[262] | 1 | |
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[384] | 2 | #include <estim/kalman.h> |
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[61] | 3 | |
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| 4 | #include "ekf_obj.h" |
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[66] | 5 | #include "../simulator.h" |
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[61] | 6 | |
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| 7 | double minQ(double Q){if (Q>1.0){ return 1.0;} else {return Q;};}; |
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| 8 | |
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[1174] | 9 | void mat_to_int(const imat &M, int *I){ |
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| 10 | for (int i=0;i<M.rows(); i++){ |
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| 11 | for (int j=0;j<M.cols(); j++){ |
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| 12 | *I++ = M(i,j); |
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| 13 | } |
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| 14 | } |
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| 15 | } |
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| 16 | void vec_to_int(const ivec &v, int *I){ |
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| 17 | for (int i=0;i<v.length(); i++){ |
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| 18 | *I++ = v(i); |
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| 19 | } |
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| 20 | } |
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| 21 | |
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[61] | 22 | /////////////// |
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[1168] | 23 | void EKFfixed::bayes(const vec &yt, const vec &ut){ |
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| 24 | ekf(yt(0),yt(1),ut(0),ut(1)); |
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| 25 | |
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[66] | 26 | vec xhat(4); |
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| 27 | //UGLY HACK!!! reliance on a predictor!! |
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| 28 | xhat(0)=zprevod(x_est[0],Qm)*Iref; |
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| 29 | xhat(1)=zprevod(x_est[1],Qm)*Iref; |
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| 30 | xhat(2)=zprevod(x_est[2],Qm)*Wref; |
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[1168] | 31 | xhat(3)=zprevod(x_est[3],15)*Thetaref; |
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[61] | 32 | |
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[66] | 33 | E.set_mu(xhat); |
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| 34 | |
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[61] | 35 | if ( BM::evalll ) { |
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[1201] | 36 | /* //from enorm |
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[66] | 37 | vec xdif(x,4);//first 4 of x |
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| 38 | //UGLY HACK!!! reliance on a predictor!! |
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| 39 | /* xdif(0)=x[0]-zprevod(x_pred[0],Qm)*Iref; |
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| 40 | xdif(1)=x[1]-zprevod(x_pred[1],Qm)*Iref; |
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| 41 | xdif(2)=x[2]-zprevod(x_pred[2],Qm)*Wref; |
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| 42 | xdif(3)=x[3]-zprevod(x_pred[3],15);*/ |
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[61] | 43 | |
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[1201] | 44 | // xdif -=xhat; //(xdif=x-xhat) |
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[66] | 45 | |
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| 46 | mat Pfull(4,4); |
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| 47 | double* Pp=Pfull._data(); |
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| 48 | for(int i=0;i<16;i++){*(Pp++) = zprevod(P_est[i],15);} |
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| 49 | |
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[1168] | 50 | E._R()._M()=Pfull; |
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| 51 | |
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| 52 | |
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[1201] | 53 | // BM::ll = -0.5* ( 4 * 1.83787706640935 +log ( det ( Pfull ) ) +xdif* ( inv(Pfull)*xdif ) );*/ |
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[61] | 54 | } |
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| 55 | }; |
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| 56 | |
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| 57 | |
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| 58 | void EKFfixed::update_psi(void) |
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| 59 | { |
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| 60 | int t_sin,t_cos,tmp; |
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| 61 | |
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| 62 | // implementace v PC |
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| 63 | t_sin=prevod(sin(Thetaref*x_est[3]/32768.),15); |
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| 64 | t_cos=prevod(cos(Thetaref*x_est[3]/32768.),15); |
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| 65 | |
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| 66 | PSI[2]=((long)cB*t_sin)>>15; |
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| 67 | tmp=((long)cH*x_est[2])>>15; |
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| 68 | PSI[3]=((long)tmp*t_cos)>>15; |
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| 69 | PSI[6]=-((long)cB*t_cos)>>15; |
