root/doc/html/pmsmDS_8h-source.html @ 353

Revision 353, 31.0 kB (checked in by smidl, 16 years ago)

doc

RevLine 
[259]1<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
2<html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8">
[261]3<title>mixpp: pmsmDS.h Source File</title>
[290]4<link href="tabs.css" rel="stylesheet" type="text/css">
[259]5<link href="doxygen.css" rel="stylesheet" type="text/css">
6</head><body>
[290]7<!-- Generated by Doxygen 1.5.8 -->
[280]8<script type="text/javascript">
9<!--
10function changeDisplayState (e){
11  var num=this.id.replace(/[^[0-9]/g,'');
12  var button=this.firstChild;
13  var sectionDiv=document.getElementById('dynsection'+num);
14  if (sectionDiv.style.display=='none'||sectionDiv.style.display==''){
15    sectionDiv.style.display='block';
16    button.src='open.gif';
17  }else{
18    sectionDiv.style.display='none';
19    button.src='closed.gif';
20  }
21}
22function initDynSections(){
23  var divs=document.getElementsByTagName('div');
24  var sectionCounter=1;
25  for(var i=0;i<divs.length-1;i++){
26    if(divs[i].className=='dynheader'&&divs[i+1].className=='dynsection'){
27      var header=divs[i];
28      var section=divs[i+1];
29      var button=header.firstChild;
30      if (button!='IMG'){
31        divs[i].insertBefore(document.createTextNode(' '),divs[i].firstChild);
32        button=document.createElement('img');
33        divs[i].insertBefore(button,divs[i].firstChild);
34      }
35      header.style.cursor='pointer';
36      header.onclick=changeDisplayState;
37      header.id='dynheader'+sectionCounter;
38      button.src='closed.gif';
39      section.id='dynsection'+sectionCounter;
40      section.style.display='none';
41      section.style.marginLeft='14px';
42      sectionCounter++;
43    }
44  }
45}
46window.onload = initDynSections;
47-->
48</script>
[259]49<div class="navigation" id="top">
50  <div class="tabs">
51    <ul>
[280]52      <li><a href="main.html"><span>Main&nbsp;Page</span></a></li>
[259]53      <li><a href="pages.html"><span>Related&nbsp;Pages</span></a></li>
54      <li><a href="modules.html"><span>Modules</span></a></li>
[290]55      <li><a href="annotated.html"><span>Classes</span></a></li>
[259]56      <li class="current"><a href="files.html"><span>Files</span></a></li>
57    </ul>
58  </div>
[290]59  <div class="tabs">
60    <ul>
61      <li><a href="files.html"><span>File&nbsp;List</span></a></li>
62      <li><a href="globals.html"><span>File&nbsp;Members</span></a></li>
63    </ul>
64  </div>
[261]65<h1>pmsmDS.h</h1><a href="pmsmDS_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001
[259]66<a name="l00013"></a>00013 <span class="preprocessor">#include &lt;<a class="code" href="loggers_8h.html" title="Loggers for storing results of experiments.">stat/loggers.h</a>&gt;</span>
[323]67<a name="l00014"></a>00014 <span class="preprocessor">#include &lt;<a class="code" href="libKF_8h.html" title="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</a>&gt;</span>
[353]68<a name="l00015"></a>00015 <span class="preprocessor">#include "simulator_zdenek/simulator.h"</span>
[323]69<a name="l00016"></a>00016 <span class="preprocessor">#include "pmsm.h"</span>
70<a name="l00017"></a>00017
71<a name="l00019"></a><a class="code" href="classpmsmDS.html">00019</a> <span class="keyword">class </span><a class="code" href="classpmsmDS.html" title="Simulator of PMSM machine with predefined profile on omega.">pmsmDS</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1DS.html" title="Abstract class for discrete-time sources of data.">DS</a> {
72<a name="l00020"></a>00020
73<a name="l00021"></a>00021 <span class="keyword">protected</span>:
74<a name="l00023"></a><a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7">00023</a>         <span class="keywordtype">int</span> <a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7" title="indeces of logged variables">L_x</a>, L_ou, L_oy, L_iu, L_optu;
75<a name="l00025"></a><a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012">00025</a>         vec <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>;
