[228] | 1 | %close all |
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| 2 | itload('../../mpf_u_delta_real.it') |
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| 3 | figure(1); |
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| 4 | for i =1:4 |
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| 5 | subplot(4,1,i) |
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| 6 | hold off |
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| 7 | plot(xth(:,i)') |
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| 8 | end |
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| 9 | |
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| 10 | figure(2) |
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| 11 | for i=1:4 |
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| 12 | subplot(4,1,i) |
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| 13 | hold off |
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| 14 | plot(xth(:,i)') |
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| 15 | hold on; |
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| 16 | plot(xthE(:,i)','r') |
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| 17 | plot(xthM(:,i+2)','g') |
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| 18 | % plot(xthV(i,:)','m'); |
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| 19 | grid on |
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| 20 | end |
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| 21 | |
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| 22 | |
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| 23 | figure(3) |
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| 24 | tm=[1:8000]*125e-6; |
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[241] | 25 | subplot(1,1,1) |
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[228] | 26 | hold off |
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| 27 | plot(tm,xthM(:,1),':') |
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| 28 | hold on |
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| 29 | plot(tm,xthM(:,2),'-') |
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| 30 | set(gca,'XLim',[0,1.2]); |
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| 31 | set(gca,'YLim',[-5,5]); |
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[241] | 32 | %set(gca,'XTick',[]); |
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| 33 | xlabel(['time [s]']); |
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[228] | 34 | ylabel(['Estimated \Delta u [V]']); |
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| 35 | legend('\Delta u_{\alpha s}', '\Delta u_{\beta s}') |
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| 36 | |
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[241] | 37 | if 0 |
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[228] | 38 | subplot(2,1,2) |
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| 39 | hold off |
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| 40 | %plot(tm,-Dt(:,3)+Dt(:,5),':') |
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| 41 | hold on |
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| 42 | %plot(tm,-Dt(:,4)+Dt(:,6),'-') |
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| 43 | set(gca,'XLim',[0,1.2]); |
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| 44 | set(gca,'YLim',[-5,5]); |
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| 45 | legend('\Delta u_{\alpha s}', '\Delta u_{\beta s}') |
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| 46 | ylabel(['Simulated \Delta u [V]']); |
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| 47 | xlabel(['time [s]']); |
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| 48 | % plot(Qtr(:,i)','--') |
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[241] | 49 | end |
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[228] | 50 | |
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| 51 | figure(4) |
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| 52 | subplot(2,1,1) |
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| 53 | hold off |
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| 54 | di =xthE(:,1+2)'-xth(:,1+2)'; |
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| 55 | plot(tm,di,'--') |
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| 56 | MSE_E=di*di'/8000 |
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| 57 | |
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| 58 | hold on; |
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| 59 | di = xthM(:,1+4)'-xth(:,1+2)'; |
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| 60 | plot(tm,di,'-') |
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| 61 | MSE_M=di*di'/8000 |
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| 62 | plot(tm, zeros(1,8000),':') |
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| 63 | set(gca,'XLim',[0,1.2]); |
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| 64 | title ('Estimate deviation') |
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| 65 | ylabel('Rotor speed \omega') |
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| 66 | legend('EKF', 'EKF with estimated voltage drops') |
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| 67 | |
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| 68 | subplot(2,1,2) |
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| 69 | hold off |
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| 70 | di = xthE(:,2+2)'-xth(:,2+2)'; |
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| 71 | i2=find(di>1.5*pi); |
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| 72 | di(i2)=di(i2)-2*pi; |
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| 73 | i2=find(di<-1.5*pi); |
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| 74 | di(i2)=di(i2)+2*pi; |
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| 75 | plot(tm,di,'--') |
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| 76 | MSE_E=di*di'/8000 |
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| 77 | |
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| 78 | hold on; |
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| 79 | di =xthMTh' - xth(:,2+2)'; |
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| 80 | i2=find(di>1.5*pi); |
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| 81 | di(i2)=di(i2)-2*pi; |
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| 82 | i2=find(di<-1.5*pi); |
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| 83 | di(i2)=di(i2)+2*pi; |
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| 84 | plot(tm,di,'-') |
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| 85 | MSE_M=di*di'/8000 |
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| 86 | plot(tm,zeros(size(tm)),':') |
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| 87 | title ('Estimate deviation') |
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| 88 | ylabel('Rotor position \vartheta') |
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| 89 | set(gca,'XLim',[0,1.2]); |
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| 90 | %set(gca,'YLim',[-0.5 0.5]) |
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| 91 | legend('EKF', 'EKF with estimated voltage drops') |
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| 92 | |
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| 93 | % figure(3) |
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| 94 | % ndat = size(ll,2); |
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| 95 | % hold off |
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| 96 | % plot(llgrid,ll(:,floor(ndat/3)),':'); |
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| 97 | % hold on |
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| 98 | % plot(llgrid,ll(:,floor(2*ndat/3)),'--'); |
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| 99 | % plot(llgrid,ll(:,ndat)); |
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