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| 70 | PSI[7]=((long)tmp*t_sin)>>15; |
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| 71 | } |
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| 72 | |
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| 73 | |
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| 74 | void EKFfixed::prediction(int *ux) |
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| 75 | { |
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| 76 | int t_sin,t_cos, tmp; |
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| 77 | |
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| 78 | // implementace v PC |
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[1201] | 79 | //t_sin=prevod(sin(Thetaref*x_est[3]/32768.),15); |
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| 80 | //t_cos=prevod(cos(Thetaref*x_est[3]/32768.),15); |
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[61] | 81 | |
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[1201] | 82 | t_sin=prevod(sin(Thetaref*x_est[3]/Qm),15); |
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| 83 | t_cos=prevod(cos(Thetaref*x_est[3]/Qm),15); |
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| 84 | |
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[61] | 85 | tmp=((long)cB*x_est[2])>>15; |
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| 86 | x_pred[0]=((long)cA*x_est[0]+(long)tmp*t_sin+(long)cC*ux[0])>>15; |
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| 87 | x_pred[1]=((long)cA*x_est[1]-(long)tmp*t_cos+(long)cC*ux[1])>>15; |
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| 88 | x_pred[2]=x_est[2]; |
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| 89 | x_pred[3]=(((long)x_est[3]<<15)+(long)cG*x_est[2])>>15; |
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| 90 | |
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| 91 | update_psi(); |
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| 92 | |
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| 93 | mmult(PSI,P_est,temp15a,3,3,3); |
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| 94 | // mtrans(PSI,temp15b,5,5); |
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| 95 | mmultt(temp15a,PSI,P_pred,3,3,3); |
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| 96 | maddD(P_pred,Q,3,3); |
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| 97 | } |
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| 98 | |
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| 99 | void EKFfixed::correction(void) |
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| 100 | { |
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| 101 | int Y_error[2]; |
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| 102 | long temp30a[4]; /* matrix [2,2] - temporary matrix for inversion */ |
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| 103 | |
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| 104 | choice_P(P_pred,temp15a,3); |
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| 105 | maddD(temp15a,R,1,1); |
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| 106 | minv2(temp15a,temp30a); |
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| 107 | Ry(0,0)=zprevod(temp15a[0],15); |
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| 108 | Ry(0,1)=zprevod(temp15a[1],15); |
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| 109 | Ry(1,0)=zprevod(temp15a[2],15); |
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| 110 | Ry(1,1)=zprevod(temp15a[3],15); |
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| 111 | |
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| 112 | mmultDr(P_pred,temp15a,3,3,1,1); |
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| 113 | mmult1530(temp15a,temp30a,Kalm,3,1,1); |
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| 114 | |
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| 115 | |
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| 116 | /* estimate the state system */ |
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| 117 | choice_x(x_pred, temp15a); |
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| 118 | msub(Y_mes,temp15a,Y_error,1,0); |
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| 119 | mmult(Kalm,Y_error,temp15a,3,1,0); |
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| 120 | madd(x_pred,temp15a,x_est,3,0); |
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| 121 | |
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| 122 | /* matrix of covariances - version without MMULTDL() */ |
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| 123 | |
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| 124 | /* Version with MMULTDL() */ |
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| 125 | mmultDl(P_pred,temp15a,1,3,3,1); |
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| 126 | |
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| 127 | mmult(Kalm,temp15a,P_est,3,1,3); |
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| 128 | msub(P_pred,P_est,P_est,3,3); |
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| 129 | /* END */ |
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| 130 | } |
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| 131 | |
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| 132 | |
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| 133 | void EKFfixed::ekf(double ux, double uy, double isxd, double isyd) |
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| 134 | { |
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| 135 | // vypocet napeti v systemu (x,y) |
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| 136 | ukalm[0]=prevod(ux/Uref,Qm); |
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| 137 | ukalm[1]=prevod(uy/Uref,Qm); |
