Changeset 1380 for applications

Timestamp:

08/01/11 22:11:09 (13 years ago)

Author:

smidl

Message:

MPF v C

Location:

applications/pmsm

Files:

• pmsmDS.h (modified) (8 diffs)
• simulator_zdenek/CMakeLists.txt (modified) (1 diff)
• simulator_zdenek/demo_example/main.CPP (modified) (2 diffs)
• simulator_zdenek/ekf_example/CMakeLists.txt (modified) (1 diff)
• simulator_zdenek/ekf_example/ekf_obj.cpp (modified) (1 diff)
• simulator_zdenek/ekf_example/ekf_obj.h (modified) (2 diffs)
• simulator_zdenek/ekf_example/mpf_double.cpp (added)
• simulator_zdenek/ekf_example/mpf_double.h (added)
• simulator_zdenek/pmsm_sim.cpp (modified) (1 diff)
• simulator_zdenek/simulator.cpp (modified) (3 diffs)
• simulator_zdenek/simulator.h (modified) (1 diff)

applications/pmsm/pmsmDS.h

@@ -25 +25 @@
 {
         LOG_LEVEL(pmsmDS,logvoltage);
-
+                
 protected:
     //! indices of logged variables
@@ -38 +38 @@
     int Dt;    
 public:
+        double x[8];
+        double KalmanObs[8];
     //! Constructor with fixed sampling period
     pmsmDS () : DS()
@@ -44 +46 @@
         Drv=RV ( "{o_ua o_ub o_ia o_ib t_ua t_ub o_om o_th Mz }" );
                 dtsize = Drv._dsize();
+                pmsmsim_fill_xy(x,KalmanObs);
     }
     void set_parameters ( double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0 )
@@ -66 +69 @@
     void step()
     {
+                pmsmsim_fill_xy(x,KalmanObs);
         static int ind=0;
         static double dW; // increase of W
         static double Ww; // W
         static double Mz; // W
+        double t; 
+                t=pmsmsim_get_t();
         if ( t>=dt_prof*ind )
         {
@@ -210 +216 @@
                 void step()
                 {
+                        double t=pmsmsim_get_t();
+                        
                         static int ind=0;
                         static double dW; // increase of W
@@ -256 +264 @@
         
 
+#ifdef XXX
 //! This class behaves like BM but it is evaluating EKF
 class pmsmCRB : public EKFfull
@@ -279 +288 @@
                 vec &mu = est._mu();
                 //assume we know state exactly:
-        vec true_state=vec(x,4); // read from pmsm
+        vec true_state=0;//TODO vec(x,4); // read from pmsm
         mu=true_state;
 
@@ -418 +427 @@
 
 UIREGISTER ( pmsmCRBMz );
+#endif 
 
 #endif

applications/pmsm/simulator_zdenek/CMakeLists.txt

@@ -1 +1 @@
 # Simulator library
-add_library (pmsmsim simulator.cpp regulace.cpp)
+add_library (pmsmsim SHARED simulator.cpp regulace.cpp)
 
-EXEC (test_UD  pmsmsim ekf_obj)
-EXEC (test_Ch  pmsmsim ekf_obj)
+#EXEC (test_UD  pmsmsim ekf_obj)
+#EXEC (test_Ch  pmsmsim ekf_obj)
 
 add_executable(round_test round_test.cpp)

applications/pmsm/simulator_zdenek/demo_example/main.CPP

@@ -30 +30 @@
 FILE *fw;
 
-void main(void)
+int main(void)
 {
   h=1e-6;
@@ -72 +72 @@
 
   fclose(fw);
+  return 0;
  }

applications/pmsm/simulator_zdenek/ekf_example/CMakeLists.txt

@@ -2 +2 @@
 
 include_directories(../../bdm)
-add_library (ekf_obj ekf_obj.cpp fixed.cpp matrix.cpp matrix_vs.cpp)
+add_library (ekf_obj ekf_obj.cpp fixed.cpp matrix.cpp matrix_vs.cpp mpf_double.cpp)

applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.cpp

@@ -3 +3 @@
 
 #include "ekf_obj.h"
-#include "../simulator.h"
+//#include "../simulator.h"
 
 double minQ(double Q){if (Q>1.0){ return 1.0;} else {return Q;};};

applications/pmsm/simulator_zdenek/ekf_example/ekf_obj.h

@@ -21 +21 @@
 #include "reference_Q15.h"
 #include "parametry_motoru.h"
+#include "mpf_double.h"
 