76<a name="l00027"></a><a class="code" href="classpmsmDS.html#817e0b4c12e2c185271740b3ce3e3980">00027</a>         vec <a class="code" href="classpmsmDS.html#817e0b4c12e2c185271740b3ce3e3980" title="Setpoints of Mz in timespans given by dt_prof.">profileMz</a>;
77<a name="l00029"></a><a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe">00029</a>         <span class="keywordtype">double</span> <a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>;
78<a name="l00031"></a><a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40">00031</a>         <span class="keywordtype">int</span> <a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a>;
79<a name="l00033"></a><a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b">00033</a>         <span class="keywordtype">bool</span> <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a>;
80<a name="l00035"></a>00035 <span class="keyword">public</span>:
[353]81<a name="l00037"></a><a class="code" href="classpmsmDS.html#e6a50a246de039f30cb5423521aab55c">00037</a>         <a class="code" href="classpmsmDS.html#e6a50a246de039f30cb5423521aab55c" title="options for logging, -">pmsmDS</a> ()   {<a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a>=125; <a class="code" href="classbdm_1_1DS.html#d8db125ac35f3b8eeb773fc9a4cb45ec" title="Description of data returned by getdata().">Drv</a>=<a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> ( <span class="stringliteral">"{o_ua o_ub o_ia o_ib t_ua t_ub o_om o_th Mz }"</span> );}
[323]82<a name="l00038"></a>00038         <span class="keywordtype">void</span> set_parameters ( <span class="keywordtype">double</span> Rs0, <span class="keywordtype">double</span> Ls0, <span class="keywordtype">double</span> Fmag0, <span class="keywordtype">double</span> Bf0, <span class="keywordtype">double</span> p0, <span class="keywordtype">double</span> kp0, <span class="keywordtype">double</span> J0, <span class="keywordtype">double</span> Uc0, <span class="keywordtype">double</span> DT0, <span class="keywordtype">double</span> dt0 ) {
83<a name="l00039"></a>00039                 pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 );
[287]84<a name="l00040"></a>00040         }
[323]85<a name="l00042"></a><a class="code" href="classpmsmDS.html#75dd22db70746bfd0c3e685a17bbf34a">00042</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#75dd22db70746bfd0c3e685a17bbf34a" title="parse options: &amp;quot;modelu&amp;quot; =&amp;gt; opt_modu=true;">set_options</a> ( <span class="keywordtype">string</span> &amp;opt ) {
[353]86<a name="l00043"></a>00043                 <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a> = ( opt.find ( <span class="stringliteral">"modelu"</span> ) !=string::npos );
[323]87<a name="l00044"></a>00044         }
[353]88<a name="l00045"></a><a class="code" href="classpmsmDS.html#4e47e678eb56e0b3bd47d801d0995e46">00045</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#4e47e678eb56e0b3bd47d801d0995e46" title="Returns full vector of observed data=[output, input].">getdata</a> ( vec &amp;dt ) {dt.set_subvector(0,vec ( KalmanObs,6 ));dt(6)=x[2];dt(7)=x[3];dt(8)=x[8];}
[323]89<a name="l00046"></a><a class="code" href="classpmsmDS.html#35e9a2b9d82bd1b71d66778021d1e8b4">00046</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#35e9a2b9d82bd1b71d66778021d1e8b4" title="Accepts action variable and schedule it for application.">write</a> ( vec &amp;ut ) {}
90<a name="l00047"></a>00047
91<a name="l00048"></a><a class="code" href="classpmsmDS.html#664fc8deff7c141ee7ab826a9abb387b">00048</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#664fc8deff7c141ee7ab826a9abb387b" title="Moves from  to , i.e. perfroms the actions and reads response of the system.">step</a>() {
92<a name="l00049"></a>00049                 <span class="keyword">static</span> <span class="keywordtype">int</span> ind=0;
93<a name="l00050"></a>00050                 <span class="keyword">static</span> <span class="keywordtype">double</span> dW; <span class="comment">// increase of W</span>
94<a name="l00051"></a>00051                 <span class="keyword">static</span> <span class="keywordtype">double</span> Ww; <span class="comment">// W</span>
95<a name="l00052"></a>00052                 <span class="keyword">static</span> <span class="keywordtype">double</span> Mz; <span class="comment">// W</span>