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| 138 | |
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| 139 | // zadani mereni |
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| 140 | Y_mes[0]=prevod(isxd/Iref,Qm); |
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| 141 | Y_mes[1]=prevod(isyd/Iref,Qm); |
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| 142 | |
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| 143 | ////// vlastni rutina EKF ///////////////////////// |
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| 144 | prediction(ukalm); |
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| 145 | correction(); |
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| 146 | |
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| 147 | // navrat estimovanych hodnot regulatoru |
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[80] | 148 | vec& mu = E._mu(); |
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| 149 | (mu)(0)=zprevod(x_est[0],Qm)*Iref; |
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| 150 | (mu)(1)=zprevod(x_est[1],Qm)*Iref; |
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| 151 | (mu)(2)=zprevod(x_est[2],Qm)*Wref; |
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| 152 | (mu)(3)=zprevod(x_est[3],15)*Thetaref; |
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[61] | 153 | } |
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| 154 | |
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| 155 | void EKFfixed::init_ekf(double Tv) |
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| 156 | { |
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| 157 | // Tuning of matrix Q |
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[1201] | 158 | Q[0]=prevod(.05,15); // 0.05 |
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[61] | 159 | Q[5]=Q[0]; |
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[1201] | 160 | Q[10]=prevod(0.0002,15); // 1e-3 |
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| 161 | Q[15]=prevod(0.001,15); // 1e-3 |
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[61] | 162 | |
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| 163 | // Tuning of matrix R |
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[1201] | 164 | R[0]=prevod(0.1,15); // 0.05 |
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[61] | 165 | R[3]=R[0]; |
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| 166 | |
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| 167 | // Motor model parameters |
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| 168 | cA=prevod(1-Tv*Rs/Ls,15); |
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| 169 | cB=prevod(Tv*Wref*Fmag/Iref/Ls,15); |
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| 170 | cC=prevod(Tv/Ls/Iref*Uref,15); |
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| 171 | // cD=prevod(1-Tv*Bf/J,15); |
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| 172 | // cE=prevod(kp*p*p*Tv*Fmag*Iref/J/Wref,15); |
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| 173 | // cF=prevod(p*Tv*Mref/J/Wref,15); |
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| 174 | cG=prevod(Tv*Wref*4/Thetaref,15); |
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[1201] | 175 | // cH=prevod(Tv*Wref*Fmag/Iref/Ls*Thetaref,15); |
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| 176 | cH=prevod(Tv*Wref*Fmag/Iref/Ls,15); |
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| 177 | // cI=prevod(kp*p*p*Tv*Fmag*Iref/J/Wref*Thetaref); |
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[61] | 178 | |
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| 179 | /* Init matrix PSI with permanently constant terms */ |
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| 180 | PSI[0]=cA; |
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| 181 | PSI[5]=PSI[0]; |
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| 182 | PSI[10]=0x7FFF; |
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| 183 | PSI[14]=cG; |
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| 184 | PSI[15]=0x7FFF; |
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[1201] | 185 | |
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| 186 | P_est[0]=0x7FFF; |
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| 187 | P_est[5]=0x7FFF; |
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| 188 | P_est[10]=0x7FFF; |
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| 189 | P_est[15]=0x7FFF; |
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[61] | 190 | } |
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[1174] | 191 | |
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| 192 | |
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| 193 | void EKF_UDfix::set_parameters ( const shared_ptr<diffbifn> &pfxu0, const shared_ptr<diffbifn> &phxu0, const mat Q0, const vec R0 ) { |
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| 194 | pfxu = pfxu0; |
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| 195 | phxu = phxu0; |
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| 196 | |
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| 197 | set_dim ( pfxu0->_dimx() ); |
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| 198 | dimy = phxu0->dimension(); |
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| 199 | dimc = pfxu0->_dimu(); |
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| 200 | |
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| 201 | vec &_mu = est._mu(); |
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| 202 | // if mu is not set, set it to zeros, just for constant terms of A and C |
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| 203 | if ( _mu.length() != dimension() ) _mu = zeros ( dimension() ); |
