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1<?xml version='1.0' encoding='UTF-8' standalone='no'?>
2<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
3  <compounddef id="pmsm__sim_8cpp" kind="file">
4    <compoundname>pmsm_sim.cpp</compoundname>
5    <includes local="no">itpp/itbase.h</includes>
6    <includes refid="libKF_8h" local="no">estim/libKF.h</includes>
7    <includes refid="libPF_8h" local="no">estim/libPF.h</includes>
8    <includes refid="libFN_8h" local="no">stat/libFN.h</includes>
9    <includes refid="pmsm_8h" local="yes">pmsm.h</includes>
10    <includes refid="simulator_8h" local="yes">simulator.h</includes>
11    <incdepgraph>
12      <node id="588">
13        <label>libBM.h</label>
14        <link refid="libBM_8h"/>
15        <childnode refid="585" relation="include">
16        </childnode>
17      </node>
18      <node id="595">
19        <label>simulator.h</label>
20        <link refid="simulator_8h-source"/>
21      </node>
22      <node id="594">
23        <label>pmsm.h</label>
24        <link refid="pmsm_8h-source"/>
25        <childnode refid="587" relation="include">
26        </childnode>
27      </node>
28      <node id="591">
29        <label>../itpp_ext.h</label>
30        <link refid="itpp__ext_8h-source"/>
31        <childnode refid="585" relation="include">
32        </childnode>
33      </node>
34      <node id="589">
35        <label>../stat/libEF.h</label>
36        <link refid="libEF_8h"/>
37        <childnode refid="585" relation="include">
38        </childnode>
39        <childnode refid="590" relation="include">
40        </childnode>
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42        </childnode>
43        <childnode refid="591" relation="include">
44        </childnode>
45      </node>
46      <node id="593">
47        <label>estim/libPF.h</label>
48        <link refid="libPF_8h"/>
49        <childnode refid="585" relation="include">
50        </childnode>
51        <childnode refid="589" relation="include">
52        </childnode>
53        <childnode refid="590" relation="include">
54        </childnode>
55      </node>
56      <node id="587">
57        <label>../stat/libFN.h</label>
58        <link refid="libFN_8h-source"/>
59        <childnode refid="585" relation="include">
60        </childnode>
61        <childnode refid="588" relation="include">
62        </childnode>
63      </node>
64      <node id="585">
65        <label>itpp/itbase.h</label>
66      </node>
67      <node id="592">
68        <label>../math/chmat.h</label>
69        <link refid="chmat_8h"/>
70        <childnode refid="585" relation="include">
71        </childnode>
72        <childnode refid="590" relation="include">
73        </childnode>
74        <childnode refid="591" relation="include">
75        </childnode>
76      </node>
77      <node id="586">
78        <label>estim/libKF.h</label>
79        <link refid="libKF_8h"/>
80        <childnode refid="585" relation="include">
81        </childnode>
82        <childnode refid="587" relation="include">
83        </childnode>
84        <childnode refid="589" relation="include">
85        </childnode>
86        <childnode refid="592" relation="include">
87        </childnode>
88      </node>
89      <node id="590">
90        <label>../math/libDC.h</label>
91        <link refid="libDC_8h"/>
92        <childnode refid="585" relation="include">
93        </childnode>
94      </node>
95      <node id="584">
96        <label>work/git/mixpp/pmsm/pmsm_sim.cpp</label>
97        <link refid="pmsm_sim.cpp"/>
98        <childnode refid="585" relation="include">
99        </childnode>
100        <childnode refid="586" relation="include">
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107        </childnode>
108        <childnode refid="595" relation="include">
109        </childnode>
110      </node>
111    </incdepgraph>
112    <innerclass refid="classEKF__unQ" prot="public">EKF_unQ</innerclass>
113      <sectiondef kind="func">
114      <memberdef kind="function" id="pmsm__sim_8cpp_1e66f6b31b5ad750f1fe042a706a4e3d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
115        <type>int</type>
116        <definition>int main</definition>
117        <argsstring>()</argsstring>
118        <name>main</name>
119        <briefdescription>
120        </briefdescription>
121        <detaileddescription>
122        </detaileddescription>
123        <inbodydescription>
124        </inbodydescription>
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"/>
126      </memberdef>
127      </sectiondef>
128    <briefdescription>
129    </briefdescription>
130    <detaileddescription>
131    </detaileddescription>
132    <programlisting>
133<codeline lineno="1"><highlight class="comment">/*</highlight></codeline>
134<codeline lineno="2"><highlight class="comment"><sp/><sp/>\file</highlight></codeline>
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>
136<codeline lineno="4"><highlight class="comment"><sp/><sp/>\author<sp/>Vaclav<sp/>Smidl.</highlight></codeline>
137<codeline lineno="5"><highlight class="comment"></highlight></codeline>
138<codeline lineno="6"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
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>
140<codeline lineno="8"><highlight class="comment"></highlight></codeline>
141<codeline lineno="9"><highlight class="comment"><sp/><sp/>Using<sp/>IT++<sp/>for<sp/>numerical<sp/>operations</highlight></codeline>