96<a name="l00053"></a>00053                 <span class="keywordflow">if</span> ( t&gt;=<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>*ind ) {
97<a name="l00054"></a>00054                         ind++;
98<a name="l00055"></a>00055                         <span class="comment">// check omega profile and set dW</span>
99<a name="l00056"></a>00056                         <span class="keywordflow">if</span> ( ind&lt;<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>.length() ) {
100<a name="l00057"></a>00057                                 <span class="comment">//linear increase</span>
101<a name="l00058"></a>00058                                 <span class="keywordflow">if</span> ( <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>.length() ==1 ) {
102<a name="l00059"></a>00059                                         Ww=<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a> ( 0 ); dW=0.0;
103<a name="l00060"></a>00060                                 }
104<a name="l00061"></a>00061                                 <span class="keywordflow">else</span> {
105<a name="l00062"></a>00062                                         dW = <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a> ( ind )-<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a> ( ind-1 );
106<a name="l00063"></a>00063                                         dW *=125e-6/<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>;
107<a name="l00064"></a>00064                                 }
108<a name="l00065"></a>00065                         }
109<a name="l00066"></a>00066                         <span class="keywordflow">else</span> {
110<a name="l00067"></a>00067                                 dW = 0;
111<a name="l00068"></a>00068                         }
112<a name="l00069"></a>00069                         <span class="comment">// Check Mz profile and set Mz</span>
113<a name="l00070"></a>00070                         <span class="keywordflow">if</span> ( ind&lt;<a class="code" href="classpmsmDS.html#817e0b4c12e2c185271740b3ce3e3980" title="Setpoints of Mz in timespans given by dt_prof.">profileMz</a>.length() ) {
114<a name="l00071"></a>00071                                 <span class="comment">//sudden increase</span>
115<a name="l00072"></a>00072                                 Mz = <a class="code" href="classpmsmDS.html#817e0b4c12e2c185271740b3ce3e3980" title="Setpoints of Mz in timespans given by dt_prof.">profileMz</a>(ind);
116<a name="l00073"></a>00073                         }
117<a name="l00074"></a>00074                         <span class="keywordflow">else</span> {
118<a name="l00075"></a>00075                                 Mz = 0;
119<a name="l00076"></a>00076                         }
[287]120<a name="l00077"></a>00077                 }
[323]121<a name="l00078"></a>00078                 Ww += dW;
122<a name="l00079"></a>00079                 <span class="comment">//Simulate Dt seconds!</span>
123<a name="l00080"></a>00080                 <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> i=0;i&lt;<a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a>;i++ ) {      pmsmsim_step ( Ww , Mz);}
[353]124<a name="l00081"></a>00081 <span class="comment">//              for ( int i=0;i&lt;Dt;i++ ) {      pmsmsim_noreg_step ( Ww , Mz);}</span>
125<a name="l00082"></a>00082                 
126<a name="l00083"></a>00083                 <span class="comment">//discretization</span>
127<a name="l00084"></a>00084                 <span class="keywordtype">double</span> ustep=1.2;
128<a name="l00085"></a>00085                 KalmanObs [ 0 ] = ustep*<a class="code" href="group__convertfunc.html#g811e448b443d640d5931624a8727d0fd" title="Round to nearest integer.">itpp::round</a>( KalmanObs [ 0 ]/ ustep) ;
129<a name="l00086"></a>00086                 KalmanObs [ 1 ] = ustep*<a class="code" href="group__convertfunc.html#g811e448b443d640d5931624a8727d0fd" title="Round to nearest integer.">itpp::round</a>(KalmanObs [ 1 ]/ ustep);
130<a name="l00087"></a>00087                 <span class="keywordtype">double</span> istep=0.085;