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| 204 | A = zeros ( dimension(), dimension() ); |
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| 205 | C = zeros ( dimy, dimension() ); |
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| 206 | |
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| 207 | //initialize matrices A C, later, these will be only updated! |
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| 208 | pfxu->dfdx_cond ( _mu, zeros ( dimc ), A, true ); |
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| 209 | // pfxu->dfdu_cond ( *_mu,zeros ( dimu ),B,true ); |
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| 210 | phxu->dfdx_cond ( _mu, zeros ( dimc ), C, true ); |
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| 211 | // phxu->dfdu_cond ( *_mu,zeros ( dimu ),D,true ); |
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| 212 | |
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| 213 | R = R0; |
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| 214 | Q = Q0; |
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| 215 | |
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| 216 | // |
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| 217 | } |
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| 218 | // aux fnc |
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| 219 | void UDtof(const mat &U, const vec &D, imat &Uf, ivec &Df, const vec &xref){ |
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| 220 | mat P= U*diag(D)*U.T(); |
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| 221 | mat T = diag(1.0/(xref)); |
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| 222 | mat Pf = T*P*T; |
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| 223 | |
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| 224 | ldmat Pld(Pf); |
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| 225 | |
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| 226 | mat Ut=Pld._L().T()*(1<<15); // U is in q15 -- diagonal is 0!!! |
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| 227 | Uf=round_i(Ut); |
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| 228 | Df=round_i(Pld._D()*(1<<15)); |
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| 229 | ivec zer=find(Df==0); |
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| 230 | for(int i=0; i<zer.length(); i++) Df(zer(i))=1; |
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| 231 | } |
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| 232 | |
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| 233 | |
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| 234 | void EKF_UDfix::bayes ( const vec &yt, const vec &cond ) { |
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| 235 | //preparatory |
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| 236 | vec &_mu=est._mu(); |
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| 237 | const vec &u=cond; |
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| 238 | int dim = dimension(); |
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[1182] | 239 | ///// !!!!!!!!!!!!!!!! |
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[1174] | 240 | U = est._R()._L().T(); |
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| 241 | D = est._R()._D(); |
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[1183] | 242 | |
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[1174] | 243 | //////////// |
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| 244 | |
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| 245 | pfxu->dfdx_cond ( _mu, u, A, false ); //update A by a derivative of fx |
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| 246 | phxu->dfdx_cond ( _mu, u, C, false ); //update A by a derivative of fx |
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| 247 | |
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| 248 | mat PhiU = A*U; |
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| 249 | |
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| 250 | ////// |
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[1201] | 251 | /* vec xref(4); |
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[1174] | 252 | xref(0)= 30.0*1.4142; |
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| 253 | xref(1)= 30.0*1.4142; |
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| 254 | xref(2)= 6.283185*200.; |
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[1201] | 255 | xref(3) = 3.141593;*/ |
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| 256 | //xref(4) = 34.0; |
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[1174] | 257 | |
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[1182] | 258 | |
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[1174] | 259 | vec Din = D; |
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| 260 | int i,j,k; |
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| 261 | double sigma; |
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| 262 | mat G = eye(dim); |
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| 263 | //////// thorton |
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| 264 | |
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| 265 | //move mean; |
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| 266 | _mu = pfxu->eval(_mu,u); |
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| 267 | |
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| 268 | for (i=dim-1; i>=0;i--){ |
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| 269 | sigma = 0.0; |
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| 270 | for (j=0; j<dim; j++) { |
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| 271 | sigma += PhiU(i,j)*PhiU(i,j) *Din(j); |
