[105] | 1 | /*! |
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[81] | 2 | \file |
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| 3 | \brief Models for synchronous electric drive using IT++ and BDM |
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| 4 | \author Vaclav Smidl. |
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| 5 | |
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| 6 | ----------------------------------- |
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| 7 | BDM++ - C++ library for Bayesian Decision Making under Uncertainty |
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| 8 | |
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| 9 | Using IT++ for numerical operations |
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| 10 | ----------------------------------- |
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| 11 | */ |
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| 12 | |
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| 13 | #include <itpp/itbase.h> |
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| 14 | #include <stat/libFN.h> |
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| 15 | #include <estim/libKF.h> |
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[108] | 16 | //#include <estim/libPF.h> |
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| 17 | #include <math/chmat.h> |
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[81] | 18 | |
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| 19 | #include "pmsm.h" |
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| 20 | #include "simulator.h" |
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[117] | 21 | #include "sim_profiles.h" |
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[81] | 22 | |
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[94] | 23 | #include <stat/loggers.h> |
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[81] | 24 | |
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| 25 | using namespace itpp; |
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| 26 | //!Extended Kalman filter with unknown \c Q |
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| 27 | |
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| 28 | int main() { |
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| 29 | // Kalman filter |
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| 30 | int Ndat = 90000; |
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| 31 | double h = 1e-6; |
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| 32 | int Nsimstep = 125; |
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| 33 | |
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[94] | 34 | dirfilelog L("exp/sim_var",1000); |
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[105] | 35 | //memlog L(Ndat); |
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[94] | 36 | |
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[81] | 37 | // SET SIMULATOR |
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| 38 | pmsmsim_set_parameters ( 0.28,0.003465,0.1989,0.0,4,1.5,0.04, 200., 3e-6, h ); |
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| 39 | double Ww = 0.0; |
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| 40 | vec dt ( 2 ); |
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| 41 | vec ut ( 2 ); |
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[131] | 42 | vec dut ( 4 ); |
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| 43 | vec dit (2); |
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[81] | 44 | vec xtm=zeros ( 4 ); |
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| 45 | vec xdif=zeros ( 4 ); |
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| 46 | vec xt ( 4 ); |
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[94] | 47 | vec ddif=zeros(2); |
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[81] | 48 | IMpmsm fxu; |
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| 49 | // Rs Ls dt Fmag(Ypm) kp p J Bf(Mz) |
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| 50 | fxu.set_parameters ( 0.28, 0.003465, Nsimstep*h, 0.1989, 1.5 ,4.0, 0.04, 0.0 ); |
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| 51 | OMpmsm hxu; |
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| 52 | mat Qt=zeros ( 4,4 ); |
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[94] | 53 | mat Rt=zeros ( 2,2 ); |
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[81] | 54 | |
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| 55 | // ESTIMATORS |
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| 56 | vec mu0= "0.0 0.0 0.0 0.0"; |
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| 57 | vec Qdiag ( "62 66 454 0.03" ); //zdenek: 0.01 0.01 0.0001 0.0001 |
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| 58 | vec Rdiag ( "100 100" ); //var(diff(xth)) = "0.034 0.034" |
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| 59 | mat Q =diag( Qdiag ); |
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| 60 | mat R =diag ( Rdiag ); |
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| 61 | EKFfull Efix ( rx,ry,ru ); |
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| 62 | Efix.set_est ( mu0, 1*eye ( 4 ) ); |
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| 63 | Efix.set_parameters ( &fxu,&hxu,Q,R); |
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| 64 | |
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| 65 | EKFfull Eop ( rx,ry,ru ); |
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| 66 | Eop.set_est ( mu0, 1*eye ( 4 ) ); |
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| 67 | Eop.set_parameters ( &fxu,&hxu,Q,R); |
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| 68 | |
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[94] | 69 | EKFfull Edi ( rx,ry,ru ); |
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| 70 | Edi.set_est ( mu0, 1*eye ( 4 ) ); |
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| 71 | Edi.set_parameters ( &fxu,&hxu,Q,R); |
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| 72 | |
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[81] | 73 | epdf& Efix_ep = Efix._epdf(); |
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| 74 | epdf& Eop_ep = Eop._epdf(); |
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[94] | 75 | epdf& Edi_ep = Edi._epdf(); |
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[105] | 76 | |
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[94] | 77 | //LOG |
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| 78 | RV rQ("10", "{Q }", "16","0"); |
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| 79 | RV rR("11", "{R }", "4","0"); |
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[105] | 80 | RV rUD("12 13 14 15", "{u_isa u_isb i_isa i_isb }", ones_i(4),zeros_i(4)); |
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[131] | 81 | RV rDu("16 17 18 19","{dux duy duxf duyf }",ones_i(4),zeros_i(4)); |