131<a name="l00088"></a>00088                 KalmanObs [ 2 ] = istep*<a class="code" href="group__convertfunc.html#g811e448b443d640d5931624a8727d0fd" title="Round to nearest integer.">itpp::round</a>( KalmanObs [ 2 ]/ istep) ;
132<a name="l00089"></a>00089                 KalmanObs [ 3 ] = istep*<a class="code" href="group__convertfunc.html#g811e448b443d640d5931624a8727d0fd" title="Round to nearest integer.">itpp::round</a>(KalmanObs [ 3 ]/ istep);
133<a name="l00090"></a>00090
134<a name="l00091"></a>00091         };
135<a name="l00092"></a>00092
136<a name="l00093"></a><a class="code" href="classpmsmDS.html#d75b83468db25c56977ffccff46b0b37">00093</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#d75b83468db25c56977ffccff46b0b37" title="Register DS for logging into logger L.">log_add</a> ( <a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &amp;L ) {
137<a name="l00094"></a>00094                 <a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7" title="indeces of logged variables">L_x</a> = L.<a class="code" href="classbdm_1_1logger.html#47aa3b098a81d02a8ffaea2c9fa09ac7">add</a> ( rx, <span class="stringliteral">"x"</span> );
138<a name="l00095"></a>00095                 L_oy = L.<a class="code" href="classbdm_1_1logger.html#47aa3b098a81d02a8ffaea2c9fa09ac7">add</a> ( ry, <span class="stringliteral">"o"</span> );
139<a name="l00096"></a>00096                 L_ou = L.<a class="code" href="classbdm_1_1logger.html#47aa3b098a81d02a8ffaea2c9fa09ac7">add</a> ( ru, <span class="stringliteral">"o"</span> );
140<a name="l00097"></a>00097                 L_iu = L.<a class="code" href="classbdm_1_1logger.html#47aa3b098a81d02a8ffaea2c9fa09ac7">add</a> ( ru, <span class="stringliteral">"t"</span> );
141<a name="l00098"></a>00098                 <span class="comment">// log differences</span>
[323]142<a name="l00099"></a>00099                 <span class="keywordflow">if</span> ( <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a> ) {
[353]143<a name="l00100"></a>00100                         L_optu = L.<a class="code" href="classbdm_1_1logger.html#47aa3b098a81d02a8ffaea2c9fa09ac7">add</a> ( ru, <span class="stringliteral">"model"</span> );
144<a name="l00101"></a>00101                 }
145<a name="l00102"></a>00102         }
146<a name="l00103"></a>00103
147<a name="l00104"></a><a class="code" href="classpmsmDS.html#21cac6deaac2dd073c982d7bec839b47">00104</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#21cac6deaac2dd073c982d7bec839b47" title="Register DS for logging into logger L.">logit</a> ( <a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &amp;L ) {
148<a name="l00105"></a>00105                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( <a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7" title="indeces of logged variables">L_x</a>, vec ( x,4 )      );
149<a name="l00106"></a>00106                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_oy, vec_2 ( KalmanObs[2],KalmanObs[3] ) );
150<a name="l00107"></a>00107                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_ou, vec_2 ( KalmanObs[0],KalmanObs[1] ) );
151<a name="l00108"></a>00108                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_iu, vec_2 ( KalmanObs[4],KalmanObs[5] ) );
152<a name="l00109"></a>00109                 <span class="keywordflow">if</span> ( <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a> ) {
153<a name="l00110"></a>00110                         <span class="keywordtype">double</span> sq3=<a class="code" href="group__miscfunc.html#g20af7c97287e8275db8c2b0f650310ac" title="Square root of the elements.">sqrt</a> ( 3.0 );
154<a name="l00111"></a>00111                         <span class="keywordtype">double</span> ua,ub;
155<a name="l00112"></a>00112                         <span class="keywordtype">double</span> i1=x[0];
156<a name="l00113"></a>00113                         <span class="keywordtype">double</span> i2=0.5* ( -i1+sq3*x[1] );
157<a name="l00114"></a>00114                         <span class="keywordtype">double</span> i3=0.5* ( -i1-sq3*x[1] );
158<a name="l00115"></a>00115                         <span class="keywordtype">double</span> u1=KalmanObs[0];
