Changeset 135 for pmsm

Timestamp:

07/25/08 15:04:05 (16 years ago)

Author:

smidl

Message:

oprava simulatoru

Location:

pmsm

Files:

• sim_var.cpp (modified) (5 diffs)
• sim_var_arx.cpp (modified) (1 diff)
• simulator_zdenek/simulator.cpp (modified) (6 diffs)

pmsm/sim_var.cpp

@@ -40 +40 @@
         vec dt ( 2 );
         vec ut ( 2 );
-        vec dut ( 4 );
+        vec dut ( 2 );
         vec dit (2);
         vec xtm=zeros ( 4 );
+        vec xte=zeros ( 4 );
         vec xdif=zeros ( 4 );
         vec xt ( 4 );
@@ -95 +96 @@
                 //Number of steps of a simulator for one step of Kalman
                 for ( int ii=0; ii<Nsimstep;ii++ ) {
-                        sim_profile_steps1 ( Ww , true);
+                        sim_profile_steps1 ( Ww , false);
                         pmsmsim_step ( Ww );
                 };
@@ -105 +106 @@
                 dut ( 0 ) = KalmanObs[4];
                 dut ( 1 ) = KalmanObs[5];
-                dut ( 2 ) = KalmanObs[6];
-                dut ( 3 ) = KalmanObs[7];
                 dit ( 0 ) = KalmanObs[8];
                 dit ( 1 ) = KalmanObs[9];
 
-                xt = fxu.eval ( xtm,ut );
+                xte = fxu.eval ( xtm,ut );
                 //Results:
-                // in xt we have simulaton according to the model
+                // in xt we have simulation according to the model
                 // in x we have "reality"
-                xtm ( 0 ) =x[0];xtm ( 1 ) =x[1];xtm ( 2 ) =x[2];xtm ( 3 ) =x[3];
-                xdif = xtm-xt;
+                xt ( 0 ) =x[0];xt ( 1 ) =x[1];xt ( 2 ) =x[2];xt ( 3 ) =x[3];
+                xdif = xt-xte; //xtm is a copy of x[]
                 if (xdif(0)>3.0){
                         cout << "here" <<endl;
@@ -122 +121 @@
                 if ( xdif ( 3 ) <-pi ) xdif ( 3 ) +=2*pi;
                 
-                ddif = hxu.eval(xtm,ut) - dt;
+                ddif = hxu.eval(xt,ut) - dit;
 
                 //Rt = 0.9*Rt + xdif^2
-                Qt*=0.01;
-                Qt += outer_product ( xdif,xdif ); //(x-xt)^2
-                Rt*=0.01;
-                Rt += outer_product ( ddif,ddif ); //(x-xt)^2
+                Qt*=0.1;
+                Qt += 10*outer_product ( xdif,xdif ); //(x-xt)^2
+
+                if (Qt(0,0)>3.0){
+                        cout << "here" <<endl;
+                        }
+                // For future ref.
+                xtm = xt;
+
+                Rt*=0.1;
+//              Rt += 10*outer_product ( ddif,ddif ); //(x-xt)^2
 
                 //ESTIMATE
                 Efix.bayes(concat(dt,ut));
                 //
-                Eop.set_parameters ( &fxu,&hxu,(Qt+1e-16*eye(4)),(Rt+1e-3*eye(2)));
+                Eop.set_parameters ( &fxu,&hxu,(Qt+1e-8*eye(4)),(Rt+1e-6*eye(2)));
                 Eop.bayes(concat(dt,ut));
                 //
@@ -154 +160 @@
 
         L.step(true);
-//      L.itsave("sim_var.it"); 
+        //L.itsave("sim_var.it");       
         
 

pmsm/sim_var_arx.cpp

@@ -43 +43 @@
 
         //Autoregressive model
-        ARX Ar_a ( rgr,V0,nu0 ,0.99 );
-        ARX Ar_b ( rgr,V0,nu0 ,0.99 );
+        ARX Ar_a ( rgr,V0,nu0 ,0.95 );
+        ARX Ar_b ( rgr,V0,nu0 ,0.95 );
         epdf& pA= Ar_a._epdf();
         epdf& pB= Ar_b._epdf();

pmsm/simulator_zdenek/simulator.cpp

@@ -73 +73 @@
 // real-time
 double t=0.; //VS removed static due to clash with export in .h
+
+// stator voltage components in alfa beta (inluding impact of the real dc-link voltage)
+static double ualfa=0., ubeta=0.;
 
 void pmsmsim_set_parameters(double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0)
@@ -114 +117 @@
   citac2=abs(0-(int)(DT/h)); //VS: oprava, je to spravne?
   citac_PR=h_reg_counter_mez;
+
+  // first interrupt occur after first period match => add 1 to both counter registers
+  citac++;smer=1;
+  citac2--;
 
   modulace=1;           // THIPWM
@@ -304 +311 @@
 void pmsmsim_step(double Ww)            // you must link array KalmanObs[] to EKF modul
 {
-  double Umk, ua, ub;
+  double Umk, ub, uc;
 
 //  while (t<=t_end)
@@ -310 +317 @@
     pwm(modulace);
 //    *us=KalmanObs[0]; *(us+1)=KalmanObs[1];
+//     *us=ualfa; *(us+1)=ubeta;
     pmsm_model(5);
 
@@ -315 +323 @@
     {
       // voltages and measured currents for EKF
-      Umk=*u*Uc/Ucn;
-      ua=Umk*cos(*(u+1));
-      ub=Umk*cos(*(u+1)-2./3.*M_PI);
-      KalmanObs[0]=ua;                     // usx
-      KalmanObs[1]=(ua+2.*ub)/sqrt(3.);    // usy
+//       Umk=*u*Uc/Ucn;
+//       ualfa=Umk*cos(*(u+1));
+//       ub=Umk*cos(*(u+1)-2./3.*M_PI);
+      KalmanObs[0]=ualfa;                     // usx
+      //KalmanObs[1]=(ualfa+2.*ub)/sqrt(3.);    // usy
+      KalmanObs[1]=ubeta;    // usy
       
       // real sampling - considered transport delay equal to the sampling period
@@ -341 +350 @@
       Isx=x[0];Isy=x[1];speed=x[2];theta=x[3];
 
+      // include ideal commanded stator voltage 
+      Umk=*u*Uc/Ucn;
+      ualfa=Umk*cos(*(u+1));               // usx = usa
+      ub=Umk*cos(*(u+1)-2./3.*M_PI);
+      ubeta=(ualfa+2.*ub)/sqrt(3.);    // usy
+//       uc=-ualfa-ub;
+//       ubeta=(ub-uc)/sqrt(3.);
+
       h_reg_counter=0;
     }