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| 3 | <compounddef id="pmsm__sim_8cpp" kind="file"> |
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| 4 | <compoundname>pmsm_sim.cpp</compoundname> |
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| 5 | <includes local="no">itpp/itbase.h</includes> |
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| 6 | <includes refid="libKF_8h" local="no">estim/libKF.h</includes> |
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| 7 | <includes refid="libPF_8h" local="no">estim/libPF.h</includes> |
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| 8 | <includes refid="libFN_8h" local="no">stat/libFN.h</includes> |
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| 9 | <includes refid="pmsm_8h" local="yes">pmsm.h</includes> |
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| 10 | <includes refid="simulator_8h" local="yes">simulator.h</includes> |
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| 11 | <incdepgraph> |
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| 12 | <node id="588"> |
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| 13 | <label>libBM.h</label> |
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| 14 | <link refid="libBM_8h"/> |
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| 19 | <label>simulator.h</label> |
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| 20 | <link refid="simulator_8h-source"/> |
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| 21 | </node> |
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| 22 | <node id="594"> |
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| 23 | <label>pmsm.h</label> |
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| 24 | <link refid="pmsm_8h-source"/> |
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| 25 | <childnode refid="587" relation="include"> |
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| 26 | </childnode> |
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| 32 | </childnode> |
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| 33 | </node> |
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| 36 | <link refid="libEF_8h"/> |
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| 47 | <label>estim/libPF.h</label> |
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| 54 | </childnode> |
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| 55 | </node> |
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| 56 | <node id="587"> |
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| 57 | <label>../stat/libFN.h</label> |
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| 58 | <link refid="libFN_8h-source"/> |
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| 59 | <childnode refid="585" relation="include"> |
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| 60 | </childnode> |
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| 62 | </childnode> |
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| 66 | </node> |
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| 68 | <label>../math/chmat.h</label> |
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| 69 | <link refid="chmat_8h"/> |
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| 76 | </node> |
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| 77 | <node id="586"> |
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| 78 | <label>estim/libKF.h</label> |
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| 79 | <link refid="libKF_8h"/> |
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| 90 | <label>../math/libDC.h</label> |
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| 91 | <link refid="libDC_8h"/> |
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| 93 | </childnode> |
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| 94 | </node> |
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| 95 | <node id="584"> |
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| 96 | <label>work/git/mixpp/pmsm/pmsm_sim.cpp</label> |
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| 97 | <link refid="pmsm_sim.cpp"/> |
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| 110 | </node> |
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| 111 | </incdepgraph> |
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| 112 | <innerclass refid="classEKF__unQ" prot="public">EKF_unQ</innerclass> |
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| 113 | <sectiondef kind="func"> |
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| 114 | <memberdef kind="function" id="pmsm__sim_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual"> |
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| 115 | <type>int</type> |
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| 116 | <definition>int main</definition> |
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| 117 | <argsstring>()</argsstring> |
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| 118 | <name>main</name> |
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| 119 | <briefdescription> |
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| 120 | </briefdescription> |
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| 121 | <detaileddescription> |
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| 122 | </detaileddescription> |
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| 123 | <inbodydescription> |
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| 124 | </inbodydescription> |
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| 125 | <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim.cpp" line="35" bodyfile="/home/smidl/work/git/mixpp/pmsm/pmsm_sim.cpp" bodystart="35" bodyend="129"/> |
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| 126 | </memberdef> |
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| 127 | </sectiondef> |
