Changeset 1400 for applications/pmsm

Timestamp:

10/04/11 16:45:04 (13 years ago)

Author:

smidl

Message:

noreg accepts Mz

Location:

applications/pmsm

Files:

• experiments/ctrl_lq_dq2.cfg (modified) (2 diffs)
• matlab (added)
• matlab/exp_lq.m (added)
• pmsmDS.h (modified) (1 diff)
• simulator_zdenek/simulator.cpp (modified) (2 diffs)
• simulator_zdenek/simulator.h (modified) (1 diff)

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 = [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 = [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];
+//      profileM = [0, 3, 0, 0, 3, 0, 0, 0, 0, 0, 1, 0, 0];
         profileM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
 };
 
 UD = {class="EKF_UD";
-         IM = {class="IMpmsmStat";
+         IM = {class="IMpmsm";
                 params = "pmsm107@./cfg/zcu.cfg";
+                compensate = 1;
          };
          OM = {class="OMpmsm";};
 //      dQ=[0.1, 0.1, 0.1, 0.001]; ///???????????????
 //      dQ=[0.1, 0.1, 10.01, 10.01];
-//      dQ=[0.1, 0.1, 0.005, 0.001];
-        dQ=[0.1, 0.1, 0.1, 0.00001];
-//      dR=[0.05, 0.05];
-        dR=[0.00001, 0.00001];
+        dQ=[0.1, 0.1, 0.005, 0.001];//, 0.0000000000000000001];
+//      dQ=[0.1, 0.1, 0.1, 0.00001];
+        dR=[0.05, 0.05];
+//      dR=[0.00001, 0.00001];
          //connect
          log_level="logmean,logU,logD,logC";
@@ -105 +106 @@
                 bcbv = 6.0;                                                     // 11 - injektaz albe round sin resp. cos
                 //bcbv = 0.0;                                                   
-                biver = 12;//40;
+                biver = 40;
                 injkon = 6.0;
                 injome = 16000.0;

applications/pmsm/pmsmDS.h

@@ -256 +256 @@
                         for ( int i=0; i<Dt; i++ )
                         {
-                                pmsmsim_noreg_step (ua , ub);
+                                pmsmsim_noreg_step (ua , ub, Mz);
                         }
         };

applications/pmsm/simulator_zdenek/simulator.cpp

@@ -465 +465 @@
 }
 
-void pmsmsim_noreg_step(double ua, double ub)            // you must link array KalmanObs[] to EKF modul
+void pmsmsim_noreg_step(double ua, double ub, double Mz)            // you must link array KalmanObs[] to EKF modul
 {
   double kor_Uc;
@@ -479 +479 @@
 
   pwm(modulace);
+  
+  x[8] = Mz;
 
 //  *us=*u*cos(*(u+1));

applications/pmsm/simulator_zdenek/simulator.h

@@ -19 +19 @@
 extern void pmsmsim_set_parameters(double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0);
 extern void pmsmsim_step(double Ww, double Mz=0.0);
-extern void pmsmsim_noreg_step(double ua, double ub);
+extern void pmsmsim_noreg_step(double ua, double ub, double Mz=0.0);
 extern void pmsmsim_fill_parameters(double P[10]);
 extern void pmsmsim_fill_xy(double xout[9], double yout[6]);