Changeset 217

Timestamp:

12/03/08 00:20:55 (16 years ago)

Author:

smidl

Message:

sim

Files:

• mpdm/merg_2a.cpp (modified) (2 diffs)
• pmsm/sim.cpp (modified) (5 diffs)
• pmsm/sim_profiles.h (modified) (1 diff)

mpdm/merg_2a.cpp

@@ -53 +53 @@
         int Li_P2m   = L.add ( concat ( ac,r ), "P2m" );
         int Li_Mm   = L.add ( concat ( ab,concat(r,c) ), "Mm" );
+        int Li_Th   = L.add ( concat ( ab,concat(c,r) ), "T" );
         L.init();
 
@@ -101 +102 @@
                 L.logit(Li_P2m, P2._e()->mean());
                 L.logit(Li_Mm, M.mean());
+                L.logit(Li_Th, concat(thy,vec_2(ct,rt)));
                 L.step ( );
 

pmsm/sim.cpp

@@ -49 +49 @@
         
         int X_log = L.add(rx,"X");
+        int Xp_log = L.add(rx,"Xp");
+        int Xp2_log = L.add(rx,"Xp2");
         int E_log = L.add(rx,"E");
         int V_log = L.add(rx,"V");
         int U_log = L.add(ru,"U");
+        int U2_log = L.add(ru,"U2");
         int R_log = L.add(RV("{_ }","4"),"R");
 //      int O_log = L.add(RV("{_ }","16"),"O");
@@ -57 +60 @@
 
         // SET SIMULATOR
-        pmsmsim_set_parameters ( 0.28,0.003465,0.1989,0.0,4,1.5,0.04, 200., 3e-6, h );
+        //pmsmsim_set_parameters ( 0.28,0.003465,0.1989,0.0,4,1.5,0.04, 200., 3e-6, h );
+        pmsmsim_set_parameters ( 0.28,0.003465,0.1989,0.0,4,1.5,0.04, 200., 0.0*3e-6, h );
         double Ww=0.0;
         vec dt ( 2 );
@@ -64 +68 @@
         vec xt = zeros(4);
         vec xp = zeros(4);
+        vec xp2 = zeros(4);
+        vec xp3 = zeros(4);
         vec u=zeros(2);
+        vec u2=zeros(2);
         ldmat R(eye(4),0.001*ones(4));
         mat Ch=zeros(4,4);
@@ -81 +88 @@
                 dt(0)= KalmanObs[2];
                 dt(1)= KalmanObs[3];
+                u2(0) = KalmanObs[4];
+                u2(1) = KalmanObs[5];
                 // Try what our model would predict!
                 xp=fxu.eval(xm,u); 
+                xp2=fxu.eval(xm,u2); 
+                xp3=fxu.eval(xm,u2); 
 
-                KFE.bayes(concat(dt,u));
+//              KFE.bayes(concat(dt,u));
                 // This is simulator prediction
                 xt=vec(x,4); //vec from C-array
                 //Covariance  
                 R*=0.7;
-                R.opupdt(xt-xp,1.0);
+                R.opupdt(xt-xp2,1.0);
                 Ch = diag(sqrt(R._D()))*R._L();
                 //eCh = KFE._e()->_R();
@@ -95 +106 @@
                 xm = xt;
                 L.logit(X_log, xt       ); 
+                L.logit(Xp_log, xp      ); 
+                L.logit(Xp2_log, xp2    ); 
                 L.logit(U_log, u        ); 
+                L.logit(U2_log, u2      ); 
                 L.logit(R_log, diag(Ch.T()*Ch) ); //3.33=1/(1-0.7)
                 L.logit(V_log, diag(eCh.to_mat()) ); //3.33=1/(1-0.7)
-                L.logit(E_log, KFE._e()->mean() ); 
+//              L.logit(E_log, KFE._e()->mean() ); 
 //              L.logit(O_log, vec(iCh._data(),16)); //3.33=1/(1-0.7)
 //              L.logit(Efix_log, KFEep.mean() ); 

pmsm/sim_profiles.h

@@ -65 +65 @@
 
 void sim_profile_2slowrevs(double &Ww,bool load=false) {
-        static int k_rampa=1;
+        static int k_rampa=10;
 
         if ((t>0.2)&&(t<0.8)) {