Changeset 1387

Timestamp:

09/09/11 12:50:56 (13 years ago)

Author:

smidl

Message:

oprava simulator + log do bic3

Location:

applications/pmsm

Files:

• experiments/ctrl.cfg (modified) (1 diff)
• experiments/ctrl_lq_dq2.cfg (modified) (4 diffs)
• pmsmDS.h (modified) (2 diffs)
• pmsm_ctrl.h (modified) (8 diffs)
• simulator_zdenek/simulator.cpp (modified) (1 diff)

applications/pmsm/experiments/ctrl.cfg

@@ -40 +40 @@
 controllers=({
                 class = "PMSM_PICtrl";
-                estim = "UD";
+//              estim = "UD";
         }
 );

applications/pmsm/experiments/ctrl_lq_dq2.cfg

@@ -14 +14 @@
 //      profileW = [0, 500, 1000, 1500, 2000, 2500, 3000 ];     
 //      profileW = [0, -10, 30, 60, 90, 60, 30, 0, -30, -60, -30];
+        profileW = [0, -1, 3, 6, 9, 6, 3, 0, 0, 0, 0, 0,0,-3, -6, -3];
 //      profileW = [1, 10, 50, 200, 200, 30, 0, 0, -30, -30, -100, -100, -40, 0, 0];
-        profileW = [1, 10, 50, 200, 200, 30, 1, 1, -1, -10, -50, -200, -200, -30, 0];
+//      profileW = [1, 10, 50, 200, 200, 30, 1, 1, -1, -10, -50, -200, -200, -30, 0];
 //      profileW = [250, 500, 750, 1000, 1250, 1500, 1750, 2000, 2250, 2500, 2750, 3000, 3000];
 //      profileM = [0, 30, 0, 0, 30, 0, 0, 0, 0, 0, 10, 0, 0];
@@ -21 +22 @@
 };
 
-UD = {class="EKFfull";
+UD = {class="EKF_UD";
          IM = {class="IMpmsmStat";
                 params = "pmsm107@./cfg/zcu.cfg";
@@ -28 +29 @@
 //      dQ=[0.1, 0.1, 0.1, 0.001]; ///???????????????
 //      dQ=[0.1, 0.1, 10.01, 10.01];
-        dQ=[0.1, 0.1, 0.1, 0.1];
+        dQ=[0.1, 0.1, 0.1, 0.01];
         dR=[0.05, 0.05];
          //connect
-         log_level="logmean";
+         log_level="logmean,logU,logD,logC";
          name = "Est0";
          };
@@ -100 +101 @@
 //              rpd = 0.1;
                 rpd = 0.00417;
-                bcbv = 5.0;
-//              bcbv = 0.0;
-                biver = 6;
-                injkon = 10.0;
+                bcbv = 6.0;
+                //bcbv = 0.0;
+                biver = 3;
+                injkon = 3.0;
                 injome = 500.0;
                 injphi = 0.0;
+                
+                // PI parametry
+                PIw_Pd = 3.0;
+                PIw_Pi = 0.0037;
+                
+                PIu_Pd = 20.0;
+                PIu_Pi = 0.5;
+
+                log_level = "logModel";
         }
 );

applications/pmsm/pmsmDS.h

@@ -38 +38 @@
     int Dt;    
 public:
-        double x[8];
-        double KalmanObs[8];
+        double x[9];
+        double KalmanObs[6];
     //! Constructor with fixed sampling period
     pmsmDS () : DS()
@@ -216 +216 @@
                 void step()
                 {
-                        double t=pmsmsim_get_t();
+                        pmsmsim_fill_xy(x,KalmanObs);
+                        double t;
                         
                         static int ind=0;
                         static double dW; // increase of W
                         static double Mz; // W
-                        t+=125e-6;
+                        t=pmsmsim_get_t();
                         if ( t>=dt_prof*ind )
                         {

applications/pmsm/pmsm_ctrl.h

@@ -129 +129 @@
                         return vec_1(tmp);
         }
+        void set_params(double Pd0, double Pi0){
+                Pd=Pd0;
+                Pi=Pi0;
+        }
+        void get_params(double &Pd0, double &Pi0){
+                Pd0=Pd;
+                Pi0=Pi;
+        }
 };
 
@@ -160 +168 @@
         PMSMCtrl():Controller() {
                 rv = RV("{ua ub }");
-                rvc = RV("{o_ia o_ib t_ua t_ub o_om o_th Ww }");
+                rvc = RV("{o_ia o_ib o_ua o_ub o_om o_th Ww }");
         }
         
@@ -1360 +1368 @@
 
 class PMSM_LQCtrl_bic3: public PMSMCtrl{
+        LOG_LEVEL(PMSM_LQCtrl_bic3, logModel);
 public:
+        
 /*
 PMSMCtrl:
@@ -1431 +1441 @@
 // inj
         double injkon, injome, injphi;
-        
+        int minindex;
                 
         PMSM_LQCtrl_bic3():PMSMCtrl(), a(0.9898), b(0.0072), c(0.0361), d(1.0), e(0.0149),
@@ -1574 +1584 @@
                         varPth(2) = Pt5(1,1);
                                 
-                        int minindex = 0;
+                        minindex = 0;
                         for(int i = 1; i < 3; i++){
                                 if(varPth(i) < varPth(minindex)){                               
@@ -1673 +1683 @@
                         varPth(4) = Pt5(1,1);
                                 
-                        int minindex = 0;
+                        minindex = 0;
                         for(int i = 1; i < 5; i++){
                                 if(varPth(i) < varPth(minindex)){                               
@@ -1751 +1761 @@
                 UI::get(injome,set, "injome", UI::optional);
                 UI::get(injphi,set, "injphi", UI::optional);
+                
+                double Pi,Pd;
+                Cwq.get_params(Pd,Pi);
+                UI::get(Pi,set,"PIw_Pi",UI::optional);
+                UI::get(Pd,set,"PIw_Pd",UI::optional);
+                Cwq.set_params(Pd,Pi);
+                
+                Cud.get_params(Pd,Pi);
+                UI::get(Pi,set,"PIu_Pi",UI::optional);
+                UI::get(Pd,set,"PIu_Pd",UI::optional);
+                Cud.set_params(Pd,Pi);
+                Cuq.set_params(Pd,Pi);
+
         }
 
@@ -1804 +1827 @@
                 lq.redesign();
         }
+        
+        void log_register ( logger &L, const string &prefix ) {
+                PMSMCtrl::log_register(L,prefix);
+                L.add_vector ( log_level, logModel, RV ( 1), prefix );
+        }
+        void log_write() const{
+                PMSMCtrl::log_write();
+                log_level.store( logModel , double(minindex)); 
+                
+        }
+
 };
 UIREGISTER(PMSM_LQCtrl_bic3);

applications/pmsm/simulator_zdenek/simulator.cpp

@@ -506 +506 @@
   KalmanObs[6]=usxf;
   KalmanObs[7]=usyf;
-  
+ 
+  t+=h;
 }
 //////////////////////////////////////////////////////////////////////////////////////////////////////