Changeset 221
- Timestamp:
- 01/05/09 19:53:24 (16 years ago)
- Files:
-
- 2 added
- 4 modified
- 9 moved
Legend:
- Unmodified
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- Removed
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matlab/pmsm/mpf_test_disp.m
r220 r221 21 21 subplot(4,1,i) 22 22 plot(xthM(:,i)') 23 if i<4 24 set(gca,'XTick',[]); 25 else 26 xlabel('sample [t]'); 27 end 28 ylabel(['Q(' num2str(i) ',' num2str(i) ')']); 23 29 hold on 24 30 plot(Qtr(:,i)','--') -
pmsm/mpf_test.cpp
r220 r221 1 /* 1 /*! 2 2 \file 3 \brief Models for synchronous electric drive using IT++ and BDM3 \brief TR 2525 file for testing Toy Problem of mpf for Covariance Estimation 4 4 \author Vaclav Smidl. 5 5 … … 10 10 ----------------------------------- 11 11 */ 12 12 13 13 14 #include <itpp/itbase.h> … … 49 50 50 51 vec mu0= "0.0 0.0 0.0 0.0"; 51 vec Qdiag ( "1e- 6 1e-6 0.001 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.000152 vec Qdiag ( "1e-5 1e-5 0.0001 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.0001 52 53 vec Rdiag ( "1e-8 1e-8" ); //var(diff(xth)) = "0.034 0.034" 53 54 chmat Q ( Qdiag ); … … 65 66 MPF<EKF_unQ> M ( rx,rQ,evolQ,evolQ,Npart,KFEp ); 66 67 // initialize 67 evolQ.set_parameters ( 10.0, Qdiag, 0.99); //sigma = 1/10 mu68 evolQ.set_parameters ( 10.0, Qdiag, 1.0 ); //sigma = 1/10 mu 68 69 evolQ.condition (Qdiag ); //Zdenek default 69 70 epdf& pfinit=evolQ._epdf(); … … 110 111 if (tK==3000) Qdiag(1)*=10; 111 112 if (tK==4000) Qdiag(1)/=10; 112 if (tK==5000) Qdiag(2)*=10 ;113 if (tK==6000) Qdiag(2)/=10 ;114 if (tK==7000) Qdiag(3)*=10 ;115 if (tK==8000) Qdiag(3)/=10 ;113 if (tK==5000) Qdiag(2)*=100; 114 if (tK==6000) Qdiag(2)/=100; 115 if (tK==7000) Qdiag(3)*=100; 116 if (tK==8000) Qdiag(3)/=100; 116 117 117 118 //estimator -
pmsm/pmsm_unkQpf.cpp
r170 r221 1 /* 2 \file 3 \brief Models for synchronous electric drive using IT++ and BDM1 /*! 2 \file 3 \brief A test for Kalman with unknown Q 4 4 \author Vaclav Smidl. 5 5 -
pmsm/sim_var.cpp
r170 r221 1 1 /*! 2 2 \file 3 \brief Models for synchronous electric drive using IT++ and BDM3 \brief Simulation of disturbances in PMSM model, PWM and integration disturbances are distinguished 4 4 \author Vaclav Smidl. 5 5 -
pmsm/sim_var_arx.cpp
r170 r221 1 1 /*! 2 2 \file 3 \brief Models for synchronous electric drive using IT++ and BDM3 \brief Disturbances of PMSM model are fitted by an ARX model 4 4 \author Vaclav Smidl. 5 5