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| 128 | <briefdescription> |
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| 129 | </briefdescription> |
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| 130 | <detaileddescription> |
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| 131 | </detaileddescription> |
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| 132 | <programlisting> |
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| 133 | <codeline lineno="1"><highlight class="comment">/*</highlight></codeline> |
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| 134 | <codeline lineno="2"><highlight class="comment"><sp/><sp/>\file</highlight></codeline> |
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| 135 | <codeline lineno="3"><highlight class="comment"><sp/><sp/>\brief<sp/>Models<sp/>for<sp/>synchronous<sp/>electric<sp/>drive<sp/>using<sp/>IT++<sp/>and<sp/>BDM</highlight></codeline> |
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| 136 | <codeline lineno="4"><highlight class="comment"><sp/><sp/>\author<sp/>Vaclav<sp/>Smidl.</highlight></codeline> |
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| 137 | <codeline lineno="5"><highlight class="comment"></highlight></codeline> |
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| 138 | <codeline lineno="6"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline> |
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| 139 | <codeline lineno="7"><highlight class="comment"><sp/><sp/>BDM++<sp/>-<sp/>C++<sp/>library<sp/>for<sp/>Bayesian<sp/>Decision<sp/>Making<sp/>under<sp/>Uncertainty</highlight></codeline> |
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| 140 | <codeline lineno="8"><highlight class="comment"></highlight></codeline> |
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| 141 | <codeline lineno="9"><highlight class="comment"><sp/><sp/>Using<sp/>IT++<sp/>for<sp/>numerical<sp/>operations</highlight></codeline> |
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| 142 | <codeline lineno="10"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline> |
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| 143 | <codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline> |
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| 144 | <codeline lineno="12"><highlight class="normal"></highlight></codeline> |
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| 145 | <codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/><itpp/itbase.h></highlight><highlight class="normal"></highlight></codeline> |
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| 146 | <codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/><<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</ref>></highlight><highlight class="normal"></highlight></codeline> |
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| 147 | <codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/><<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">estim/libPF.h</ref>></highlight><highlight class="normal"></highlight></codeline> |
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| 148 | <codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/><stat/libFN.h></highlight><highlight class="normal"></highlight></codeline> |
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| 149 | <codeline lineno="17"><highlight class="normal"></highlight></codeline> |
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| 150 | <codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>"pmsm.h"</highlight><highlight class="normal"></highlight></codeline> |
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| 151 | <codeline lineno="19"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>"simulator.h"</highlight><highlight class="normal"></highlight></codeline> |
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| 152 | <codeline lineno="20"><highlight class="normal"></highlight></codeline> |
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| 153 | <codeline lineno="21"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline> |
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| 154 | <codeline lineno="23" refid="classEKF__unQ" refkind="compound"><highlight class="keyword">class<sp/></highlight><highlight class="normal"><ref refid="classEKF__unQ" kindref="compound" tooltip="Extended Kalman filter with unknown Q.">EKF_unQ</ref><sp/>:<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>,<sp/></highlight><highlight class="keyword">public</highlight><highlight class="normal"><sp/><ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>{</highlight></codeline> |
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| 155 | <codeline lineno="24"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline> |
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| 156 | <codeline lineno="26" refid="classEKF__unQ_1159eaaa5a05c5ceecdaa20956a307244" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKF__unQ_1159eaaa5a05c5ceecdaa20956a307244" kindref="member" tooltip="Default constructor.">EKF_unQ</ref><sp/>(<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rx,<sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ry,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>ru,<ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQ<sp/>)<sp/>:<ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>(<sp/>rx,ry,ru<sp/>),<ref refid="classBMcond" kindref="compound" tooltip="Conditional Bayesian Filter.">BMcond</ref><sp/>(<sp/>rQ<sp/>)<sp/>{};</highlight></codeline> |
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| 157 | <codeline lineno="27" refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" refkind="member"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/><ref refid="classEKF__unQ_1cd06a8c662da244cf61bb5bd39688c99" kindref="member" tooltip="Substitute val for rvc.">condition</ref><sp/>(<sp/></highlight><highlight class="keyword">const</highlight><highlight class="normal"><sp/>vec<sp/>&Q0<sp/>)<sp/>{</highlight></codeline> |