142<codeline lineno="10"><highlight class="comment"><sp/><sp/>-----------------------------------</highlight></codeline>
143<codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
144<codeline lineno="12"><highlight class="normal"></highlight></codeline>
145<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;itpp/itbase.h&gt;</highlight><highlight class="normal"></highlight></codeline>
146<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libKF_8h" kindref="compound" tooltip="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
147<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;<ref refid="libPF_8h" kindref="compound" tooltip="Bayesian Filtering using stochastic sampling (Particle Filters).">estim/libPF.h</ref>&gt;</highlight><highlight class="normal"></highlight></codeline>
148<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stat/libFN.h&gt;</highlight><highlight class="normal"></highlight></codeline>
149<codeline lineno="17"><highlight class="normal"></highlight></codeline>
150<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pmsm.h&quot;</highlight><highlight class="normal"></highlight></codeline>
151<codeline lineno="19"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;simulator.h&quot;</highlight><highlight class="normal"></highlight></codeline>
152<codeline lineno="20"><highlight class="normal"></highlight></codeline>
153<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keyword">using<sp/>namespace<sp/></highlight><highlight class="normal">itpp;</highlight></codeline>
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>
155<codeline lineno="24"><highlight class="normal"></highlight><highlight class="keyword">public</highlight><highlight class="normal">:</highlight></codeline>
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>
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/>&amp;Q0<sp/>)<sp/>{</highlight></codeline>
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>
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>
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>
161<codeline lineno="31"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>};</highlight></codeline>
162<codeline lineno="32"><highlight class="normal">};</highlight></codeline>
163<codeline lineno="33"><highlight class="normal"></highlight></codeline>
164<codeline lineno="34"><highlight class="normal"></highlight></codeline>
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>
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>
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>
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>
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>
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>
171<codeline lineno="41"><highlight class="normal"></highlight></codeline>
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>
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>
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>
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>
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>
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>
178<codeline lineno="48"><highlight class="normal"></highlight></codeline>
179<codeline lineno="49"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>mu0=<sp/></highlight><highlight class="stringliteral">&quot;0.0<sp/>0.0<sp/>0.0<sp/>0.0&quot;</highlight><highlight class="normal">;</highlight></codeline>
180<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Qdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;0.01<sp/>0.01<sp/>0.00001<sp/>0.00001&quot;</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>
181<codeline lineno="51"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>Rdiag<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;0.0005<sp/>0.0005&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//var(diff(xth))<sp/>=<sp/>&quot;0.034<sp/>0.034&quot;</highlight><highlight class="normal"></highlight></codeline>
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>
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>
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>
185<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFE.set_parameters<sp/>(<sp/>&amp;fxu,&amp;hxu,Q,R<sp/>);</highlight></codeline>
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>
187<codeline lineno="57"><highlight class="normal"></highlight></codeline>
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">&quot;{Q<sp/>}&quot;</highlight><highlight class="normal">,</highlight><highlight class="stringliteral">&quot;2&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
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>
190<codeline lineno="60"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>KFEp.set_parameters<sp/>(<sp/>&amp;fxu,&amp;hxu,Q,R<sp/>);</highlight></codeline>
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>
192<codeline lineno="62"><highlight class="normal"></highlight></codeline>
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>
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&lt;EKF_unQ&gt;</ref><sp/>M<sp/>(<sp/>rx,rQ,evolQ,evolQ,Npart,KFEp<sp/>);</highlight></codeline>
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>
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>
