Changeset 1440

Timestamp:

03/18/12 00:18:17 (13 years ago)

Author:

smidl

Message:

rychly exp + vice clenu randn

Location:

applications/pmsm/simulator_zdenek/ekf_example

Files:

• CMakeLists.txt (modified) (1 diff)
• fast_exp.h (added)
• mpf_double.cpp (modified) (5 diffs)
• mpf_double.h (modified) (1 diff)
• test_exp.c (added)

applications/pmsm/simulator_zdenek/ekf_example/CMakeLists.txt

@@ -2 +2 @@
 add_executable (simulmpf pmsm_mod.cpp pwm.cpp regulace.cpp mpf_double.cpp simulmpf.cpp )
 
+add_executable (test_exp test_exp.c)
+TARGET_LINK_LIBRARIES( test_exp m )
+
 include_directories(../../bdm)
 add_library (ekf_obj ekf_obj.cpp fixed.cpp matrix.cpp matrix_vs.cpp mpf_double.cpp)

applications/pmsm/simulator_zdenek/ekf_example/mpf_double.cpp

@@ -2 +2 @@
 #include "math.h"
 #include <stdio.h>
-//#include <libconfig/lib/grammar.y>
+#include "RArandn.h"
+#include "fast_exp.h"
 
 static floatx om[N];
@@ -18 +19 @@
 static floatx r;
 
-
-#define MAXrand 100
-#define MAXrandn 100
-static const floatx RArandu[MAXrand]={0.8147, 0.9058, 0.1270, 0.9134, 0.6324, 0.0975, 0.2785, 0.5469, 0.9575, 0.9649,
-                                      0.1576, 0.9706, 0.9572, 0.4854, 0.8003, 0.1419, 0.4218, 0.9157, 0.7922, 0.9595, 0.6557, 0.0357,
-                                      0.8491, 0.9340, 0.6787, 0.7577, 0.7431, 0.3922, 0.6555, 0.1712, 0.7060, 0.0318, 0.2769, 0.0462,
-                                      0.0971, 0.8235, 0.6948, 0.3171, 0.9502, 0.0344, 0.4387, 0.3816, 0.7655, 0.7952, 0.1869, 0.4898,
-                                      0.4456, 0.6463, 0.7094, 0.7547, 0.2760, 0.6797, 0.6551, 0.1626, 0.1190, 0.4984, 0.9597, 0.3404,
-                                      0.5853, 0.2238, 0.7513, 0.2551, 0.5060, 0.6991, 0.8909, 0.9593, 0.5472, 0.1386, 0.1493, 0.2575,
-                                      0.8407, 0.2543, 0.8143, 0.2435, 0.9293, 0.3500, 0.1966, 0.2511, 0.6160, 0.4733, 0.3517, 0.8308,
-                                      0.5853, 0.5497, 0.9172, 0.2858, 0.7572, 0.7537, 0.3804, 0.5678, 0.0759, 0.0540, 0.5308, 0.7792,
-                                      0.9340, 0.1299, 0.5688, 0.4694, 0.0119, 0.3371
-                                     };
-static const floatx *randu_i=&RArandu[0];
-const static floatx *randu_last=&RArandu[MAXrand-1];
-
-static const floatx RArandn[MAXrandn]={
-        0.6353, -0.6313, -1.0181,  0.4801,  0.4855,  0.9901, -0.5412, -1.0290,  1.0641, -0.0132,
-        -0.6014, -2.3252, -0.1821,  0.6682, -0.0050,  0.2189, -1.3335,  0.2431, -0.2454, -0.5803,
-        0.5512, -1.2316,  1.5210, -0.0783, -0.2762,  0.2617,  1.0727, -1.2566, -1.5175,  2.1363,
-        -1.0998,  1.0556, -0.0384,  0.8892,  1.2765,  1.2134, -0.7121, -0.3472,  0.0097, -0.2576,
-        0.0860, -0.1132,  1.2274,  2.3093,  1.8634, -0.2747, -0.0113, -0.9414,  0.0714, -1.4095,
-        -2.0046,  0.3792, -0.6962,  0.5246, -0.5226, -0.1331, -0.0008, -1.1746,  0.3165,  1.7701,
-        -0.4931,  0.9442,  0.0075, -0.0118,  0.1034, -1.2705, -0.2494, -1.0211,  0.4998,  0.3255,
-        0.4620, -2.1204, -0.7829,  0.9131, -0.8076, -1.6636,  0.3966, -0.4017,  1.2781, -1.1190,
-        -0.3210, -0.6447,  0.5869,  0.0559,  0.6804, -0.7036, -0.2640,  0.1737, -0.5478,  0.6204,
-        1.2366, -0.7043, -0.2512, -1.1071, -2.3646,  0.2809, -1.6640, -0.1161,  0.2608,  1.2698
-};
-static const floatx *randn_i=&RArandn[0];
-const static floatx *randn_last=&RArandn[MAXrandn-1];
 
 floatx qrandu() {
@@ -185 +156 @@
                 Kq = *Pt_i*Cq*ro;
 
-                (*Pt_i)=(*Pt_i)*( 1.0- ( Kd*Cd+Kq*Cq ) );
+                (*Pt_i)*=( 1.0- ( Kd*Cd+Kq*Cq ) );
 
                 ypd = Cd**om_i;
@@ -212 +183 @@
 
         }
-        maxlwi=-1e10;
+/*      maxlwi=-1e10;
         lw_i = &lwi[0];
         for ( i=0;i<N;i++,lw_i++ ) {
                 if ( *lw_i>maxlwi ) maxlwi=*lw_i;
-        }
+        }*/
         lw_i = &lwi[0];
         w_i = &w[0];
         for ( i=0;i<N;i++,lw_i++,w_i++ ) {
-                *lw_i-=maxlwi;
-                (*w_i)=exp ( *lw_i ); // always resample -> wmin=1/n;
+//              *lw_i-=maxlwi;
+                (*w_i)=EXP ( *lw_i ); // always resample -> wmin=1/n;
         }
 
@@ -260 +231 @@
 void mpf_mean ( floatx *Ecosth, floatx *Esinth, floatx *Eome ) {
         int i;
+        floatx *w_i=&w[0];
+        floatx *cth_i=&cth[0];
+        floatx *sth_i=&sth[0];
+        floatx *om_i=&om[0];
         *Ecosth=0.0;
         *Esinth=0.0;
         *Eome=0.0;
-        for ( i=0;i<N;i++ ) {
-                *Ecosth+=(w[i]*(cth[i]));
-                *Esinth+=(w[i]*(sth[i]));
-                *Eome+=(w[i]*(om[i]));
+        for ( i=0;i<N;i++,w_i++,cth_i++,sth_i++,om_i++ ) {
+                *Ecosth+=(*w_i)*(*cth_i);
+                *Esinth+=(*w_i)*(*sth_i);
+                *Eome+=(*w_i)*(*om_i);
         }
 

applications/pmsm/simulator_zdenek/ekf_example/mpf_double.h

@@ -5 +5 @@
 //#define pi 3.141596
 
-#define N 1
+#define N 4
 
 #define Lsd Ls*0.9