Changeset 1294 for applications/pmsm/experiments

Timestamp:

03/14/11 09:32:33 (14 years ago)

Author:

smidl

Message:

zmeny v experimentech

Location:

applications/pmsm/experiments

Files:

• EKFfixed.cfg (modified) (1 diff)
• EKFfixedCh.cfg (modified) (1 diff)
• ctrl.cfg (modified) (2 diffs)
• ctrl_lq_dq.cfg (modified) (1 diff)

applications/pmsm/experiments/EKFfixed.cfg

@@ -9 +9 @@
         params = "pmsm107@../cfg/zcu.cfg";
         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 = [0,0,1, 1, 5, 2, 2, 3, 0, 0, -3, -3, -1, -1, -4, 0, 0];
+        profileW = [0, 0, -30, -200, -90, -60, -30, 0, 30, 200];
+//      profileW = [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];
 };
 
-estimators = (
-         {class="EKF_UD";
-         IM = {class="IMpmsmStat";
+estimators = (  
+         {class="EKFfixedCh";   
+         IM = {class="IMpmsmStat";      
                 params = "pmsm107@../cfg/zcu.cfg";
          };
-         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.];
+         OM = {class="OMpmsm";};
+//      dQ=[0.01, 0.01, 0.0005, 0.001];
+        dQ=[289., 289., 12630., 0.009]; // 0.01*170^2, 0.0005*5026^2, 0.001*3.14^2
+        dR=[1445, 1445];
+//      dR=[0.05., 0.05.];
+        dP0=[14450., 144500., 157000000., 10.];
          //connect
          yrv = {class="RV"; names=("o_ia","o_ib");};  // observed u

applications/pmsm/experiments/EKFfixedCh.cfg

@@ -34 +34 @@
          name = "Est0";
          },
-         {class="EKFfixedUD";
+         {class="EKFfixedCh";
          //connect
          yrv = {class="RV"; names=("o_ia","o_ib");};  // observed u

applications/pmsm/experiments/ctrl.cfg

@@ -2 +2 @@
 
 experiment={
-        Ndat = 20000;
+        Ndat = 50000;
 };
 
 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, 50, 0, -50, 0, 50  ];
 //      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="EKFfixedCh";
          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];
-        dR=[0.05, 0.05];
+         name = "Est0";
+         };
+
+full = {class="EKFCh";
+         IM = {class="IMpmsmStat";
+                params = "pmsm107@../cfg/zcu.cfg";
+                compensate = 1;
+         };
+         OM = {class="OMpmsm";};
+        dQ=[289., 289., 12630., 0.009]; // 0.01*170^2, 0.0005*5026^2, 0.001*3.14^2
+        dR=[1445, 1445];
+        dP0=[14450., 144500., 157000000., 10.];
          //connect
          log_level="logmean,logU,logG,logD";

applications/pmsm/experiments/ctrl_lq_dq.cfg

@@ -30 +30 @@
 controllers=({
                 class = "PMSM_LQCtrl_dq";
-                estim = "UD";
+//              estim = "UD";
                 r = 0.0001;
                 h = 100;