Changeset 1261 for applications/pmsm/pmsm_ctrl.h

Timestamp:

12/09/10 16:33:44 (14 years ago)

Author:

smidl

Message:

LQG changes + lyx

Files:

• applications/pmsm/pmsm_ctrl.h (modified) (6 diffs)

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);