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| 272 | sigma += G(i,j)*G(i,j) * Q(j,j); |
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| 273 | } |
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| 274 | |
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| 275 | /* double sigma2= 0.0; |
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| 276 | for (j=0; j<dim; j++) { |
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| 277 | sigma2 += PhiU(i,j)*PhiU(i,j) *Din(j); |
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| 278 | } |
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| 279 | sigma2 +=Q(i,i);//*G(i,i)=1.0 |
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| 280 | for (j=i+1; j<dim; j++) { |
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| 281 | sigma2 += G(i,j)*G(i,j) * Q(j,j); |
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| 282 | }*/ |
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[1182] | 283 | D(i) = sigma; |
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[1174] | 284 | |
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[1182] | 285 | /* UDtof(U,D,Utf,Dtf,xref); |
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[1174] | 286 | cout << "d=sig"<<endl; |
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[1182] | 287 | cout << Dtf << endl; |
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| 288 | */ |
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[1174] | 289 | for (j=0;j<i;j++){ |
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| 290 | // cout << i << "," << j << endl; |
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| 291 | sigma = 0.0; |
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| 292 | for (k=0;k<dim;k++){ |
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| 293 | sigma += PhiU(i,k)*Din(k)*PhiU(j,k); |
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| 294 | } |
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| 295 | for (k=0;k<dim;k++){ |
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| 296 | sigma += G(i,k)*Q(k,k)*G(j,k); |
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| 297 | } |
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| 298 | // |
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| 299 | U(j,i) = sigma/D(i); |
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| 300 | |
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| 301 | /* cout << "U=sig/D"<<endl; |
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| 302 | UDtof(U,D,Utf,Dtf,xref); |
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| 303 | cout << Utf << endl << Dtf << endl; |
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| 304 | cout << G << endl << Din << endl<<endl;*/ |
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| 305 | |
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| 306 | for (k=0;k<dim;k++){ |
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| 307 | PhiU(j,k) = PhiU(j,k) - U(j,i)*PhiU(i,k); |
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| 308 | } |
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| 309 | for (k=0;k<dim;k++){ |
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| 310 | G(j,k) = G(j,k) - U(j,i)*G(i,k); |
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| 311 | } |
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| 312 | |
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| 313 | } |
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| 314 | } |
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| 315 | |
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| 316 | // bierman |
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| 317 | |
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| 318 | double dz,alpha,gamma,beta,lambda; |
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| 319 | vec a; |
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| 320 | vec b; |
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| 321 | vec yp = phxu->eval(_mu,u); |
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| 322 | vec xp=_mu; // used in bierman |
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| 323 | |
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[1183] | 324 | |
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[1174] | 325 | for (int iy=0; iy<dimy; iy++){ |
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| 326 | a = U.T()*C.get_row(iy); // a is not modified, but |
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| 327 | b = elem_mult(D,a); // b is modified to become unscaled Kalman gain. |
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| 328 | dz = yt(iy) - yp(iy); |
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| 329 | |
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| 330 | alpha = R(iy); |
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| 331 | gamma = 1/alpha; |
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| 332 | for (j=0;j<dim;j++){ |
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| 333 | beta = alpha; |
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| 334 | alpha = alpha + a(j)*b(j); |
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| 335 | lambda = -a(j)*gamma; |
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| 336 | gamma = 1.0/alpha; |
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| 337 | D(j) = beta*gamma*D(j); |
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| 338 | |
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| 339 | // cout << "a: " << alpha << "g: " << gamma << endl; |
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| 340 | for (i=0;i<j;i++){ |
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| 341 | beta = U(i,j); |
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| 342 | U(i,j) = beta + b(i)*lambda; |
