| 1 | /* |
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| 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 <estim/libKF.h> |
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| 15 | #include <estim/libPF.h> |
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| 16 | #include <stat/libFN.h> |
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| 17 | |
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| 18 | #include "pmsm.h" |
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| 19 | #include "simulator.h" |
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| 20 | |
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| 21 | #include "iopom.h" |
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| 22 | |
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| 23 | using namespace itpp; |
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| 24 | //!Extended Kalman filter with unknown \c Q |
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| 25 | class EKF_unQ : public EKFCh , public BMcond { |
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| 26 | public: |
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| 27 | //! Default constructor |
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| 28 | EKF_unQ ( RV rx, RV ry,RV ru,RV rQ ) :EKFCh ( rx,ry,ru ),BMcond ( rQ ) {}; |
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| 29 | void condition ( const vec &Q0 ) { |
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| 30 | Q.setD ( Q0,0 ); |
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| 31 | //from EKF |
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| 32 | preA.set_submatrix ( dimy+dimx,dimy,Q._Ch() ); |
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| 33 | }; |
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| 34 | }; |
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| 35 | |
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| 36 | void set_simulator_t(double &Ww) { |
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| 37 | |
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| 38 | if (t>0.2) x[8]=1.2; // 1A //0.2ZP |
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| 39 | if (t>0.4) x[8]=10.8; // 9A |
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| 40 | if (t>0.6) x[8]=25.2; // 21A |
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| 41 | |
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| 42 | if (t>0.7) Ww=2.*M_PI*10.; |
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| 43 | if (t>1.0) x[8]=1.2; // 1A |
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| 44 | if (t>1.2) x[8]=10.8; // 9A |
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| 45 | if (t>1.4) x[8]=25.2; // 21A |
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| 46 | |
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| 47 | if (t>1.6) Ww=2.*M_PI*50.; |
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| 48 | if (t>1.9) x[8]=1.2; // 1A |
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| 49 | if (t>2.1) x[8]=10.8; // 9A |
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| 50 | if (t>2.3) x[8]=25.2; // 21A |
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| 51 | |
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| 52 | if (t>2.5) Ww=2.*M_PI*100; |
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| 53 | if (t>2.8) x[8]=1.2; // 1A |
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| 54 | if (t>3.0) x[8]=10.8; // 9A |
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| 55 | if (t>3.2) x[8]=25.2; // 21A |
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| 56 | |
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| 57 | if (t>3.4) Ww=2.*M_PI*150; |
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| 58 | if (t>3.7) x[8]=1.2; // 1A |
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| 59 | if (t>3.9) x[8]=10.8; // 9A |
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| 60 | if (t>4.1) x[8]=25.2; // 21A |
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| 61 | |
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| 62 | if (t>4.3) Ww=2.*M_PI*0; |
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| 63 | if (t>4.8) x[8]=-1.2; // 1A |
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| 64 | if (t>5.0) x[8]=-10.8; // 9A |
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| 65 | if (t>5.2) x[8]=-25.2; // 21A |
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| 66 | |
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| 67 | if (t>5.4) Ww=2.*M_PI*(-10.); |
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| 68 | if (t>5.7) x[8]=-1.2; // 1A |
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| 69 | if (t>5.9) x[8]=-10.8; // 9A |
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| 70 | if (t>6.1) x[8]=-25.2; // 21A |
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| 71 | |
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| 72 | if (t>6.3) Ww=2.*M_PI*(-50.); |
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| 73 | if (t>6.7) x[8]=-1.2; // 1A |
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| 74 | if (t>6.9) x[8]=-10.8; // 9A |
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| 75 | if (t>7.1) x[8]=-25.2; // 21A |
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| 76 | |
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| 77 | if (t>7.3) Ww=2.*M_PI*(-100.); |
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| 78 | if (t>7.7) x[8]=-1.2; // 1A |
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| 79 | if (t>7.9) x[8]=-10.8; // 9A |
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| 80 | if (t>8.1) x[8]=-25.2; // 21A |
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| 81 | if (t>8.3) x[8]=10.8; // 9A |
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| 82 | if (t>8.5) x[8]=25.2; // 21A |
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| 83 | |
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| 84 | // x[8]=0.0; |
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| 85 | } |
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| 86 | |
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| 87 | int main() { |
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| 88 | // Kalman filter |
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| 89 | int Ndat = 90000; |
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| 90 | double h = 1e-6; |
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| 91 | int Nsimstep = 125; |
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| 92 | int Npart = 100; |
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| 93 | |
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| 94 | //StrSim:06: |
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| 95 | vec SSAT(Ndat); |
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| 96 | |
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| 97 | // internal model |
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| 98 | IMpmsm fxu; |
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| 99 | // Rs Ls dt Fmag(Ypm) kp p J Bf(Mz) |
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| 100 | fxu.set_parameters ( 0.28, 0.003465, Nsimstep*h, 0.1989, 1.5 ,4.0, 0.04, 0.0 ); |
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| 101 | // observation model |
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| 102 | OMpmsm hxu; |
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| 103 | |
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| 104 | vec mu0= "0.0 0.0 0.0 0.0"; |
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| 105 | // vec Qdiag ( "0.01 0.01 0.01 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.0001 |
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| 106 | vec Qdiag ( "18 18 157.9 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.0001 |
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| 107 | vec Rdiag ( "90 90" ); //var(diff(xth)) = "0.034 0.034" |
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| 108 | chmat Q ( Qdiag ); |