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| 158 | <codeline lineno="28"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>.<ref refid="classchmat_1a4fc7f9b0539b97c414442a22f3db6e8" kindref="member" tooltip="Access functions.">setD</ref><sp/>(<sp/>Q0,0<sp/>);</highlight></codeline> |
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| 159 | <codeline lineno="29"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//from<sp/>EKF</highlight><highlight class="normal"></highlight></codeline> |
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| 160 | <codeline lineno="30"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classKalmanCh_194ee9da75b0e0f632e4a354988ca3798" kindref="member" tooltip="pre array (triangular matrix)">preA</ref>.set_submatrix<sp/>(<sp/><ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>+<ref refid="classKalman_139c8c403b46fa3b8c7da77cb2e3729eb" kindref="member" tooltip="cache of rv.count()">dimx</ref>,<ref refid="classKalman_1ba17b956df1e38b31fbbc299c8213b6a" kindref="member" tooltip="cache of rvy.count()">dimy</ref>,<ref refid="classKalman_19b69015c800eb93f3ee49da23a6f55d9" kindref="member" tooltip="Matrix Q in square-root form.">Q</ref>.<ref refid="classchmat_19c50d31c999d85d8e9d8cf2b69b6ac8c" kindref="member" tooltip="Access function.">_Ch</ref>()<sp/>);</highlight></codeline> |
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| 161 | <codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline> |
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| 162 | <codeline lineno="32"><highlight class="normal">};</highlight></codeline> |
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| 163 | <codeline lineno="33"><highlight class="normal"></highlight></codeline> |
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| 164 | <codeline lineno="34"><highlight class="normal"></highlight></codeline> |
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| 165 | <codeline lineno="35"><highlight class="normal"></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/><ref refid="sim__var_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" kindref="member" tooltip="Extended Kalman filter with unknown Q.">main</ref>()<sp/>{</highlight></codeline> |
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| 166 | <codeline lineno="36"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Kalman<sp/>filter</highlight><highlight class="normal"></highlight></codeline> |
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| 167 | <codeline lineno="37"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Ndat<sp/>=<sp/>30000;</highlight></codeline> |
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| 168 | <codeline lineno="38"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h<sp/>=<sp/>1e-6;</highlight></codeline> |
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| 169 | <codeline lineno="39"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Nsimstep<sp/>=<sp/>125;</highlight></codeline> |
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| 170 | <codeline lineno="40"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>Npart<sp/>=<sp/>1000;</highlight></codeline> |
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| 171 | <codeline lineno="41"><highlight class="normal"></highlight></codeline> |
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| 172 | <codeline lineno="42"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>internal<sp/>model</highlight><highlight class="normal"></highlight></codeline> |
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| 173 | <codeline lineno="43"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classIMpmsm" kindref="compound" tooltip="State evolution model for a PMSM drive and its derivative with respect to $.">IMpmsm</ref><sp/>fxu;</highlight></codeline> |
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| 174 | <codeline lineno="44"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Rs<sp/><sp/><sp/><sp/>Ls<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/><sp/><sp/><sp/><sp/><sp/><sp/>Fmag(Ypm)<sp/>kp<sp/><sp/><sp/>p<sp/><sp/><sp/><sp/>J<sp/><sp/><sp/><sp/><sp/>Bf(Mz)</highlight><highlight class="normal"></highlight></codeline> |
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| 175 | <codeline lineno="45"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fxu.<ref refid="classIMpmsm_142818f3426d99fecb7e97be8ffe2e228" kindref="member" tooltip="Set mechanical and electrical variables.">set_parameters</ref><sp/>(<sp/>0.28,<sp/>0.003465,<sp/>Nsimstep*h,<sp/>0.1989,<sp/><sp/><sp/>1.5<sp/>,4.0,<sp/>0.04,<sp/>0.0<sp/>);</highlight></codeline> |
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| 176 | <codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>observation<sp/>model</highlight><highlight class="normal"></highlight></codeline> |
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| 177 | <codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classOMpmsm" kindref="compound" tooltip="Observation model for PMSM drive and its derivative with respect to .">OMpmsm</ref><sp/>hxu;</highlight></codeline> |
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| 178 | <codeline lineno="48"><highlight class="normal"></highlight></codeline> |
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| 179 | <codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0=<sp/></highlight><highlight class="stringliteral">"0.0<sp/>0.0<sp/>0.0<sp/>0.0"</highlight><highlight class="normal">;</highlight></codeline> |
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| 180 | <codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qdiag<sp/>(<sp/></highlight><highlight class="stringliteral">"0.01<sp/>0.01<sp/>0.00001<sp/>0.00001"</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//zdenek:<sp/>0.01<sp/>0.01<sp/>0.0001<sp/>0.0001</highlight><highlight class="normal"></highlight></codeline> |
