0.5* ( -u1-sq3*KalmanObs[1] ); |
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[258] | 140 | |
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[357] | 141 | double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1; |
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| 142 | double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2; |
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| 143 | double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3; |
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| 144 | ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
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| 145 | ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
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[744] | 146 | L.log_vector ( L_optu , vec_2 ( ua,ub ) ); |
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[357] | 147 | } |
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| 148 | |
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| 149 | } |
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| 150 | |
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| 151 | void set_profile ( double dt, const vec &Ww, const vec &Mz ) |
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| 152 | { |
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| 153 | dt_prof=dt; |
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| 154 | profileWw=Ww; |
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| 155 | profileMz=Mz; |
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| 156 | } |
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| 157 | |
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| 158 | void from_setting( const Setting &root ) |
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| 159 | { |
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[654] | 160 | const SettingResolver& params_l(root["params"]); |
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| 161 | const Setting ¶ms = params_l.result; |
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[366] | 162 | set_parameters ( params["Rs"], params["Ls"], params["Fmag"], \ |
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| 163 | params["Bf"], params["p"], params["kp"], \ |
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| 164 | params["J"], params["Uc"], params["DT"], 1.0e-6 ); |
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| 165 | |
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[357] | 166 | // Default values of profiles for omega and Mz |
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| 167 | vec profW=vec("1.0"); |
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| 168 | vec profM=vec("0.0"); |
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| 169 | double tstep=1.0; |
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[894] | 170 | UI::get( tstep, root, "tstep"); |
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[357] | 171 | UI::get( profW, root, "profileW" ); |
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| 172 | UI::get( profM, root, "profileM" ); |
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| 173 | set_profile (tstep , profW, profM); |
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| 174 | |
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| 175 | } |
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| 176 | |
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| 177 | // TODO dodelat void to_setting( Setting &root ) const; |
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[258] | 178 | }; |
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[318] | 179 | |
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[357] | 180 | UIREGISTER ( pmsmDS ); |
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| 181 | |
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| 182 | |
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[318] | 183 | //! This class behaves like BM but it is evaluating EKF |
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[357] | 184 | class pmsmCRB : public EKFfull |
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| 185 | { |
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| 186 | protected: |
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| 187 | vec interr; |
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| 188 | vec old_true; |
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| 189 | vec secder; |
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| 190 | int L_CRB; |
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| 191 | int L_err; |
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| 192 | int L_sec; |
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| 193 | public: |
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| 194 | //! constructor |
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| 195 | pmsmCRB():EKFfull() |
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| 196 | { |
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| 197 | old_true=zeros(6); |
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| 198 | } |
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[318] | 199 | |
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[357] | 200 | void bayes(const vec &dt) |
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| 201 | { |
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| 202 | static vec umin(2); |
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[654] | 203 | vec u(2); |
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[686] | 204 | vec &mu = est._mu(); |
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[654] | 205 | //assume we know state exactly: |
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[357] | 206 | vec true_state=vec(x,4); // read from pmsm |
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| 207 | mu=true_state; |
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| 208 | |
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| 209 | //integration error |
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| 210 | old_true(4)=KalmanObs[4]; |
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| 211 | old_true(5)=KalmanObs[5];// add U |
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| 212 | u(0) = KalmanObs[0]; // use the required value for derivatives |
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| 213 | u(1) = KalmanObs[1]; |
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| 214 | interr = (true_state - pfxu->eval(old_true)); |
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| 215 | |
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| 216 | //second derivative |
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[654] | 217 | IMpmsm2o* pf = dynamic_cast<IMpmsm2o*>(pfxu.get()); |
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[357] | 218 | if (pf) |
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| 219 | { |
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| 220 | secder=pf->eval2o(u-umin); |
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| 221 | } |
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| 222 | |
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| 223 | umin =u; |
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| 224 | EKFfull::bayes(dt); |
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| 225 | old_true.set_subvector(0,true_state); |
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| 226 | } |
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| 227 | |
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| 228 | void log_add(logger &L, const string &name="" ) |
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| 229 | { |
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[744] | 230 | L_CRB=L.add_vector(rx,"crb"); |
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| 231 | L_err=L.add_vector(rx,"err"); |
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| 232 | L_sec=L.add_vector(rx,"d2"); |
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[357] | 233 | } |
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| 234 | void logit(logger &L) |
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| 235 | { |
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[744] | 236 | L.log_vector(L_err, interr); |
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| 237 | L.log_vector(L_CRB,diag(_R())); |
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| 238 | L.log_vector(L_sec,secder); |
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[357] | 239 | } |
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| 240 | |
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| 241 | void from_setting( const Setting &root ) |
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| 242 | { |
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[654] | 243 | shared_ptr<diffbifn> IM = UI::build<diffbifn>(root, "IM"); |
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| 244 | shared_ptr<diffbifn> OM = UI::build<diffbifn>(root, "OM"); |
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[357] | 245 | |
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| 246 | //parameters |
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| 247 | |
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| 248 | //statistics |
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| 249 | int dim=IM->dimension(); |
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[359] | 250 | |