197<codeline lineno="67"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>evolQ.condition<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;0.01<sp/>0.01&quot;</highlight><highlight class="normal"><sp/>);<sp/></highlight><highlight class="comment">//Zdenek<sp/>default</highlight><highlight class="normal"></highlight></codeline>
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>&amp;<sp/>pfinit=evolQ._epdf();</highlight></codeline>
199<codeline lineno="69"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>M.set_est<sp/>(<sp/>pfinit<sp/>);</highlight></codeline>
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>
201<codeline lineno="71"><highlight class="normal"></highlight></codeline>
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>
203<codeline lineno="73"><highlight class="normal"></highlight></codeline>
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>&amp;<sp/>KFEep<sp/>=<sp/>KFE._epdf();</highlight></codeline>
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>&amp;<sp/>Mep<sp/>=<sp/>M._epdf();</highlight></codeline>
206<codeline lineno="76"><highlight class="normal"></highlight></codeline>
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>
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>
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>
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>
211<codeline lineno="81"><highlight class="normal"></highlight></codeline>
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>
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>
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>
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>
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>
217<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>dt<sp/>(<sp/>2<sp/>);</highlight></codeline>
218<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>vec<sp/>ut<sp/>(<sp/>2<sp/>);</highlight></codeline>
219<codeline lineno="89"><highlight class="normal"></highlight></codeline>
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&lt;Ndat;tK++<sp/>)<sp/>{</highlight></codeline>
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>
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&lt;Nsimstep;ii++<sp/>)<sp/>{</highlight></codeline>
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>
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>
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&gt;2.*M_PI*150.<sp/>)<sp/>{</highlight></codeline>
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>
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&lt;500000<sp/>)<sp/>k_rampa_tmp++;</highlight></codeline>
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>
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>
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&lt;-2.*M_PI*150.<sp/>)<sp/>Ww=-2.*M_PI*150.;<sp/></highlight><highlight class="comment">/*<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
231<codeline lineno="101"><highlight class="normal"></highlight></codeline>
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>
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>
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>
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>
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>
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>
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>
239<codeline lineno="109"><highlight class="normal"></highlight></codeline>
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>
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>
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>
243<codeline lineno="113"><highlight class="normal"></highlight></codeline>
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>
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>
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>
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>
248<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>}</highlight></codeline>
249<codeline lineno="119"><highlight class="normal"></highlight></codeline>
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">&quot;pmsm_sim.it&quot;</highlight><highlight class="normal"><sp/>);</highlight></codeline>
251<codeline lineno="121"><highlight class="normal"></highlight></codeline>
252<codeline lineno="122"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;xth&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>Xt;</highlight></codeline>
253<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;Dt&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>Dt;</highlight></codeline>
254<codeline lineno="124"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;xthE&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>XtE;</highlight></codeline>
255<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>fou<sp/>&lt;&lt;<sp/>Name<sp/>(<sp/></highlight><highlight class="stringliteral">&quot;xthM&quot;</highlight><highlight class="normal"><sp/>)<sp/>&lt;&lt;<sp/>XtM;</highlight></codeline>
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>
257<codeline lineno="127"><highlight class="normal"></highlight></codeline>
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>
259<codeline lineno="129"><highlight class="normal">}</highlight></codeline>
260<codeline lineno="130"><highlight class="normal"></highlight></codeline>
261    </programlisting>
262    <location file="/home/smidl/work/git/mixpp/pmsm/pmsm_sim.cpp"/>
263  </compounddef>
264</doxygen>
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