Changeset 1298 for applications/pmsm/pmsm_ctrl.h

Timestamp:

03/15/11 17:15:51 (13 years ago)

Author:

smidl

Message:

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

Files:

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

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);