Changeset 215

Timestamp:

11/27/08 23:32:45 (15 years ago)

Author:

smidl

Message:

PMSM new sim.cpp

Files:

• bdm/estim/libKF.cpp (modified) (2 diffs)
• bdm/estim/libKF.h (modified) (1 diff)
• bdm/stat/libEF.h (modified) (1 diff)
• matlab/merg_egiw.m (added)
• matlab/merger_2d_test.m (added)
• pmsm/CMakeLists.txt (modified) (1 diff)
• pmsm/pmsm_sim.cpp (modified) (1 diff)
• pmsm/sim.cpp (added)
• pmsm/sim_profiles.h (modified) (1 diff)

bdm/estim/libKF.cpp

@@ -153 +153 @@
         _mu +=  ( _K ) * pom;
 
-                cout << "P:" <<_P.to_mat() <<endl;
+/*              cout << "P:" <<_P.to_mat() <<endl;
                 cout << "Ry:" <<_Ry.to_mat() <<endl;
-                cout << "_K:" <<_K <<endl;
+                cout << "_K:" <<_K <<endl;*/
         
         if ( evalll==true ) { //likelihood of observation y
@@ -227 +227 @@
         *_mu = pfxu->eval ( *_mu ,u ) + ( _K )* ( y-*_yp );*/
         
-                cout << "P:" <<_P.to_mat() <<endl;
-                cout << "Ry:" <<_Ry.to_mat() <<endl;
-                cout << "_K:" <<_K <<endl;
+//              cout << "P:" <<_P.to_mat() <<endl;
+//              cout << "Ry:" <<_Ry.to_mat() <<endl;
+//              cout << "_K:" <<_K <<endl;
 
         if ( evalll==true ) { //likelihood of observation y

bdm/estim/libKF.h

@@ -189 +189 @@
         const epdf& _epdf()const{return E;};
         const enorm<fsqmat>* _e()const{return &E;};
+        const mat _R(){return P;}
 };
 

bdm/stat/libEF.h

@@ -145 +145 @@
         //! returns pointers to the internal variance and its inverse. Use with Care!
         sq_T& _R() {return R;}
+        const sq_T& _R() const {return R;}
 
         //! access method

pmsm/CMakeLists.txt

@@ -37 +37 @@
 target_link_libraries (pmsm_sim2 ${BdmLibs} pmsmsim )
 
+add_executable (sim sim.cpp)
+target_link_libraries (sim ${BdmLibs} pmsmsim)
 add_executable (sim_var sim_var.cpp)
 target_link_libraries (sim_var ${BdmLibs} pmsmsim)

pmsm/pmsm_sim.cpp

@@ -38 +38 @@
         double h = 1e-6;
         int Nsimstep = 125;
-        int Npart = 1000;
+        int Npart = 1;
 
         // internal model

pmsm/sim_profiles.h

@@ -63 +63 @@
         if (!load) x[8]=0.0;
 }
+
+void sim_profile_2slowrevs(double &Ww,bool load=false) {
+        static int k_rampa=1;
+
+        if ((t>0.2)&&(t<0.8)) {
+                if ((t>0.4)&&(t<0.7))
+                        Ww+=k_rampa*2.*M_PI*4e-5;    //1000Hz/s
+                else
+                        Ww-=k_rampa*2.*M_PI*4e-5;    //1000Hz/s
+        }       
+        
+        if (!load) x[8]=0.0;
+}