Changeset 1264

Timestamp:

12/16/10 15:27:56 (13 years ago)

Author:

smidl

Message:

experiments

Location:

applications/pmsm

Files:

• experiments/EKFfixed.cfg (modified) (2 diffs)
• experiments/EKFfixedCh.cfg (modified) (2 diffs)
• simulator_zdenek/ekf_example/ekf_obj.h (modified) (1 diff)

applications/pmsm/experiments/EKFfixed.cfg

@@ -10 +10 @@
         tstep = 1; // steps for profile in [s]
 //      profileW = [0, 0, -30, -200, -90, -60, -30, 0, 30, 200];
-        profileW = [30];//[30, 30, 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];
+//      profileW = [30];//[30, 30, 30, 60, 90, 60, 30, 0, -30, -60, -30];
+        profileW = [0,0,1, 1, 5, 2, 2, 3, 0, 0, -3, -3, -1, -1, -4, 0, 0];
 //      profileM = [0, 30, 0, 0, 30, 0, 0, 0, 0, 0, 10, 0, 0];
         profileM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
@@ -21 +21 @@
                 params = "pmsm107@../cfg/zcu.cfg";
          };
-         OM = {class="OMpmsm";};
-//      dQ=[0.01, 0.01, 0.0001, 0.0001];
-        dQ=[18., 18., 157., 0.001];
-//      dR=[0.05, 0.05];
-        dR=[90., 90.];
-        dP0=[1800., 1800., 1570000., 10.];
+         OM = {class="OMpmsmRO";};
+        dQ=[0.01, 0.01, 0.0005, 0.001];
+//      dQ=[18., 18., 157., 0.001];
+        dR=[0.05, 0.05];
+//      dR=[90., 90.];
+        dP0=[18000., 18000., 157000000., 10.];
          //connect
          yrv = {class="RV"; names=("o_ia","o_ib");};  // observed u
-         rvc = {class="RV"; names=("t_ua","t_ub");};  // observed u
+         rvc = {class="RV"; names=("o_ua","o_ub");};  // observed u
          rv = {class="RV"; names=("ia","ib","om","th");};
          log_level="logmean,logevidence,logU,logG,logD";

applications/pmsm/experiments/EKFfixedCh.cfg

@@ -10 +10 @@
         tstep = 1; // steps for profile in [s]
 //      profileW = [0, 0, -30, -60, -90, -60, -30, 0, 30, 60];
-        profileW = [0, 0, 0, 0, 30, 60, 30, 0, -30, -60, -30];
+        profileW = [0, 0, 0, 0, 10, 20, 10, 0, -10, -20, -10];
 //      profileW = [1, 10, 50, 200, 200, 30, 0, 0, -30, -30, -100, -100, -40, 0, 0];
 //      profileM = [0, 30, 0, 0, 30, 0, 0, 0, 0, 0, 10, 0, 0];
@@ -22 +22 @@
          };
          OM = {class="OMpmsm";};
-//      dQ=[0.01, 0.01, 0.0001, 0.0001];
-        dQ=[18., 18., 157., 0.001];
-//      dR=[0.05, 0.05];
-        dR=[90., 90.];
+        dQ=[0.001, 0.001, 0.00001, 0.00000001];
+//      dQ=[18., 18., 157., 0.001];
+        dR=[0.05, 0.05];
+//      dR=[90., 90.];
         dP0=[1800., 1800., 1570000., 10.];
          //connect
          yrv = {class="RV"; names=("o_ia","o_ib");};  // observed u
-         rvc = {class="RV"; names=("t_ua","t_ub");};  // observed u
+         rvc = {class="RV"; names=("o_ua","o_ub");};  // observed u
          rv = {class="RV"; names=("ia","ib","om","th");};
-         log_level="logmean,logevidence,logU,logG,logD";
+         log_level="logmean,logevidence,logbounds";
          name = "Est0";
          },
-         {class="EKFfixedCh";
+         {class="EKFfixedUD";
          //connect
          yrv = {class="RV"; names=("o_ia","o_ib");};  // observed u

applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.h

@@ -104 +104 @@
 
 #endif
+
+//! EKF for testing q44
+class EKFtest: public EKFfull{
+        void bayes ( const vec &yt, const vec &cond ) {
+                EKFfull::bayes(yt,cond);
+                mat &P = est._R();
+                if (P(3,3)>3.14) 
+                        P(3,3)=3.14;            
+        }
+};
+UIREGISTER(EKFtest);
 
 /*!