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| 343 | b(i) = b(i) + b(j)*beta; |
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| 344 | } |
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| 345 | } |
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| 346 | double dzs = gamma*dz; // apply scaling to innovations |
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| 347 | _mu = _mu + dzs*b; // multiply by unscaled Kalman gain |
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| 348 | //cout << "Ub: " << U << endl; |
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| 349 | //cout << "Db: " << D << endl <<endl; |
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| 350 | |
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| 351 | } |
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| 352 | |
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| 353 | |
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| 354 | ///// |
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| 355 | est._R().__L()=U.T(); |
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| 356 | est._R().__D()=D; |
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| 357 | |
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| 358 | if ( evalll == true ) { //likelihood of observation y |
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| 359 | } |
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| 360 | } |
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| 361 | |
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| 362 | void EKF_UDfix::from_setting ( const Setting &set ) { |
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| 363 | BM::from_setting ( set ); |
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| 364 | shared_ptr<diffbifn> IM = UI::build<diffbifn> ( set, "IM", UI::compulsory ); |
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| 365 | shared_ptr<diffbifn> OM = UI::build<diffbifn> ( set, "OM", UI::compulsory ); |
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| 366 | |
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| 367 | //statistics |
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| 368 | int dim = IM->dimension(); |
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| 369 | vec mu0; |
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| 370 | if ( !UI::get ( mu0, set, "mu0" ) ) |
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| 371 | mu0 = zeros ( dim ); |
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| 372 | |
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| 373 | mat P0; |
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| 374 | vec dP0; |
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| 375 | if ( UI::get ( dP0, set, "dP0" ) ) |
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| 376 | P0 = diag ( dP0 ); |
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| 377 | else if ( !UI::get ( P0, set, "P0" ) ) |
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| 378 | P0 = eye ( dim ); |
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| 379 | |
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| 380 | est._mu()=mu0; |
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| 381 | est._R()=ldmat(P0); |
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| 382 | |
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| 383 | //parameters |
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| 384 | vec dQ, dR; |
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| 385 | UI::get ( dQ, set, "dQ", UI::compulsory ); |
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| 386 | UI::get ( dR, set, "dR", UI::compulsory ); |
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| 387 | set_parameters ( IM, OM, diag ( dQ ), dR ); |
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| 388 | |
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| 389 | UI::get(log_level, set, "log_level", UI::optional); |
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| 390 | } |
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[1179] | 391 | |
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| 392 | |
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| 393 | void EKFfixedUD::bayes(const itpp::vec& yt, const itpp::vec& ut) |
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| 394 | { |
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| 395 | ekf(ut[0],ut[1],yt[0],yt[1]); |
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| 396 | } |
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| 397 | |
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| 398 | |
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| 399 | void EKFfixedUD::ekf(double ux, double uy, double isxd, double isyd) |
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| 400 | { |
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| 401 | // vypocet napeti v systemu (x,y) |
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| 402 | int uf[2]; |
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| 403 | uf[0]=prevod(ux/Uref,Qm); |
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| 404 | uf[1]=prevod(uy/Uref,Qm); |
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| 405 | |
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| 406 | int Y_mes[2]; |
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| 407 | // zadani mereni |
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| 408 | Y_mes[0]=prevod(isxd/Iref,Qm); |
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| 409 | Y_mes[1]=prevod(isyd/Iref,Qm); |
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| 410 | |
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| 411 | ////// vlastni rutina EKF -- ///////////////////////// |
