Changeset 131 for pmsm/sim_var.cpp
- Timestamp:
- 07/07/08 15:48:31 (16 years ago)
- Files:
-
- 1 modified
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pmsm/sim_var.cpp (modified) (7 diffs)
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pmsm/sim_var.cpp
r117 r131 40 40 vec dt ( 2 ); 41 41 vec ut ( 2 ); 42 vec dut ( 4 ); 43 vec dit (2); 42 44 vec xtm=zeros ( 4 ); 43 45 vec xdif=zeros ( 4 ); … … 77 79 RV rR("11", "{R }", "4","0"); 78 80 RV rUD("12 13 14 15", "{u_isa u_isb i_isa i_isb }", ones_i(4),zeros_i(4)); 81 RV rDu("16 17 18 19","{dux duy duxf duyf }",ones_i(4),zeros_i(4)); 82 RV rDi("20 21","{disa disb }",ones_i(2),zeros_i(2)); 79 83 int X_log = L.add(rx,"X"); 80 84 int Efix_log = L.add(rx,"XF"); … … 84 88 int R_log = L.add(rR,"R"); 85 89 int D_log = L.add(rUD,"D"); 90 int Du_log = L.add(rDu,"Du"); 91 int Di_log = L.add(rDi,"Di"); 86 92 L.init(); 87 93 … … 97 103 dt ( 0 ) = KalmanObs[2]; 98 104 dt ( 1 ) = KalmanObs[3]; 105 dut ( 0 ) = KalmanObs[4]; 106 dut ( 1 ) = KalmanObs[5]; 107 dut ( 2 ) = KalmanObs[6]; 108 dut ( 3 ) = KalmanObs[7]; 109 dit ( 0 ) = KalmanObs[8]; 110 dit ( 1 ) = KalmanObs[9]; 99 111 100 112 xt = fxu.eval ( xtm,ut ); … … 104 116 xtm ( 0 ) =x[0];xtm ( 1 ) =x[1];xtm ( 2 ) =x[2];xtm ( 3 ) =x[3]; 105 117 xdif = xtm-xt; 118 if (xdif(0)>3.0){ 119 cout << "here" <<endl; 120 } 106 121 if ( xdif ( 3 ) >pi ) xdif ( 3 )-=2*pi; 107 122 if ( xdif ( 3 ) <-pi ) xdif ( 3 ) +=2*pi; … … 132 147 L.logit(R_log, vec(Rt._data(),4) ); 133 148 L.logit(D_log, vec(KalmanObs,4) ); 149 L.logit(Du_log, dut ); 150 L.logit(Di_log, dit ); 134 151 135 152 L.step(false); … … 137 154 138 155 L.step(true); 139 //L.itsave("sim_var.it");156 // L.itsave("sim_var.it"); 140 157 141 158