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| 181 | <codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Rdiag<sp/>(<sp/></highlight><highlight class="stringliteral">"0.0005<sp/>0.0005"</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//var(diff(xth))<sp/>=<sp/>"0.034<sp/>0.034"</highlight><highlight class="normal"></highlight></codeline> |
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| 182 | <codeline lineno="52"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>Q<sp/>(<sp/>Qdiag<sp/>);</highlight></codeline> |
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| 183 | <codeline lineno="53"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>R<sp/>(<sp/>Rdiag<sp/>);</highlight></codeline> |
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| 184 | <codeline lineno="54"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKFCh" kindref="compound" tooltip="Extended Kalman Filter in Square root.">EKFCh</ref><sp/>KFE<sp/>(<sp/>rx,ry,ru<sp/>);</highlight></codeline> |
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| 185 | <codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_parameters<sp/>(<sp/>&fxu,&hxu,Q,R<sp/>);</highlight></codeline> |
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| 186 | <codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_est<sp/>(<sp/>mu0,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>(<sp/>1*ones<sp/>(<sp/>4<sp/>)<sp/>)<sp/>);</highlight></codeline> |
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| 187 | <codeline lineno="57"><highlight class="normal"></highlight></codeline> |
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| 188 | <codeline lineno="58"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classRV" kindref="compound" tooltip="Class representing variables, most often random variables.">RV</ref><sp/>rQ<sp/>(<sp/></highlight><highlight class="stringliteral">"{Q<sp/>}"</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">"2"</highlight><highlight class="normal"><sp/>);</highlight></codeline> |
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| 189 | <codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classEKF__unQ" kindref="compound" tooltip="Extended Kalman filter with unknown Q.">EKF_unQ</ref><sp/>KFEp<sp/>(<sp/>rx,ry,ru,rQ<sp/>);</highlight></codeline> |
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| 190 | <codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFEp.set_parameters<sp/>(<sp/>&fxu,&hxu,Q,R<sp/>);</highlight></codeline> |
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| 191 | <codeline lineno="61"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFEp.set_est<sp/>(<sp/>mu0,<sp/><ref refid="classchmat" kindref="compound" tooltip="Symmetric matrix stored in square root decomposition using upper cholesky.">chmat</ref><sp/>(<sp/>1*ones<sp/>(<sp/>4<sp/>)<sp/>)<sp/>);</highlight></codeline> |
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| 192 | <codeline lineno="62"><highlight class="normal"></highlight></codeline> |
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| 193 | <codeline lineno="63"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classmgamma" kindref="compound" tooltip="Gamma random walk.">mgamma</ref><sp/>evolQ<sp/>(<sp/>rQ,rQ<sp/>);</highlight></codeline> |
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| 194 | <codeline lineno="64"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classMPF" kindref="compound" tooltip="Marginalized Particle filter.">MPF<EKF_unQ></ref><sp/>M<sp/>(<sp/>rx,rQ,evolQ,evolQ,Npart,KFEp<sp/>);</highlight></codeline> |
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| 195 | <codeline lineno="65"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>initialize</highlight><highlight class="normal"></highlight></codeline> |
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| 196 | <codeline lineno="66"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.set_parameters<sp/>(<sp/>100.0<sp/>);<sp/></highlight><highlight class="comment">//sigma<sp/>=<sp/>1/10<sp/>mu</highlight><highlight class="normal"></highlight></codeline> |
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| 197 | <codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.condition<sp/>(<sp/></highlight><highlight class="stringliteral">"0.01<sp/>0.01"</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//Zdenek<sp/>default</highlight><highlight class="normal"></highlight></codeline> |
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| 198 | <codeline lineno="68"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&<sp/>pfinit=evolQ._epdf();</highlight></codeline> |
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| 199 | <codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.set_est<sp/>(<sp/>pfinit<sp/>);</highlight></codeline> |
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| 200 | <codeline lineno="70"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.set_parameters<sp/>(<sp/>1000.0<sp/>);</highlight></codeline> |
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| 201 | <codeline lineno="71"><highlight class="normal"></highlight></codeline> |
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| 202 | <codeline lineno="72"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//</highlight><highlight class="normal"></highlight></codeline> |
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| 203 | <codeline lineno="73"><highlight class="normal"></highlight></codeline> |
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| 204 | <codeline lineno="74"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&<sp/>KFEep<sp/>=<sp/>KFE._epdf();</highlight></codeline> |
