Changeset 1298

Timestamp:

03/15/11 17:15:51 (14 years ago)

Author:

smidl

Message:

zmena PMSM_CTRL - akceptuje 2d modely
Pokusy v lq_dq2.cfg

Location:

applications/pmsm

Files:

• experiments/ctrl_lq_dq2.cfg (modified) (3 diffs)
• pmsm_ctrl.h (modified) (6 diffs)

applications/pmsm/experiments/ctrl_lq_dq2.cfg

@@ -2 +2 @@
 
 experiment={
-        Ndat = 20000;
+        Ndat = 120000;
 };
 
@@ -9 +9 @@
         params = "pmsm107@./cfg/zcu.cfg";
         tstep = 1; // steps for profile in [s]
-        profileW = [0, 10, 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];
+        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];
         profileM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
@@ -28 +28 @@
          };
 
+OT= {class="EKFfull";
+         IM = {class="IMpmsmOT";
+                params = "pmsm107@./cfg/zcu.cfg";
+         };
+         name = "ekf";
+         OM = {class="OMpmsmOT";
+                params = "pmsm107@./cfg/zcu.cfg";
+        };
+        dQ=[0.1, 0.01]; ///////// <====== OK
+        dR=[0.5, 0.5];
+        dP0=[0.1, 0.1];
+         //connect
+         log_level="logmean,logevidence,logbounds";
+         };
+
+PF= {class = "PF";name="pf";
+          particle = {class ="BootstrapParticle";
+                parameter_pdf = {class="mgnorm<ldmat>";
+                  g={class="IMpmsmOT";
+                        params = "pmsm107@./cfg/zcu.cfg";
+                  };
+                  dR=[0.001,0.0001];
+                  rv ={class="RV";names=("om","th");};
+                  rvc ={class="RV";names=("om","th","o_ua","o_ub","o_ia","o_ib");times=[-1,-1,0,0,-1,-1];};
+                };
+                observation_pdf= {class="mgnorm<ldmat>";
+                  g={class="OMpmsmOT";
+                        params = "pmsm107@./cfg/zcu.cfg";
+                  }; 
+                  dR=[0.5,0.5]; 
+                  rv ={class="RV";names=("o_ia","o_ib");};
+                  rvc = {class="RV";names=("om","th","o_ua","o_ub","o_ia","o_ib");times=[0,0,0,0,-1,-1];};
+                };
+          };
+          n = 100;
+          log_level="logbounds,logmean";
+          prior = {class="euni";
+                high = [ 0.1, 1.0];
+                low = [ -0.1, -1.0];
+                rv ={class="RV";names=("om","th");};
+          };
+};
+
+         
+         
 controllers=({
+//              class = "PMSM_PICtrl";
                 class = "PMSM_LQCtrl_dq2";
-                estim = "UD";
+//              estim = "UD";
+                estim = "PF";
                 r = 0.0001;
                 h = 10;

applications/pmsm/pmsm_ctrl.h

@@ -2 +2 @@
 #define PMSM_CTR_H
 
+#include <estim/particles.h>
 #include <design/ctrlbase.h>
 #include <design/lq_ctrl.h>
@@ -44 +45 @@
  * I.e. it must have rv={ia, ib} and rvc={ua,ub}, any other BM will not work.
  * 
+ * Two cases are considered: 
+ *  - 4 dimensional rv={ia, ib, om, th} and rvc={ua,ub}
+ *  - 2 dimensional rv={om, th} and rvc={ua,ub,ia_{t-1}, ib_{t-1} }
+ *  These are hardcoded and sitched based on dimensionality.
  */
 class PMSMCtrl: public Controller{
@@ -63 +68 @@
         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 }");
         }
         
@@ -70 +75 @@
                         vec y=data.get(0,1);
                         vec u=data.get(2,3);
-                        Est->bayes(y,u);
+                        if (Est->dimension()==2){
+                                static vec cond(4); //
+                                cond.set_subvector(0,1,u);
+                                Est->bayes(y,cond);
+                                cond.set_subvector(2,3,y); // save 1-step delayed vectors 
+                                
+                        } else {
+                                Est->bayes(y,u);
+                                
+                        }
+                        
                 }
         }
@@ -78 +93 @@
                 
                 if (estim){
+                        if (Est->dimension()==2){
+                                vec x_est=Est->posterior().mean();
+                                isa=cond(0);
+                                isb=cond(1);
+                                ome=x_est(0);
+                                the=x_est(1);
+                        } else {
                         vec x_est=Est->posterior().mean();
                         isa=x_est(0);
@@ -83 +105 @@
                         ome=x_est(2);
                         the=x_est(3);
+                        }
                 } else {
                         isa=cond(0);//x_est(0);