root/pmsm/pmsmDS.h @ 259

/*!
  \file
  \brief DataSource for experiments with realistic simulator of the PMSM model
  \author Vaclav Smidl.

  -----------------------------------
  BDM++ - C++ library for Bayesian Decision Making under Uncertainty

  Using IT++ for numerical operations
  -----------------------------------
*/

#include <stat/loggers.h>

#include "pmsm.h"
#include "simulator.h"
#include <uibuilder.h>

//! Simulator of PMSM machine with predefined profile on omega
class pmsmDS : public DS {

protected:
        //! indeces of logged variables
        int L_x, L_ou, L_oy, L_iu;
        //! Setpoints of omega in timespans given by dt_prof
        vec profileWw;
        //! time-step for profiles
        double dt_prof;
        //! Number of miliseconds per discrete time step
        int Dt;
public:
        pmsmDS ( int Dt0 ) : Dt ( Dt0 ) {}
        void set_parameters ( double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0 ) {
                pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 );
        }
        void getdata ( vec &dt ) {dt=vec ( KalmanObs,6 );}
        void write ( vec &ut ) {}

        void step() {
                static int ind=0;
                static double dW; // increase of W
                static double Ww; // W
                if ( t>=dt_prof*ind ) {
                        if ( ind<profileWw.length() ) {
                                ind++;
                                //linear increase
                                dW = profileWw ( ind )-profileWw ( ind-1 );
                        }
                        else {
                                dW = 0;
                        }
                }
                Ww += dW;
                //Simulate Dt seconds!
                for ( int i=0;i<Dt;i++ ) {      pmsmsim_step ( Ww );}
        };

        void log_add ( logger &L ) {
                L_x = L.add ( rx, "x" );
                L_oy = L.add ( ry, "oi" );
                L_ou = L.add ( ru, "ou" );
                L_iu = L.add ( ru, "iu" );
        }

        void logit ( logger &L ) {
                L.logit ( L_x, vec ( x,4 )      );
                L.logit ( L_oy, vec_2 ( KalmanObs[2],KalmanObs[3] ) );
                L.logit ( L_ou, vec_2 ( KalmanObs[0],KalmanObs[1] ) );
                L.logit ( L_iu, vec_2 ( KalmanObs[4],KalmanObs[5] ) );
        }

        void set_profile ( double dt, const vec &Ww ) {dt_prof=dt; profileWw=Ww;}
};

class UIpmsm: public UIbuilder {
public:
        UIpmsm() :UIbuilder ( "pmsm" ) {}
        //Non-standard BUILD!! Does not create
        void build ( Setting &S, void** result ) const {

        };
};

class UIpmsmDS: public UIbuilder {
        static void tmp_set ( Setting &S, pmsmDS* tmp ) {
                tmp->set_parameters ( S["Rs"], S["Ls"], S["Fmag"], S["Bf"], S["p"], S["kp"], \
                                      S["J"], S["Uc"], S["DT"], 1.0e-6 );
        };
public:
        UIpmsmDS() :UIbuilder ( "pmsmDS" ) {};
        bdmroot* build ( Setting &S ) const {
                pmsmDS* tmp = new pmsmDS ( S["DT"] );
                //allowing recursive Settings
                UIcall<pmsmDS*> ( S["params"], &tmp_set , tmp );
        };

};
UIREGISTER(UIpmsmDS);