[706] | 1 | |
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| 2 | /*! |
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| 3 | \file |
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| 4 | \brief Multi-Estimator (developped for PMSM) |
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[1174] | 5 | |
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[706] | 6 | */ |
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| 7 | |
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| 8 | #include "base/user_info.h" |
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| 9 | #include "base/loggers.h" |
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| 10 | #include "estim/kalman.h" |
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| 11 | #include "pmsmDS.h" |
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| 12 | #include "filters.h" |
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| 13 | #include "base/datasources.h" |
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[1168] | 14 | #include "simulator_zdenek/ekf_example/ekf_obj.h" |
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[706] | 15 | |
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| 16 | using namespace bdm; |
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| 17 | int main ( int argc, char* argv[] ) { |
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| 18 | const char *fname; |
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| 19 | if ( argc>1 ) {fname = argv[1]; } |
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| 20 | else { cout << "Missing configuration file.\n Usage: \n $> estimator config_file.cfg"<<endl; abort(); } |
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| 21 | UIFile F ( fname ); |
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| 22 | |
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| 23 | shared_ptr<logger> L = UI::build <logger>( F, "logger" ); |
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| 24 | shared_ptr<DS> pDS = UI::build<DS> ( F, "system" ); |
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| 25 | Array<shared_ptr<BM> > Es; // array of estimators |
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| 26 | UI::get( Es, F, "estimator" ); |
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| 27 | int nE = Es.length(); //number of estimators |
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| 28 | int Ndat; //number of data records |
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| 29 | F.lookupValue ( "experiment.ndat",Ndat ); |
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| 30 | |
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| 31 | pDS->log_register ( *L, "true" ); |
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| 32 | string Ename; |
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| 33 | for (int i=0; i<nE; i++){ |
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| 34 | try { |
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| 35 | UI::get ( Ename, F.getRoot()["estimators"][i], "name",UI::optional ); |
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| 36 | } catch ( ...) { |
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| 37 | Ename="Est"+num2str ( i ); |
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| 38 | } |
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| 39 | Es(i)->log_register(*L,Ename); // estimate |
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| 40 | } |
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| 41 | L->init(); |
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| 42 | |
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| 43 | vec dt=zeros ( pDS->_drv()._dsize() ); //data variable |
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| 44 | Array<datalink*> Dls(nE); |
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| 45 | Array<datalink*> Dlsc(nE); |
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| 46 | for (int i=0; i<nE; i++){ |
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| 47 | Dls(i)=new datalink( Es(i)->_yrv(),pDS->_drv() ); //datalink between a datasource and estimator |
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| 48 | Dlsc(i)=new datalink( Es(i)->_rvc(),pDS->_drv() ); //datalink between a datasource and estimator |
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| 49 | } |
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| 50 | |
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| 51 | // Main cycle |
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| 52 | for ( int tK=1;tK<Ndat;tK++ ) { |
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| 53 | // Data Source |
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| 54 | pDS->step(); // simulator step |
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| 55 | pDS->getdata ( dt ); // read data |
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| 56 | pDS->log_write (); |
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| 57 | |
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| 58 | // Estimators |
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| 59 | for (int i=0; i<nE; i++){ |
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| 60 | Es(i)->bayes ( Dls(i)->pushdown ( dt ), Dlsc(i)->pushdown(dt) ); // update estimates |
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| 61 | |
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| 62 | Es(i)->log_write (); |
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| 63 | } |
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| 64 | // Regulators |
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| 65 | L->step(); |
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| 66 | } |
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| 67 | |
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| 68 | L->finalize(); |
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| 69 | |
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| 70 | for (int i=0; i<nE; i++){ |
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| 71 | delete Dls(i); |
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| 72 | delete Dlsc(i); |
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| 73 | } |
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| 74 | return 0; |
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| 75 | } |
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