[61] | 1 | #include <itpp/itbase.h> |
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| 2 | #include <estim/libKF.h> |
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| 3 | |
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| 4 | #include "ekf_obj.h" |
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[66] | 5 | #include "../simulator.h" |
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[61] | 6 | |
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| 7 | double minQ(double Q){if (Q>1.0){ return 1.0;} else {return Q;};}; |
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| 8 | |
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| 9 | /////////////// |
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| 10 | void EKFfixed::bayes(const vec &dt){ |
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| 11 | ekf(dt(2),dt(3),dt(0),dt(1)); |
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[66] | 12 | vec xhat(4); |
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| 13 | //UGLY HACK!!! reliance on a predictor!! |
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| 14 | xhat(0)=zprevod(x_est[0],Qm)*Iref; |
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| 15 | xhat(1)=zprevod(x_est[1],Qm)*Iref; |
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| 16 | xhat(2)=zprevod(x_est[2],Qm)*Wref; |
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| 17 | xhat(3)=zprevod(x_est[3],15); |
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[61] | 18 | |
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[66] | 19 | E.set_mu(xhat); |
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| 20 | |
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[61] | 21 | if ( BM::evalll ) { |
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| 22 | //from enorm |
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[66] | 23 | vec xdif(x,4);//first 4 of x |
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| 24 | //UGLY HACK!!! reliance on a predictor!! |
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| 25 | /* xdif(0)=x[0]-zprevod(x_pred[0],Qm)*Iref; |
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| 26 | xdif(1)=x[1]-zprevod(x_pred[1],Qm)*Iref; |
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| 27 | xdif(2)=x[2]-zprevod(x_pred[2],Qm)*Wref; |
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| 28 | xdif(3)=x[3]-zprevod(x_pred[3],15);*/ |
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[61] | 29 | |
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[66] | 30 | xdif -=xhat; //(xdif=x-xhat) |
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| 31 | |
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| 32 | mat Pfull(4,4); |
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| 33 | double* Pp=Pfull._data(); |
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| 34 | for(int i=0;i<16;i++){*(Pp++) = zprevod(P_est[i],15);} |
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| 35 | |
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| 36 | BM::ll = -0.5* ( 4 * 1.83787706640935 +log ( det ( Pfull ) ) +xdif* ( inv(Pfull)*xdif ) ); |
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[61] | 37 | } |
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| 38 | }; |
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| 39 | |
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| 40 | |
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| 41 | void EKFfixed::update_psi(void) |
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| 42 | { |
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| 43 | int t_sin,t_cos,tmp; |
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| 44 | |
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| 45 | // implementace v PC |
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| 46 | t_sin=prevod(sin(Thetaref*x_est[3]/32768.),15); |
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| 47 | t_cos=prevod(cos(Thetaref*x_est[3]/32768.),15); |
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| 48 | |
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| 49 | PSI[2]=((long)cB*t_sin)>>15; |
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| 50 | tmp=((long)cH*x_est[2])>>15; |
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| 51 | PSI[3]=((long)tmp*t_cos)>>15; |
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| 52 | PSI[6]=-((long)cB*t_cos)>>15; |
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| 53 | PSI[7]=((long)tmp*t_sin)>>15; |
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| 54 | } |
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| 55 | |
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| 56 | |
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| 57 | void EKFfixed::prediction(int *ux) |
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| 58 | { |
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| 59 | int t_sin,t_cos, tmp; |
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| 60 | |
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| 61 | // implementace v PC |
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| 62 | t_sin=prevod(sin(Thetaref*x_est[3]/32768.),15); |
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| 63 | t_cos=prevod(cos(Thetaref*x_est[3]/32768.),15); |
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| 64 | |
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| 65 | tmp=((long)cB*x_est[2])>>15; |
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| 66 | x_pred[0]=((long)cA*x_est[0]+(long)tmp*t_sin+(long)cC*ux[0])>>15; |
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| 67 | x_pred[1]=((long)cA*x_est[1]-(long)tmp*t_cos+(long)cC*ux[1])>>15; |
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| 68 | x_pred[2]=x_est[2]; |
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| 69 | x_pred[3]=(((long)x_est[3]<<15)+(long)cG*x_est[2])>>15; |
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| 70 | |
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| 71 | update_psi(); |
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| 72 | |
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| 73 | mmult(PSI,P_est,temp15a,3,3,3); |
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| 74 | // mtrans(PSI,temp15b,5,5); |
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| 75 | mmultt(temp15a,PSI,P_pred,3,3,3); |
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| 76 | maddD(P_pred,Q,3,3); |
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| 77 | } |
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| 78 | |
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| 79 | void EKFfixed::correction(void) |
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| 80 | { |
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| 81 | int Y_error[2]; |
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| 82 | long temp30a[4]; /* matrix [2,2] - temporary matrix for inversion */ |
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| 83 | |
