Changeset 105

Timestamp:

05/12/08 17:36:02 (16 years ago)

Author:

smidl

Message:

new experiments with pmsm

Location:

pmsm

Files:

• CMakeLists.txt (modified) (1 diff)
• pmsm_mix.cpp (added)
• sim_var.cpp (modified) (5 diffs)
• sim_var_arx.cpp (added)

pmsm/CMakeLists.txt

@@ -41 +41 @@
 add_executable (sim_var sim_var.cpp)
 target_link_libraries (sim_var ${BdmLibs} pmsmsim)
+add_executable (sim_var_arx sim_var_arx.cpp)
+target_link_libraries (sim_var_arx ${BdmLibs} pmsmsim)
+add_executable (pmsm_mix pmsm_mix.cpp)
+target_link_libraries (pmsm_mix ${BdmLibs} pmsmsim)

pmsm/sim_var.cpp

@@ -1 @@
-/*
+/*!
   \file
   \brief Models for synchronous electric drive using IT++ and BDM
@@ -82 +82 @@
 
         dirfilelog L("exp/sim_var",1000);
+        //memlog L(Ndat);
         
         // SET SIMULATOR
@@ -120 +121 @@
         epdf& Eop_ep = Eop._epdf();
         epdf& Edi_ep = Edi._epdf();
-
+        
         //LOG
         RV rQ("10", "{Q }", "16","0");
         RV rR("11", "{R }", "4","0");
+        RV rUD("12 13 14 15", "{u_isa u_isb i_isa i_isb }", ones_i(4),zeros_i(4));
         int X_log = L.add(rx,"X");
         int Efix_log = L.add(rx,"XF");
         int Eop_log = L.add(rx,"XO");
         int Edi_log = L.add(rx,"XD");
-        int Q_log = L.add(rQ,"");
-        int R_log = L.add(rR,"");
+        int Q_log = L.add(rQ,"Q");
+        int R_log = L.add(rR,"R");
+        int D_log = L.add(rUD,"D");
         L.init();
 
@@ -167 +170 @@
                 Eop.bayes(concat(dt,ut));
                 //
-                Edi.set_parameters ( &fxu,&hxu,(diag(diag(Qt))+1e-16*eye(4)),(diag(diag(Rt))+1e-3*eye(2)));
+                Edi.set_parameters ( &fxu,&hxu,(diag(diag(Qt))+1e-16*eye(4)), (diag(diag(Rt))+1e-3*eye(2)));
                 Edi.bayes(concat(dt,ut));
                 
                 //LOG
-                L.logit(X_log, vec(x,4)); //vec from C-array
+                L.logit(X_log,  vec(x,4)); //vec from C-array
                 L.logit(Efix_log, Efix_ep.mean() ); 
-                L.logit(Eop_log, Eop_ep.mean() ); 
-                L.logit(Edi_log, Edi_ep.mean() ); 
-                L.logit(Q_log, vec(Qt._data(),16) ); 
-                L.logit(R_log, vec(Rt._data(),4) ); 
+                L.logit(Eop_log,        Eop_ep.mean() ); 
+                L.logit(Edi_log,        Edi_ep.mean() ); 
+                L.logit(Q_log,  vec(Qt._data(),16) ); 
+                L.logit(R_log,          vec(Rt._data(),4) ); 
+                L.logit(D_log,  vec(KalmanObs,4) ); 
                 
                 L.step(false);
@@ -182 +186 @@
 
         L.step(true);
+        //L.itsave("sim_var.it");       
+        
 
         return 0;