Changeset 1261

Timestamp:

12/09/10 16:33:44 (13 years ago)

Author:

smidl

Message:

LQG changes + lyx

Location:

applications

Files:

• dual/texts/pmsm_system.lyx (modified) (1 diff)
• pmsm/experiments/ctrl_lq.cfg (modified) (3 diffs)
• pmsm/pmsm_ctrl.h (modified) (6 diffs)

applications/dual/texts/pmsm_system.lyx

@@ -715 +715 @@
 
 \begin_layout Subsection
+Cautious LQG control
+\end_layout
+
+\begin_layout Standard
+Uncertainty in 
+\begin_inset Formula $A$
+\end_inset
+
+.
+\end_layout
+
+\begin_layout Standard
+Sigma points: 
+\begin_inset Formula $x^{(i)}=\hat{x}+hv_{i}$
+\end_inset
+
+, 
+\begin_inset Formula $v_{i}$
+\end_inset
+
+ are eigenvectors of 
+\begin_inset Formula $P$
+\end_inset
+
+.
+\end_layout
+
+\begin_layout Standard
+\begin_inset Formula \begin{eqnarray*}
+E\{x'A(x)QA(x)x\} & = & \frac{1}{n}\sum x'A(x^{(i)})QA^{(i)}(x)x\\
+ & = & x'Zx'\end{eqnarray*}
+
+\end_inset
+
+
+\end_layout
+
+\begin_layout Standard
+Uncented transform...
+\end_layout
+
+\begin_layout Subsection
 Poor-man's dual LQG control
 \end_layout

applications/pmsm/experiments/ctrl_lq.cfg

@@ -7 +7 @@
 system= {
         class= "pmsmDSctrl";
-        params = "pmsm107@./cfg/zcu.cfg";
+        params = "pmsm107@../cfg/zcu.cfg";
         tstep = 1; // steps for profile in [s]
-        profileW = [0, 30, 0, 2 ];
+        profileW = [0, 10, 0, 2 ];
 //      profileW = [0, -10, 30, 60, 90, 60, 30, 0, -30, -60, -30];
 //      profileW = [1, 10, 50, 200, 200, 30, 0, 0, -30, -30, -100, -100, -40, 0, 0];
@@ -16 +16 @@
 };
 
-UD = {class="EKFCh";
+UD = {class="EKFfull";
          IM = {class="IMpmsmStat";
-                params = "pmsm107@./cfg/zcu.cfg";
+                params = "pmsm107@../cfg/zcu.cfg";
          };
          OM = {class="OMpmsm";};
-        dQ=[0.01, 0.01, 0.0001, 0.000001];
+        dQ=[0.1, 0.1, 0.1, 0.01]; ///???????????????
         dR=[0.05, 0.05];
          //connect
-         log_level="logmean,logU,logG,logD";
+         log_level="logmean";
          name = "Est0";
          };
@@ -31 +31 @@
                 class = "PMSM_LQCtrl";
                 estim = "UD";
+                r = 0.05;
+                h = 10;
         }
 );

applications/pmsm/pmsm_ctrl.h

@@ -63 +63 @@
         PMSMCtrl():Controller() {
                 rv = RV("{ua ub }");
-                rvc = RV("{o_ia o_ib o_ua o_ub o_om o_th Ww }");
+                rvc = RV("{o_ia o_ib t_ua t_ub o_om o_th Ww }");
         }
         
@@ -176 +176 @@
         
 //receding horizon
-        const int rec_hor;
+        int rec_hor;
         
 //system matrices
@@ -202 +202 @@
                                 r(0.005), Dt(0.000125), rec_hor(10),                                    //for r is a default value rewrited by pcp.txt file value
                                 A(5, 5), B(5, 2), Q(5, 5), R(2, 2),
-                                uab(2), icond(6), MAXu(100.0),
-                                p_isa(rec_hor+1), p_isb(rec_hor+1), p_ome(rec_hor+1), p_the(rec_hor+1)
-        {                       
+                                uab(2), icond(6), MAXu(100.0)   {                       
                 //set fix matrices elements & dimensions
                 A.zeros();
@@ -219 +217 @@
                         Q(2, 2) = 1.0;
                 R.zeros();
-                        //load input penalty r from file
-                        ifstream pcpfile;
-                        double pcp;
-                        
-                        pcpfile.open("pcp.txt");
-                        if(pcpfile){
-                                if(pcpfile >> pcp) r = pcp;     
-                                pcpfile.close();
-                        }
-                        R(0, 0) = R(1, 1) = r;
                                                                 
-                //set lq
-                lq.rv = RV("u", 2, 0);                  
-                lq.set_rvc(RV("x", 5, 0));
-                lq.horizon = rec_hor;   
-                
-                Array<linfnEx> model(2);
-                model(0).A = A;
-                model(0).B = vec("0 0 0 0 0");
-                model(0).rv = RV("x", 5, 0);
-                model(0).rv_ret = RV("x", 5, 1);
-                model(1).A = B;
-                model(1).B = vec("0 0");
-                model(1).rv = RV("u", 2, 0);
-                model(1).rv_ret = RV("x", 5, 1);
-                lq.Models = model;
-                
-                Array<quadraticfn> qloss(2);
-                qloss(0).Q.setCh(Q);
-                qloss(0).rv = RV("x", 5, 1);
-                qloss(1).Q.setCh(R);
-                qloss(1).rv = RV("u", 2, 0);            
-                lq.Losses = qloss;
-                
-                lq.finalLoss.Q.setCh(Q);
-                lq.finalLoss.rv = RV("x", 5, 1);
-                
-                lq.validate();
-                                                
-                uab.zeros();
         }
                 
@@ -309 +268 @@
                 icond(3) = the;
                 icond(4) = Ww;
-                icond(5) = 0;
+                icond(5) = 1;
                 vec tmp = L*icond;                  
                 
@@ -321 +280 @@
                 return uab;
         };
+        void from_setting(const Setting &set){
+                PMSMCtrl::from_setting(set);
+                UI::get(r,set, "r", UI::optional);
+                UI::get(rec_hor,set, "h", UI::optional);
+        }
+
+        void validate(){
+                R(0,0)=R(1,1)=r;
+
+                p_isa.set_length(rec_hor+1);
+                p_isb.set_length(rec_hor+1);
+                p_ome.set_length(rec_hor+1);
+                p_the.set_length(rec_hor+1);
+
+                Array<quadraticfn> qloss(2);
+                qloss(0).Q.setCh(Q);
+                qloss(0).rv = RV("x", 5, 1);
+                qloss(1).Q.setCh(R);
+                qloss(1).rv = RV("u", 2, 0);            
+                lq.Losses = qloss;              
+
+                                //set lq
+                lq.rv = RV("u", 2, 0);                  
+                lq.set_rvc(RV("x", 5, 0));
+                lq.horizon = rec_hor;   
+                
+                Array<linfnEx> model(2);
+                model(0).A = A;
+                model(0).B = vec("0 0 0 0 0");
+                model(0).rv = RV("x", 5, 0);
+                model(0).rv_ret = RV("x", 5, 1);
+                model(1).A = B;
+                model(1).B = vec("0 0");
+                model(1).rv = RV("u", 2, 0);
+                model(1).rv_ret = RV("x", 5, 1);
+                lq.Models = model;
+                
+                lq.finalLoss.Q.setCh(Q);
+                lq.finalLoss.rv = RV("x", 5, 1);
+                
+                lq.validate();
+                                                
+                uab.zeros();
+
+        }
 };
 UIREGISTER(PMSM_LQCtrl);