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| 109 | chmat R ( Rdiag ); |
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| 110 | EKFCh KFE ( rx,ry,ru ); |
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| 111 | KFE.set_est ( mu0, ( 1*eye ( 4 ) ) ); |
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| 112 | KFE.set_parameters ( &fxu,&hxu,Qdiag,Rdiag); |
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| 113 | |
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| 114 | RV rQ ( "100","{Q}","4","0" ); |
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| 115 | EKF_unQ KFEp ( rx,ry,ru,rQ ); |
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| 116 | KFEp.set_est ( mu0, chmat ( 1*ones ( 4 ) ) ); |
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| 117 | KFEp.set_parameters ( &fxu,&hxu,Q,R ); |
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| 118 | |
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| 119 | mgamma_fix evolQ ( rQ,rQ ); |
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| 120 | MPF<EKF_unQ> M ( rx,rQ,evolQ,evolQ,Npart,KFEp ); |
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| 121 | // initialize |
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| 122 | evolQ.set_parameters ( 1000.0 ,Qdiag, 0.5); //sigma = 1/10 mu |
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| 123 | evolQ.condition ( Qdiag ); //Zdenek default |
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| 124 | epdf& pfinit=evolQ._epdf(); |
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| 125 | M.set_est ( pfinit ); |
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| 126 | evolQ.set_parameters ( 5000.0, Qdiag, 0.9999 ); |
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| 127 | |
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| 128 | // |
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| 129 | |
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| 130 | epdf& KFEep = KFE._epdf(); |
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| 131 | epdf& Mep = M._epdf(); |
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| 132 | |
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| 133 | mat Xt=zeros ( Ndat ,9 ); //true state from simulator |
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| 134 | mat Dt=zeros ( Ndat,4+2 ); //observation |
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| 135 | mat XtE=zeros ( Ndat, 4 ); |
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| 136 | mat XtM=zeros ( Ndat,4+4 ); //Q + x |
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| 137 | |
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| 138 | // SET SIMULATOR |
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| 139 | pmsmsim_set_parameters ( 0.28,0.003465,0.1989,0.0,4,1.5,0.04, 200., 3e-6, h ); |
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| 140 | double Ww=0.0; |
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| 141 | vec dt ( 2 ); |
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| 142 | vec ut ( 2 ); |
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| 143 | |
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| 144 | for ( int tK=1;tK<Ndat;tK++ ) { |
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| 145 | //Number of steps of a simulator for one step of Kalman |
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| 146 | for ( int ii=0; ii<Nsimstep;ii++ ) { |
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| 147 | //simulator |
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| 148 | set_simulator_t(Ww); |
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| 149 | pmsmsim_step ( Ww ); |
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| 150 | }; |
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| 151 | // collect data |
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| 152 | ut ( 0 ) = KalmanObs[0]; |
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| 153 | ut ( 1 ) = KalmanObs[1]; |
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| 154 | dt ( 0 ) = KalmanObs[2]; |
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| 155 | dt ( 1 ) = KalmanObs[3]; |
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| 156 | |
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| 157 | //estimator |
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| 158 | KFE.bayes ( concat ( dt,ut ) ); |
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| 159 | M.bayes ( concat ( dt,ut ) ); |
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| 160 | SSAT(tK) = M.SSAT; |
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| 161 | |
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| 162 | Xt.set_row ( tK,vec ( x,9 ) ); //vec from C-array |
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| 163 | Dt.set_row ( tK, concat ( dt,ut,vec_1(sqrt(pow(ut(0),2)+pow(ut(1),2))), vec_1(sqrt(pow(dt(0),2)+pow(dt(1),2))) ) ); |
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| 164 | XtE.set_row ( tK,KFEep.mean() ); |
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| 165 | XtM.set_row ( tK,Mep.mean() ); |
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| 166 | } |
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| 167 | |
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| 168 | it_file fou ( "pmsm_sim.it" ); |
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| 169 | |
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| 170 | fou << Name ( "xth" ) << Xt; |
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| 171 | fou << Name ( "Dt" ) << Dt; |
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| 172 | fou << Name ( "xthE" ) << XtE; |
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| 173 | fou << Name ( "xthM" ) << XtM; |
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| 174 | fou << Name ( "SSAT" ) << SSAT; |
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| 175 | //Exit program: |
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| 176 | |
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| 177 | char tmpstr[200]; |
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| 178 | sprintf(tmpstr,"%s/%s","here/","format"); |
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| 179 | ofstream form(tmpstr); |
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| 180 | form << "# Experimetal header file"<< endl; |
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| 181 | dirfile_write(form,"here/",Xt,"X","{isa isb om th }" ); |
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| 182 | dirfile_write ( form,"here",XtM,"XtM","{q1 q2 q3 q4 isa isb om th }" ); |
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| 183 | dirfile_write ( form,"here",XtE,"XE","{isa isb om th }" ); |
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| 184 | dirfile_write ( form,"here",Dt,"Dt","{isa isb ua ub }" ); |
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| 185 | |
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| 186 | //////////////// |
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| 187 | // Just Testing |
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| 188 | /* NcFile nc ( "pmsm_sim2.nc", NcFile::Replace ); // Create and leave in define mode |
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| 189 | if ( ! nc.is_valid() ) { std::cerr << "creation of NCFile failed."<<endl;} |
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| 190 | |
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| 191 | write_to_nc ( nc,Xt,"X","{isa isb om th }" ); |
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| 192 | write_to_nc ( nc,XtM,"XtM","{q1 q2 q3 q4 isa isb om th }" ); |
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| 193 | write_to_nc ( nc,XtE,"XE","{isa isb om th }" ); |
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| 194 | write_to_nc ( nc,Dt,"Dt","{isa isb ua ub }" );*/ |
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| 195 | return 0; |
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| 196 | } |
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