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| 205 | <codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><ref refid="classepdf" kindref="compound" tooltip="Probability density function with numerical statistics, e.g. posterior density.">epdf</ref>&<sp/>Mep<sp/>=<sp/>M._epdf();</highlight></codeline> |
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| 206 | <codeline lineno="76"><highlight class="normal"></highlight></codeline> |
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| 207 | <codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Xt=zeros<sp/>(<sp/>Ndat<sp/>,9<sp/>);<sp/></highlight><highlight class="comment">//true<sp/>state<sp/>from<sp/>simulator</highlight><highlight class="normal"></highlight></codeline> |
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| 208 | <codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>Dt=zeros<sp/>(<sp/>Ndat,4+2<sp/>);<sp/></highlight><highlight class="comment">//observation</highlight><highlight class="normal"></highlight></codeline> |
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| 209 | <codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>XtE=zeros<sp/>(<sp/>Ndat,<sp/>4<sp/>);</highlight></codeline> |
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| 210 | <codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>mat<sp/>XtM=zeros<sp/>(<sp/>Ndat,6<sp/>);<sp/></highlight><highlight class="comment">//Q<sp/>+<sp/>x</highlight><highlight class="normal"></highlight></codeline> |
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| 211 | <codeline lineno="81"><highlight class="normal"></highlight></codeline> |
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| 212 | <codeline lineno="82"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>SET<sp/>SIMULATOR</highlight><highlight class="normal"></highlight></codeline> |
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| 213 | <codeline lineno="83"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pmsmsim_set_parameters<sp/>(<sp/>0.28,0.003465,0.1989,0.0,4,1.5,0.04,<sp/>200.,<sp/>3e-6,<sp/>h<sp/>);</highlight></codeline> |
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| 214 | <codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww=0.0;</highlight></codeline> |
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| 215 | <codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>k_rampa=1;</highlight></codeline> |
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| 216 | <codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">long</highlight><highlight class="normal"><sp/>k_rampa_tmp=0;</highlight></codeline> |
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| 217 | <codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>dt<sp/>(<sp/>2<sp/>);</highlight></codeline> |
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| 218 | <codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>ut<sp/>(<sp/>2<sp/>);</highlight></codeline> |
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| 219 | <codeline lineno="89"><highlight class="normal"></highlight></codeline> |
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| 220 | <codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>tK=1;tK<Ndat;tK++<sp/>)<sp/>{</highlight></codeline> |
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| 221 | <codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Number<sp/>of<sp/>steps<sp/>of<sp/>a<sp/>simulator<sp/>for<sp/>one<sp/>step<sp/>of<sp/>Kalman</highlight><highlight class="normal"></highlight></codeline> |
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| 222 | <codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ii=0;<sp/>ii<Nsimstep;ii++<sp/>)<sp/>{</highlight></codeline> |
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| 223 | <codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//simulator</highlight><highlight class="normal"></highlight></codeline> |
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| 224 | <codeline lineno="94"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ww+=k_rampa*2.*M_PI*2e-4;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//1000Hz/s</highlight><highlight class="normal"></highlight></codeline> |
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| 225 | <codeline lineno="95"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>Ww>2.*M_PI*150.<sp/>)<sp/>{</highlight></codeline> |
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| 226 | <codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Ww=2.*M_PI*150.;</highlight></codeline> |
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| 227 | <codeline lineno="97"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>k_rampa_tmp<500000<sp/>)<sp/>k_rampa_tmp++;</highlight></codeline> |
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| 228 | <codeline lineno="98"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>{k_rampa=-1;k_rampa_tmp=0;}</highlight></codeline> |
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| 229 | <codeline lineno="99"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline> |
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| 230 | <codeline lineno="100"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(<sp/>Ww<-2.*M_PI*150.<sp/>)<sp/>Ww=-2.*M_PI*150.;<sp/></highlight><highlight class="comment">/*<sp/>*/</highlight><highlight class="normal"></highlight></codeline> |
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| 231 | <codeline lineno="101"><highlight class="normal"></highlight></codeline> |
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| 232 | <codeline lineno="102"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>pmsmsim_step<sp/>(<sp/>Ww<sp/>);</highlight></codeline> |
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| 233 | <codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline> |