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| 82 | RV rDi("20 21","{disa disb }",ones_i(2),zeros_i(2)); |
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[94] | 83 | int X_log = L.add(rx,"X"); |
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| 84 | int Efix_log = L.add(rx,"XF"); |
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| 85 | int Eop_log = L.add(rx,"XO"); |
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| 86 | int Edi_log = L.add(rx,"XD"); |
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[105] | 87 | int Q_log = L.add(rQ,"Q"); |
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| 88 | int R_log = L.add(rR,"R"); |
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| 89 | int D_log = L.add(rUD,"D"); |
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[131] | 90 | int Du_log = L.add(rDu,"Du"); |
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| 91 | int Di_log = L.add(rDi,"Di"); |
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[94] | 92 | L.init(); |
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[81] | 93 | |
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| 94 | for ( int tK=1;tK<Ndat;tK++ ) { |
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| 95 | //Number of steps of a simulator for one step of Kalman |
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| 96 | for ( int ii=0; ii<Nsimstep;ii++ ) { |
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[117] | 97 | sim_profile_steps1 ( Ww , true); |
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[81] | 98 | pmsmsim_step ( Ww ); |
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| 99 | }; |
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| 100 | // simulation via deterministic model |
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| 101 | ut ( 0 ) = KalmanObs[0]; |
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| 102 | ut ( 1 ) = KalmanObs[1]; |
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| 103 | dt ( 0 ) = KalmanObs[2]; |
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| 104 | dt ( 1 ) = KalmanObs[3]; |
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[131] | 105 | dut ( 0 ) = KalmanObs[4]; |
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| 106 | dut ( 1 ) = KalmanObs[5]; |
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| 107 | dut ( 2 ) = KalmanObs[6]; |
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| 108 | dut ( 3 ) = KalmanObs[7]; |
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| 109 | dit ( 0 ) = KalmanObs[8]; |
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| 110 | dit ( 1 ) = KalmanObs[9]; |
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[81] | 111 | |
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| 112 | xt = fxu.eval ( xtm,ut ); |
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| 113 | //Results: |
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| 114 | // in xt we have simulaton according to the model |
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| 115 | // in x we have "reality" |
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| 116 | xtm ( 0 ) =x[0];xtm ( 1 ) =x[1];xtm ( 2 ) =x[2];xtm ( 3 ) =x[3]; |
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[94] | 117 | xdif = xtm-xt; |
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[131] | 118 | if (xdif(0)>3.0){ |
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| 119 | cout << "here" <<endl; |
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| 120 | } |
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[81] | 121 | if ( xdif ( 3 ) >pi ) xdif ( 3 )-=2*pi; |
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| 122 | if ( xdif ( 3 ) <-pi ) xdif ( 3 ) +=2*pi; |
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[94] | 123 | |
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| 124 | ddif = hxu.eval(xtm,ut) - dt; |
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[81] | 125 | |
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| 126 | //Rt = 0.9*Rt + xdif^2 |
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[94] | 127 | Qt*=0.01; |
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[81] | 128 | Qt += outer_product ( xdif,xdif ); //(x-xt)^2 |
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[94] | 129 | Rt*=0.01; |
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| 130 | Rt += outer_product ( ddif,ddif ); //(x-xt)^2 |
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[81] | 131 | |
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| 132 | //ESTIMATE |
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| 133 | Efix.bayes(concat(dt,ut)); |
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| 134 | // |
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[94] | 135 | Eop.set_parameters ( &fxu,&hxu,(Qt+1e-16*eye(4)),(Rt+1e-3*eye(2))); |
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[81] | 136 | Eop.bayes(concat(dt,ut)); |
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[94] | 137 | // |
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[105] | 138 | Edi.set_parameters ( &fxu,&hxu,(diag(diag(Qt))+1e-16*eye(4)), (diag(diag(Rt))+1e-3*eye(2))); |
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[94] | 139 | Edi.bayes(concat(dt,ut)); |
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[81] | 140 | |
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[94] | 141 | //LOG |
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[105] | 142 | L.logit(X_log, vec(x,4)); //vec from C-array |
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[94] | 143 | L.logit(Efix_log, Efix_ep.mean() ); |
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[105] | 144 | L.logit(Eop_log, Eop_ep.mean() ); |
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| 145 | L.logit(Edi_log, Edi_ep.mean() ); |
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| 146 | L.logit(Q_log, vec(Qt._data(),16) ); |
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| 147 | L.logit(R_log, vec(Rt._data(),4) ); |
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| 148 | L.logit(D_log, vec(KalmanObs,4) ); |
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[131] | 149 | L.logit(Du_log, dut ); |
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| 150 | L.logit(Di_log, dit ); |
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[94] | 151 | |
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| 152 | L.step(false); |
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[81] | 153 | } |
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| 154 | |
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[94] | 155 | L.step(true); |
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[131] | 156 | // L.itsave("sim_var.it"); |
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[105] | 157 | |
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[81] | 158 | |
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| 159 | return 0; |
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| 160 | } |
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