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Revision 1438, 0.7 kB
(checked in by smidl, 12 years ago)
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Kalman for om
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| 1 | // Bayesian Filtering for PMSM using Marginalized Particle Filter |
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| 2 | |
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| 3 | #include "parametry_motoru.h" |
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| 4 | |
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| 5 | #define N 20 |
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| 6 | |
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| 7 | #define Lsd Ls*0.9 |
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| 8 | #define Lsq Ls |
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| 9 | #define _dt 0.000125 |
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| 10 | #define _ad (1.-Rs*_dt/Lsd) |
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| 11 | #define _aq (1.-Rs*_dt/Lsq) |
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| 12 | #define _b Fmag/Lsq*_dt |
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| 13 | #define _cd _dt/Lsd |
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| 14 | #define _cq _dt/Lsq |
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| 15 | |
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| 16 | double randn(); |
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| 17 | double randu(); |
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| 18 | |
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| 19 | void mpf_bayes ( const double &isa, const double &isb , const double &usa, const double &usb ); |
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| 20 | void mpf_init(double qom0, double qth0, double r0); |
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| 21 | void mpf_mean(double *Ecosth, double *Esinth, double *Eome); |
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| 22 | void mpf_th(double th1[N]); |
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| 23 | |
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| 24 | double kalman_om ( const double &isa, const double &isb , const double &usa, const double &usb, const double &th ); |
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