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| 84 | choice_P(P_pred,temp15a,3); |
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| 85 | maddD(temp15a,R,1,1); |
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| 86 | minv2(temp15a,temp30a); |
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| 87 | Ry(0,0)=zprevod(temp15a[0],15); |
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| 88 | Ry(0,1)=zprevod(temp15a[1],15); |
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| 89 | Ry(1,0)=zprevod(temp15a[2],15); |
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| 90 | Ry(1,1)=zprevod(temp15a[3],15); |
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| 91 | |
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| 92 | mmultDr(P_pred,temp15a,3,3,1,1); |
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| 93 | mmult1530(temp15a,temp30a,Kalm,3,1,1); |
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| 94 | |
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| 95 | |
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| 96 | /* estimate the state system */ |
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| 97 | choice_x(x_pred, temp15a); |
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| 98 | msub(Y_mes,temp15a,Y_error,1,0); |
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| 99 | mmult(Kalm,Y_error,temp15a,3,1,0); |
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| 100 | madd(x_pred,temp15a,x_est,3,0); |
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| 101 | |
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| 102 | /* matrix of covariances - version without MMULTDL() */ |
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| 103 | |
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| 104 | /* Version with MMULTDL() */ |
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| 105 | mmultDl(P_pred,temp15a,1,3,3,1); |
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| 106 | |
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| 107 | mmult(Kalm,temp15a,P_est,3,1,3); |
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| 108 | msub(P_pred,P_est,P_est,3,3); |
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| 109 | /* END */ |
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| 110 | } |
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| 111 | |
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| 112 | |
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| 113 | void EKFfixed::ekf(double ux, double uy, double isxd, double isyd) |
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| 114 | { |
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| 115 | // vypocet napeti v systemu (x,y) |
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| 116 | ukalm[0]=prevod(ux/Uref,Qm); |
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| 117 | ukalm[1]=prevod(uy/Uref,Qm); |
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| 118 | |
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| 119 | // zadani mereni |
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| 120 | Y_mes[0]=prevod(isxd/Iref,Qm); |
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| 121 | Y_mes[1]=prevod(isyd/Iref,Qm); |
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| 122 | |
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| 123 | ////// vlastni rutina EKF ///////////////////////// |
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| 124 | prediction(ukalm); |
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| 125 | correction(); |
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| 126 | |
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| 127 | // navrat estimovanych hodnot regulatoru |
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[80] | 128 | vec& mu = E._mu(); |
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| 129 | (mu)(0)=zprevod(x_est[0],Qm)*Iref; |
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| 130 | (mu)(1)=zprevod(x_est[1],Qm)*Iref; |
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| 131 | (mu)(2)=zprevod(x_est[2],Qm)*Wref; |
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| 132 | (mu)(3)=zprevod(x_est[3],15)*Thetaref; |
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[61] | 133 | } |
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| 134 | |
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| 135 | void EKFfixed::init_ekf(double Tv) |
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| 136 | { |
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| 137 | // Tuning of matrix Q |
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| 138 | Q[0]=prevod(.01,15); // 0.05 |
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| 139 | Q[5]=Q[0]; |
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| 140 | Q[10]=prevod(0.0001,15); // 1e-3 |
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| 141 | Q[15]=prevod(0.0001,15); // 1e-3 |
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| 142 | |
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| 143 | // Tuning of matrix R |
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| 144 | R[0]=prevod(0.05,15); // 0.05 |
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| 145 | R[3]=R[0]; |
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| 146 | |
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| 147 | // Motor model parameters |
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| 148 | cA=prevod(1-Tv*Rs/Ls,15); |
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| 149 | cB=prevod(Tv*Wref*Fmag/Iref/Ls,15); |
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| 150 | cC=prevod(Tv/Ls/Iref*Uref,15); |
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| 151 | // cD=prevod(1-Tv*Bf/J,15); |
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| 152 | // cE=prevod(kp*p*p*Tv*Fmag*Iref/J/Wref,15); |
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| 153 | // cF=prevod(p*Tv*Mref/J/Wref,15); |
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| 154 | cG=prevod(Tv*Wref*4/Thetaref,15); |
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| 155 | cH=prevod(Tv*Wref*Fmag/Iref/Ls*Thetaref,15); |
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| 156 | // cI=prevod(kp*p*p*Tv*Fmag*Iref/J/Wref*Thetaref); |
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| 157 | |
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| 158 | /* Init matrix PSI with permanently constant terms */ |
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| 159 | PSI[0]=cA; |
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| 160 | PSI[5]=PSI[0]; |
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| 161 | PSI[10]=0x7FFF; |
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| 162 | PSI[14]=cG; |
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| 163 | PSI[15]=0x7FFF; |
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| 164 | } |
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