159<a name="l00116"></a>00116                         <span class="keywordtype">double</span> u2=0.5* ( -u1+sq3*KalmanObs[1] );
160<a name="l00117"></a>00117                         <span class="keywordtype">double</span> u3=0.5* ( -u1-sq3*KalmanObs[1] );
[323]161<a name="l00118"></a>00118
[353]162<a name="l00119"></a>00119                         <span class="keywordtype">double</span> du1=1.4* ( double ( i1&gt;0.3 ) - double ( i1&lt;-0.3 ) ) +0.2*i1;
163<a name="l00120"></a>00120                         <span class="keywordtype">double</span> du2=1.4* ( double ( i2&gt;0.3 ) - double ( i2&lt;-0.3 ) ) +0.2*i2;
164<a name="l00121"></a>00121                         <span class="keywordtype">double</span> du3=1.4* ( double ( i3&gt;0.3 ) - double ( i3&lt;-0.3 ) ) +0.2*i3;
165<a name="l00122"></a>00122                         ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0;
166<a name="l00123"></a>00123                         ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3;
167<a name="l00124"></a>00124                         L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_optu , vec_2 ( ua,ub ) );
168<a name="l00125"></a>00125                 }
169<a name="l00126"></a>00126                 
170<a name="l00127"></a>00127         }
171<a name="l00128"></a>00128
172<a name="l00129"></a>00129         <span class="keywordtype">void</span> set_profile ( <span class="keywordtype">double</span> dt, <span class="keyword">const</span> vec &amp;Ww, <span class="keyword">const</span> vec &amp;Mz ) {<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>=dt; <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>=Ww; <a class="code" href="classpmsmDS.html#817e0b4c12e2c185271740b3ce3e3980" title="Setpoints of Mz in timespans given by dt_prof.">profileMz</a>=Mz;}
173<a name="l00130"></a>00130 };
174<a name="l00131"></a>00131
175<a name="l00133"></a><a class="code" href="classpmsmCRB.html">00133</a> <span class="keyword">class </span><a class="code" href="classpmsmCRB.html" title="This class behaves like BM but it is evaluating EKF.">pmsmCRB</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFfull.html" title="Extended Kalman Filter in full matrices.">EKFfull</a>{
176<a name="l00134"></a>00134         <span class="keyword">protected</span>:
177<a name="l00135"></a>00135                 vec interr;
178<a name="l00136"></a>00136                 vec old_true;
179<a name="l00137"></a>00137                 vec secder;
180<a name="l00138"></a>00138                 <span class="keywordtype">int</span> L_CRB;
181<a name="l00139"></a>00139                 <span class="keywordtype">int</span> L_err;
182<a name="l00140"></a>00140                 <span class="keywordtype">int</span> L_sec;
183<a name="l00141"></a>00141         <span class="keyword">public</span>:
184<a name="l00143"></a><a class="code" href="classpmsmCRB.html#81c85cc94deabb48f8fdd0a22e34aa14">00143</a>         <a class="code" href="classpmsmCRB.html#81c85cc94deabb48f8fdd0a22e34aa14" title="constructor">pmsmCRB</a>():<a class="code" href="classbdm_1_1EKFfull.html" title="Extended Kalman Filter in full matrices.">EKFfull</a>(){old_true=<a class="code" href="group__specmat.html#g10723ecada06221cbe64fe2736a59de1" title="A Double (rows,cols)-matrix of zeros.">zeros</a>(6);}
185<a name="l00144"></a>00144
186<a name="l00145"></a><a class="code" href="classpmsmCRB.html#13749c201329922511369cdbe2f0f50a">00145</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmCRB.html#13749c201329922511369cdbe2f0f50a" title="Here dt = [yt;ut] of appropriate dimensions.">bayes</a>(<span class="keyword">const</span> vec &amp;dt){
187<a name="l00146"></a>00146                 <span class="keyword">static</span> vec umin(2);
188<a name="l00147"></a>00147                 vec u(2);
189<a name="l00148"></a>00148                 <span class="comment">//assume we know state exactly:</span>
190<a name="l00149"></a>00149                 vec true_state=vec(x,4); <span class="comment">// read from pmsm</span>
191<a name="l00150"></a>00150                 E.<a class="code" href="classbdm_1_1enorm.html#8915d68ae76ad185c8c314f960a63f0c">set_mu</a>(true_state);