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| 234 | <codeline lineno="104"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>collect<sp/>data</highlight><highlight class="normal"></highlight></codeline> |
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| 235 | <codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[0];</highlight></codeline> |
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| 236 | <codeline lineno="106"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ut<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[1];</highlight></codeline> |
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| 237 | <codeline lineno="107"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>(<sp/>0<sp/>)<sp/>=<sp/>KalmanObs[2];</highlight></codeline> |
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| 238 | <codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>dt<sp/>(<sp/>1<sp/>)<sp/>=<sp/>KalmanObs[3];</highlight></codeline> |
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| 239 | <codeline lineno="109"><highlight class="normal"></highlight></codeline> |
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| 240 | <codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//estimator</highlight><highlight class="normal"></highlight></codeline> |
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| 241 | <codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.bayes<sp/>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);</highlight></codeline> |
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| 242 | <codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.bayes<sp/>(<sp/>concat<sp/>(<sp/>dt,ut<sp/>)<sp/>);</highlight></codeline> |
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| 243 | <codeline lineno="113"><highlight class="normal"></highlight></codeline> |
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| 244 | <codeline lineno="114"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Xt.set_row<sp/>(<sp/>tK,vec<sp/>(<sp/>x,9<sp/>)<sp/>);<sp/></highlight><highlight class="comment">//vec<sp/>from<sp/>C-array</highlight><highlight class="normal"></highlight></codeline> |
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| 245 | <codeline lineno="115"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Dt.set_row<sp/>(<sp/>tK,<sp/>concat<sp/>(<sp/>dt,ut,vec_1(sqrt(pow(ut(0),2)+pow(ut(1),2))),<sp/>vec_1(sqrt(pow(dt(0),2)+pow(dt(1),2)))<sp/>)<sp/>);</highlight></codeline> |
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| 246 | <codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XtE.set_row<sp/>(<sp/>tK,KFEep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline> |
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| 247 | <codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>XtM.set_row<sp/>(<sp/>tK,Mep.<ref refid="classepdf_1bf0a070a8f3e67a93604ca724638b870" kindref="member" tooltip="return expected value">mean</ref>()<sp/>);</highlight></codeline> |
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| 248 | <codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline> |
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| 249 | <codeline lineno="119"><highlight class="normal"></highlight></codeline> |
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| 250 | <codeline lineno="120"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>it_file<sp/>fou<sp/>(<sp/></highlight><highlight class="stringliteral">"pmsm_sim.it"</highlight><highlight class="normal"><sp/>);</highlight></codeline> |
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| 251 | <codeline lineno="121"><highlight class="normal"></highlight></codeline> |
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| 252 | <codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/><<<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">"xth"</highlight><highlight class="normal"><sp/>)<sp/><<<sp/>Xt;</highlight></codeline> |
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| 253 | <codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/><<<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">"Dt"</highlight><highlight class="normal"><sp/>)<sp/><<<sp/>Dt;</highlight></codeline> |
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| 254 | <codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/><<<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">"xthE"</highlight><highlight class="normal"><sp/>)<sp/><<<sp/>XtE;</highlight></codeline> |
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| 255 | <codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/><<<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">"xthM"</highlight><highlight class="normal"><sp/>)<sp/><<<sp/>XtM;</highlight></codeline> |
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| 256 | <codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//Exit<sp/>program:</highlight><highlight class="normal"></highlight></codeline> |
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| 257 | <codeline lineno="127"><highlight class="normal"></highlight></codeline> |
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| 258 | <codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>0;</highlight></codeline> |
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| 259 | <codeline lineno="129"><highlight class="normal">}</highlight></codeline> |
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| 260 | <codeline lineno="130"><highlight class="normal"></highlight></codeline> |
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| 261 | </programlisting> |
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| 262 | <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim.cpp"/> |
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| 263 | </compounddef> |
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| 264 | </doxygen> |
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