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[357] | 251 | vec mu0; |
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[359] | 252 | if(root.exists("mu0")) |
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| 253 | UI::get( mu0, root, "mu0"); |
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| 254 | else |
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[357] | 255 | mu0=zeros(dim); |
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[359] | 256 | |
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[357] | 257 | mat P0; |
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[359] | 258 | if(root.exists( "dP0" )) |
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| 259 | { |
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| 260 | vec dP0; |
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| 261 | UI::get(dP0,root, "dP0"); |
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[357] | 262 | P0=diag(dP0); |
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[359] | 263 | } |
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| 264 | else if (root.exists("P0")) |
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| 265 | UI::get(P0,root, "P0"); |
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| 266 | else |
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[357] | 267 | P0=eye(dim); |
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| 268 | |
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| 269 | set_statistics(mu0,P0); |
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| 270 | |
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| 271 | vec dQ; |
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| 272 | UI::get( dQ, root, "dQ"); |
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| 273 | vec dR; |
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| 274 | UI::get( dR, root, "dR"); |
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| 275 | set_parameters(IM, OM, diag(dQ) , diag(dR)); |
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| 276 | |
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| 277 | //connect |
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[654] | 278 | shared_ptr<RV> drv = UI::build<RV>(root, "drv"); |
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[679] | 279 | set_yrv(*drv); |
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[654] | 280 | shared_ptr<RV> rv = UI::build<RV>(root, "rv"); |
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[357] | 281 | set_rv(*rv); |
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| 282 | } |
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| 283 | |
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| 284 | // TODO dodelat void to_setting( Setting &root ) const; |
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[332] | 285 | }; |
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[342] | 286 | |
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[357] | 287 | UIREGISTER ( pmsmCRB ); |
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| 288 | |
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| 289 | |
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[342] | 290 | //! This class behaves like BM but it is evaluating EKF |
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[357] | 291 | class pmsmCRBMz : public EKFfull |
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| 292 | { |
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| 293 | protected: |
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| 294 | int L_CRB; |
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| 295 | public: |
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| 296 | //! constructor |
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| 297 | pmsmCRBMz():EKFfull() {} |
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[342] | 298 | |
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[357] | 299 | void bayes(const vec &dt) |
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| 300 | { |
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[342] | 301 | //assume we know state exactly: |
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[357] | 302 | vec true_state(5); |
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| 303 | true_state.set_subvector(0,vec(x,4)); // read from pmsm |
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| 304 | true_state(4)=x[8]; |
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| 305 | |
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[686] | 306 | vec &mu = est._mu(); |
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[357] | 307 | mu = true_state; |
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| 308 | //hack for ut |
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| 309 | EKFfull::bayes(dt); |
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| 310 | } |
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| 311 | |
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| 312 | void log_add(logger &L, const string &name="" ) |
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| 313 | { |
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[744] | 314 | L_CRB=L.add_vector(concat(rx,RV("Mz",1,0)),"crbz"); |
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[357] | 315 | } |
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| 316 | void logit(logger &L) |
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| 317 | { |
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[744] | 318 | L.log_vector(L_CRB,diag(_R())); |
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[357] | 319 | } |
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| 320 | |
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| 321 | void from_setting( const Setting &root ) |
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| 322 | { |
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[654] | 323 | shared_ptr<diffbifn> IM = UI::build<diffbifn>(root,"IM"); |
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| 324 | shared_ptr<diffbifn> OM = UI::build<diffbifn>(root,"OM"); |
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[357] | 325 | |
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| 326 | //statistics |
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| 327 | int dim=IM->dimension(); |
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| 328 | vec mu0; |
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[359] | 329 | if( root.exists( "mu0")) |
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| 330 | UI::get(mu0, root, "mu0"); |
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| 331 | else |
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[357] | 332 | mu0=zeros(dim); |
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| 333 | |
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[359] | 334 | mat P0; |
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| 335 | |
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| 336 | if(root.exists("dP0")) |
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| 337 | { |
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| 338 | vec dP0; |
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| 339 | UI::get(dP0, root, "dP0"); |
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| 340 | P0=diag(dP0); |
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| 341 | } |
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| 342 | else if(root.exists("P0")) |
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| 343 | UI::get( P0, root, "P0" ); |
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| 344 | else |
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| 345 | P0=eye(dim); |
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| 346 | |
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[357] | 347 | set_statistics(mu0,P0); |
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| 348 | |
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| 349 | vec dQ; |
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| 350 | UI::get(dQ, root, "dQ"); |
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| 351 | vec dR; |
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| 352 | UI::get(dR, root, "dR"); |
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| 353 | set_parameters(IM, OM, diag(dQ), diag(dR)); |
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| 354 | |
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| 355 | //connect |
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[654] | 356 | shared_ptr<RV> drv = UI::build<RV>(root, "drv"); |
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[679] | 357 | set_yrv(*drv); |
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[654] | 358 | shared_ptr<RV> rv = UI::build<RV>(root, "rv"); |
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[357] | 359 | set_rv(*rv); |
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| 360 | } |
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| 361 | |
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| 362 | // TODO dodelat void to_setting( Setting &root ) const; |
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[342] | 363 | }; |
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[357] | 364 | |
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| 365 | UIREGISTER ( pmsmCRBMz ); |
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