192<a name="l00151"></a>00151                 <a class="code" href="classbdm_1_1KalmanFull.html#2defb75e58892615c5f95fd844f3a666" title="Mean value of the posterior density.">mu</a>=true_state;
193<a name="l00152"></a>00152                         
194<a name="l00153"></a>00153                 <span class="comment">//integration error</span>
195<a name="l00154"></a>00154                 old_true(4)=KalmanObs[4];
196<a name="l00155"></a>00155                 old_true(5)=KalmanObs[5];<span class="comment">// add U</span>
197<a name="l00156"></a>00156                 u(0) = KalmanObs[0]; <span class="comment">// use the required value for derivatives</span>
198<a name="l00157"></a>00157                 u(1) = KalmanObs[1];
199<a name="l00158"></a>00158                 interr = (true_state - <a class="code" href="classbdm_1_1EKFfull.html#016d3ec108a430b1e70cf7d78bb963f4" title="Internal Model f(x,u).">pfxu</a>-&gt;<a class="code" href="classbdm_1_1diffbifn.html#188f31066bd72e1bf0ddacd1eb0e6af3" title="Evaluates  (VS: Do we really need common eval? ).">eval</a>(old_true));
200<a name="l00159"></a>00159                 
201<a name="l00160"></a>00160                 <span class="comment">//second derivative</span>
202<a name="l00161"></a>00161                 <a class="code" href="classIMpmsm2o.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm2o</a>* pf = <span class="keyword">dynamic_cast&lt;</span><a class="code" href="classIMpmsm2o.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm2o</a>*<span class="keyword">&gt;</span>(<a class="code" href="classbdm_1_1EKFfull.html#016d3ec108a430b1e70cf7d78bb963f4" title="Internal Model f(x,u).">pfxu</a>);
203<a name="l00162"></a>00162                 <span class="keywordflow">if</span> (pf) {secder=pf-&gt;<a class="code" href="classIMpmsm2o.html#cf66e75d9e532b0a1c2135b34ac57c89" title="eval 2nd order Taylor expansion, MUST be used only as a follow up AFTER eval()!!">eval2o</a>(u-umin);}
204<a name="l00163"></a>00163                                 
205<a name="l00164"></a>00164                 umin =u;
206<a name="l00165"></a>00165                 <a class="code" href="classpmsmCRB.html#13749c201329922511369cdbe2f0f50a" title="Here dt = [yt;ut] of appropriate dimensions.">EKFfull::bayes</a>(dt);
207<a name="l00166"></a>00166                 old_true.set_subvector(0,true_state);
208<a name="l00167"></a>00167         }
209<a name="l00168"></a>00168         
210<a name="l00169"></a><a class="code" href="classpmsmCRB.html#b50294749e1be33687e852ea186815ad">00169</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmCRB.html#b50294749e1be33687e852ea186815ad" title="Add all logged variables to a logger.">log_add</a>(<a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &amp;L, <span class="keyword">const</span> <span class="keywordtype">string</span> &amp;name=<span class="stringliteral">""</span> ){
211<a name="l00170"></a>00170                 L_CRB=L.<a class="code" href="classbdm_1_1logger.html#47aa3b098a81d02a8ffaea2c9fa09ac7">add</a>(rx,<span class="stringliteral">"crb"</span>);
212<a name="l00171"></a>00171                 L_err=L.<a class="code" href="classbdm_1_1logger.html#47aa3b098a81d02a8ffaea2c9fa09ac7">add</a>(rx,<span class="stringliteral">"err"</span>);
213<a name="l00172"></a>00172                 L_sec=L.<a class="code" href="classbdm_1_1logger.html#47aa3b098a81d02a8ffaea2c9fa09ac7">add</a>(rx,<span class="stringliteral">"d2"</span>);
214<a name="l00173"></a>00173         }
215<a name="l00174"></a>00174         <span class="keywordtype">void</span> logit(<a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &amp;L){
216<a name="l00175"></a>00175                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a>(L_err, interr);
217<a name="l00176"></a>00176                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a>(L_CRB,<a class="code" href="group__diag.html#gb0938c932c1cbc19b2ce6c5ac1007553" title="Get the diagonal elements of the input matrix m.">diag</a>(_R()));
218<a name="l00177"></a>00177                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a>(L_sec,secder);
219<a name="l00178"></a>00178         }
220<a name="l00179"></a>00179 };
221<a name="l00180"></a>00180