 using namespace bdm;
@@ -564 +565 @@
 
 
+class MPF_pmsm_red:public BM{
+
+
+public:
+                MPF_pmsm_red(){
+                        dimy=2;
+                        dimc=2;
+                        mpf_init(1e-1, 1e-6, 1e-1);
+                };
+        void bayes ( const vec &val, const vec &cond ) {
+                const double &isa = val(0);
+                const double &isb = val(1);
+                const double &usa = cond(0);
+                const double &usb = cond(1);
+                mpf_bayes(isa,isb,usa,usb);
+        }
+        
+        class mp:public epdf{
+        public:
+                mp():epdf(){set_dim(N);}
+                vec sample() const {return zeros(N);}
+                double evallog(const vec &v) const {return 0.0;}
+                vec mean() const {vec tmp(N); mpf_th(tmp._data()); return tmp;}
+                vec variance() const {return zeros(N);}
+        };
+        
+        mp mypdf;
+        const mp& posterior() const {return mypdf;}
+};
+UIREGISTER(MPF_pmsm_red);
 
 

applications/pmsm/simulator_zdenek/pmsm_sim.cpp

@@ -10 +10 @@
                          usa = *mxGetPr(input[0]);
                          usb = *mxGetPr(input[1]);
-        pmsmsim_noreg_step(usa,usb);
+                        pmsmsim_noreg_step(usa,usb);
       } 
     if ( n_input==1 ) {
-        double Ww = *mxGetPr(input[0]);
-        for (int i=0;i<125; i++){
-          pmsmsim_step(Ww,0.0);
+                double Ww = *mxGetPr(input[0]);
+                for (int i=0;i<125; i++){
+                pmsmsim_step(Ww,0.0);
+                }
         }
-    }
-    if (n_input==0){
-      pmsmsim_set_parameters ( 0.28,0.003465,0.1989,0.0,4,1.5,0.04, 200., 3e-6, 1e-6 );
-    }
 
-      output[0]= mxCreateDoubleMatrix(9, 1, mxREAL); 
+   output[0]= mxCreateDoubleMatrix(9, 1, mxREAL); 
         x_out= mxGetPr(output[0]);
         
-        for (int i=0; i<9; i++){
-            x_out[i]=x[i];
-        }
-
-      output[1]= mxCreateDoubleMatrix(6, 1, mxREAL); 
+        output[1]= mxCreateDoubleMatrix(6, 1, mxREAL); 
         y_out= mxGetPr(output[1]);
         
-        for (int i=0; i<5; i++){
-            y_out[i]=KalmanObs[i];
-        }
-
+        pmsmsim_fill_xy(x_out,y_out);
   
 }

applications/pmsm/simulator_zdenek/simulator.cpp

@@ -42 +42 @@
 
 // system state
-double x[9]; // (isx,isy,wme,theta_e,M,Fsd,Isd,Isq,Mz)
+static double x[9]; // (isx,isy,wme,theta_e,M,Fsd,Isd,Isq,Mz)
 
 // internal variables of PWM module
@@ -70 +70 @@
 
 // output for EKF (voltages and measured currents, which are fed to KalmanObs)
-double KalmanObs[10]={0.,0.,0.,0.,0.,0.,0.,0.,0.,0.};      // usx, usy, Isx, Isy, usx_av, usy_av
+static double KalmanObs[10]={0.,0.,0.,0.,0.,0.,0.,0.,0.,0.};      // usx, usy, Isx, Isy, usx_av, usy_av
 
 // real-time
-double t=0.; //VS removed static due to clash with export in .h
+static 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)
@@ -510 +510 @@
 //////////////////////////////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////////////////////////////
+
+// for mexfile
+void pmsmsim_fill_parameters(double x_out[10]){
+        x_out[0]= Rs;
+        x_out[1]= Ls;
+        x_out[2]= Fmag;
+        x_out[3]= Bf;
+        x_out[4]= p;
+        x_out[5]= kp;
+        x_out[6]= J;
+        x_out[7]= Uc;
+        x_out[8]= DT;
+        x_out[9]= h;
+}
+void pmsmsim_fill_xy(double xout[9], double yout[6]){
+        for (int i=0;i<9;i++){
+                xout[i]=x[i];
+        }
+        for (int i=0;i<6;i++){
+                yout[i]=KalmanObs[i];
+        }
+}
+double pmsmsim_get_t()
+{
+ return t;
+}
+

applications/pmsm/simulator_zdenek/simulator.h

@@ -20 +20 @@
 extern void pmsmsim_step(double Ww, double Mz=0.0);
 extern void pmsmsim_noreg_step(double ua, double ub);
+extern void pmsmsim_fill_parameters(double P[10]);
+extern void pmsmsim_fill_xy(double xout[9], double yout[6]);
+extern double pmsmsim_get_t();
 
-extern double x[9]; 
-extern double t; 
-extern double KalmanObs[10];