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| 412 | int t_sin,t_cos, tmp; |
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| 413 | |
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| 414 | // implementace v PC |
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[1201] | 415 | /* t_sin=prevod(sin(Thetaref*x_est[3]/32768.),15); |
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| 416 | t_cos=prevod(cos(Thetaref*x_est[3]/32768.),15);*/ |
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[1179] | 417 | t_sin=prevod(sin(Thetaref*x_est[3]/32768.),15); |
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| 418 | t_cos=prevod(cos(Thetaref*x_est[3]/32768.),15); |
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| 419 | |
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| 420 | tmp=((long)cB*x_est[2])>>15; |
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[1201] | 421 | x_est[0]=((long)cA*x_est[0]+(long)tmp*t_sin+(long)cC*(uf[0]<<2))>>15; |
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| 422 | x_est[1]=((long)cA*x_est[1]-(long)tmp*t_cos+(long)cC*(uf[1]<<2))>>15; |
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[1179] | 423 | x_est[2]=x_est[2]; |
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| 424 | x_est[3]=(((long)x_est[3]<<15)+(long)cG*x_est[2])>>15; |
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| 425 | |
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[1201] | 426 | if(x_est[3]>(1<<15)) x_est[3]-=2*(1<<15); |
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| 427 | if(x_est[3]<-(1<<15)) x_est[3]+=2*(1<<15); |
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| 428 | |
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[1179] | 429 | //void EKFfixed::update_psi(void) |
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| 430 | { |
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| 431 | PSI[2]=((long)cB*t_sin)>>15; |
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[1201] | 432 | tmp=((long)cB*x_est[2])>>15; |
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[1179] | 433 | PSI[3]=((long)tmp*t_cos)>>15; |
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| 434 | PSI[6]=-((long)cB*t_cos)>>15; |
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| 435 | PSI[7]=((long)tmp*t_sin)>>15; |
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| 436 | } |
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[1201] | 437 | { |
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| 438 | ivec Ad(PSI,16); |
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| 439 | log_level.store(logA,get_from_ivec(Ad)); |
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| 440 | } |
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[1179] | 441 | |
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| 442 | ///////// end of copy /////////////// |
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| 443 | mmultAU(PSI,Uf,PSIU,4,4); |
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| 444 | //thorton(int *U, int *D, int *PSIU, int *Q, int *G, int *Dold, unsigned int dimx); |
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| 445 | thorton(Uf,Df,PSIU,Q,G,Dfold,4); |
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| 446 | |
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[1201] | 447 | { |
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| 448 | ivec Ud(Uf,16); |
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| 449 | log_level.store(logU,get_from_ivec(Ud)); |
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| 450 | } |
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| 451 | { |
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| 452 | ivec Gd(G,16); |
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| 453 | log_level.store(logG,get_from_ivec(Gd)); |
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| 454 | } |
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| 455 | |
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| 456 | |
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[1179] | 457 | int difz[2]; |
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[1201] | 458 | difz[0]=(Y_mes[0]<<2)-x_est[0]; // Y_mes in q13!! |
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| 459 | difz[1]=(Y_mes[1]<<2)-x_est[1]; |
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| 460 | |
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| 461 | { |
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| 462 | vec dd(4);dd(0)=Y_mes[0];dd(1)=Y_mes[1]; dd(2)=difz[0]; dd(3)=difz[1]; |
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| 463 | log_level.store(logD,dd); |
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| 464 | } |
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| 465 | |
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[1179] | 466 | //bierman(int *difz, int *xp, int *U, int *D, int *R, unsigned int dimy, unsigned int dimx ); |
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| 467 | int dR[2];dR[0]=R[0];dR[1]=R[3]; |
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[1180] | 468 | bierman(difz,x_est,Uf,Df,dR,2,4); |
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[1179] | 469 | |
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| 470 | // navrat estimovanych hodnot regulatoru |
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| 471 | vec& mu = E._mu(); |
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[1201] | 472 | (mu)(0)=zprevod(x_est[0],15)*Iref; |
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| 473 | (mu)(1)=zprevod(x_est[1],15)*Iref; |
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| 474 | (mu)(2)=zprevod(x_est[2],15)*Wref; |
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[1179] | 475 | (mu)(3)=zprevod(x_est[3],15)*Thetaref; |