222<a name="l00182"></a><a class="code" href="classpmsmCRBMz.html">00182</a> <span class="keyword">class </span><a class="code" href="classpmsmCRBMz.html" title="This class behaves like BM but it is evaluating EKF.">pmsmCRBMz</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFfull.html" title="Extended Kalman Filter in full matrices.">EKFfull</a>{
223<a name="l00183"></a>00183         <span class="keyword">protected</span>:
224<a name="l00184"></a>00184                 <span class="keywordtype">int</span> L_CRB;
225<a name="l00185"></a>00185         <span class="keyword">public</span>:
226<a name="l00187"></a><a class="code" href="classpmsmCRBMz.html#3772392eb0db17741f771ad5ba38509f">00187</a>                 <a class="code" href="classpmsmCRBMz.html#3772392eb0db17741f771ad5ba38509f" title="constructor">pmsmCRBMz</a>():<a class="code" href="classbdm_1_1EKFfull.html" title="Extended Kalman Filter in full matrices.">EKFfull</a>(){}
227<a name="l00188"></a>00188
228<a name="l00189"></a><a class="code" href="classpmsmCRBMz.html#598b556bcccfa02c693830efaba679ef">00189</a>                 <span class="keywordtype">void</span> <a class="code" href="classpmsmCRBMz.html#598b556bcccfa02c693830efaba679ef" title="Here dt = [yt;ut] of appropriate dimensions.">bayes</a>(<span class="keyword">const</span> vec &amp;dt){
229<a name="l00190"></a>00190 <span class="comment">//assume we know state exactly:</span>
230<a name="l00191"></a>00191                         vec true_state(5);
231<a name="l00192"></a>00192                         true_state.set_subvector(0,vec(x,4)); <span class="comment">// read from pmsm</span>
232<a name="l00193"></a>00193                         true_state(4)=x[8];
233<a name="l00194"></a>00194                         
234<a name="l00195"></a>00195                         E.<a class="code" href="classbdm_1_1enorm.html#8915d68ae76ad185c8c314f960a63f0c">set_mu</a>(true_state);
235<a name="l00196"></a>00196                         <a class="code" href="classbdm_1_1KalmanFull.html#2defb75e58892615c5f95fd844f3a666" title="Mean value of the posterior density.">mu</a> = true_state;
236<a name="l00197"></a>00197                         <span class="comment">//hack for ut</span>
237<a name="l00198"></a>00198                         <a class="code" href="classpmsmCRBMz.html#598b556bcccfa02c693830efaba679ef" title="Here dt = [yt;ut] of appropriate dimensions.">EKFfull::bayes</a>(dt);
238<a name="l00199"></a>00199                 }
239<a name="l00200"></a>00200         
240<a name="l00201"></a><a class="code" href="classpmsmCRBMz.html#a5146d6e444d1ae19e71cea2b7400a85">00201</a>                 <span class="keywordtype">void</span> <a class="code" href="classpmsmCRBMz.html#a5146d6e444d1ae19e71cea2b7400a85" title="Add all logged variables to a logger.">log_add</a>(<a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &amp;L, <span class="keyword">const</span> <span class="keywordtype">string</span> &amp;name=<span class="stringliteral">""</span> ){
241<a name="l00202"></a>00202                         L_CRB=L.<a class="code" href="classbdm_1_1logger.html#47aa3b098a81d02a8ffaea2c9fa09ac7">add</a>(concat(rx,<a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a>(<span class="stringliteral">"Mz"</span>,1,0)),<span class="stringliteral">"crbz"</span>);
242<a name="l00203"></a>00203                 }
243<a name="l00204"></a>00204                 <span class="keywordtype">void</span> logit(<a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &amp;L){
244<a name="l00205"></a>00205                         L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a>(L_CRB,<a class="code" href="group__diag.html#gb0938c932c1cbc19b2ce6c5ac1007553" title="Get the diagonal elements of the input matrix m.">diag</a>(_R()));
245<a name="l00206"></a>00206                 }
246<a name="l00207"></a>00207 };
[259]247</pre></div></div>
[353]248<hr size="1"><address style="text-align: right;"><small>Generated on Tue Jun 2 10:02:12 2009 for mixpp by&nbsp;
[259]249<a href="http://www.doxygen.org/index.html">
[290]250<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address>
[259]251</body>
252</html>
Note: See TracBrowser for help on using the browser.