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| 476 | |
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| 477 | // mat T=diag(concat(vec_2(Iref,Iref), vec_2(Wref,Thetaref))); |
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| 478 | } |
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| 479 | |
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| 480 | void EKFfixedUD::init_ekf(double Tv) |
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| 481 | { |
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| 482 | // Tuning of matrix Q |
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| 483 | Q[0]=prevod(.01,15); // 0.05 |
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| 484 | Q[5]=Q[0]; |
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| 485 | Q[10]=prevod(0.0001,15); // 1e-3 |
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| 486 | Q[15]=prevod(0.0001,15); // 1e-3 |
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| 487 | |
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| 488 | Uf[0]=0x7FFF; // 0.05 |
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[1201] | 489 | Uf[1]=Uf[2]=Uf[3]=Uf[4]=0; |
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[1179] | 490 | Uf[5]=0x7FFF; |
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[1201] | 491 | Uf[6]=Uf[6]=Uf[8]=Uf[9]=0; |
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[1179] | 492 | Uf[10]=0x7FFF; // 1e-3 |
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[1201] | 493 | Uf[11]=Uf[12]=Uf[13]=Uf[4]=0; |
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[1179] | 494 | Uf[15]=0x7FFF; // 1e-3 |
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| 495 | |
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| 496 | Df[0]=0x7FFF; |
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| 497 | Df[1]=0x7FFF; |
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| 498 | Df[2]=0x7FFF; |
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| 499 | Df[3]=0x7FFF; |
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| 500 | |
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| 501 | // Tuning of matrix R |
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| 502 | R[0]=prevod(0.05,15); // 0.05 |
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| 503 | R[3]=R[0]; |
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| 504 | |
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| 505 | // Motor model parameters |
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| 506 | cA=prevod(1-Tv*Rs/Ls,15); |
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| 507 | cB=prevod(Tv*Wref*Fmag/Iref/Ls,15); |
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| 508 | cC=prevod(Tv/Ls/Iref*Uref,15); |
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| 509 | // cD=prevod(1-Tv*Bf/J,15); |
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| 510 | // cE=prevod(kp*p*p*Tv*Fmag*Iref/J/Wref,15); |
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| 511 | // cF=prevod(p*Tv*Mref/J/Wref,15); |
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[1201] | 512 | cG=prevod(Tv*Wref/Thetaref,15); //no *4!! |
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| 513 | //cH=prevod(Tv*Wref*Fmag/Iref/Ls*Thetaref,15); |
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| 514 | // cH=prevod(Tv*Wref*Fmag/Iref/Ls,15); <<< use cB instead |
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[1179] | 515 | // cI=prevod(kp*p*p*Tv*Fmag*Iref/J/Wref*Thetaref); |
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| 516 | |
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| 517 | /* Init matrix PSI with permanently constant terms */ |
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| 518 | PSI[0]=cA; |
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| 519 | PSI[5]=PSI[0]; |
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| 520 | PSI[10]=0x7FFF; |
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| 521 | PSI[14]=cG; |
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| 522 | PSI[15]=0x7FFF; |
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| 523 | |
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| 524 | //////////////////////// ================= |
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| 525 | ///// TEST thorton vs. thorton_fast |
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| 526 | |
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[1180] | 527 | /* int Ut[16]={0x7FFF, 100, 200, 300, 0, 0x7FFF, 500, 600, 0,0,0x7FFF, 800, 0,0,0, 0x7FFF}; |
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[1179] | 528 | int Dt[4]={100,200,300,400}; |
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| 529 | int PSIu[16] = {100, 200,300, 400 , 500, 600,700,800, 900,1000,1100,1200, 1300,1400,1500,1600}; |
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| 530 | int Dold[4]; |
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| 531 | |
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| 532 | thorton(Ut,Dt,PSIu,Q,G,Dold,4); |
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| 533 | int Ut2[16]={0x7FFF, 100, 200, 300, 0, 0x7FFF, 500, 600, 0,0,0x7FFF, 800, 0,0,0, 0x7FFF}; |
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| 534 | int Dt2[4]={100,200,300,400}; |
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| 535 | int PSIu2[16] = {100, 200,300, 400 , 500, 600,700,800, 900,1000,1100,1200, 1300,1400,1500,1600}; |
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| 536 | thorton_fast(Ut2,Dt2,PSIu2,Q,G,Dold,4); |
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[1180] | 537 | cout<< Q<<endl;*/ |
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[1179] | 538 | } |
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