Changeset 223

Timestamp:

01/05/09 19:55:33 (15 years ago)

Author:

smidl

Message:

new experiment in pmsm

Files:

• bdm/estim/libKF.h (modified) (1 diff)
• bdm/stat/libBM.h (modified) (1 diff)
• pmsm/CMakeLists.txt (modified) (1 diff)
• pmsm/mpf_u_delta.cpp (added)
• pmsm/pmsm.h (modified) (1 diff)
• pmsm/sim.cpp (modified) (2 diffs)
• pmsm/sim_profiles.h (modified) (1 diff)
• pmsm/sim_var.cpp (modified) (2 diffs)

bdm/estim/libKF.h

@@ -219 +219 @@
 
 class EKFCh : public KalmanCh {
+        protected:
         //! Internal Model f(x,u)
         diffbifn* pfxu;

bdm/stat/libBM.h

@@ -146 +146 @@
                 return vec ( 0 );
         };
+        
+        //! function substitutes given value into an appropriate position 
+        virtual void condition(const vec &val){};
 
         //! access function

pmsm/CMakeLists.txt

@@ -25 +25 @@
 EXEC (pmsm_sim2 pmsmsim)
 EXEC (mpf_test pmsmsim)
+EXEC (mpf_u_weight pmsmsim)
+EXEC (mpf_u_delta pmsmsim)
+
 EXEC (sim pmsmsim)
 EXEC (sim_var pmsmsim)

pmsm/pmsm.h

@@ -13 +13 @@
 // };
 
-//! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$$
+//! State evolution model for a PMSM drive and its derivative with respect to \f$x\f$
 class IMpmsm : public diffbifn {
 protected:

pmsm/sim.cpp

@@ -1 @@
-/*
+/*!
   \file
-  \brief Models for synchronous electric drive using IT++ and BDM
+  \brief Simulation of disturbances in PMSM model, PWM and integration disturbances are distinguished
   \author Vaclav Smidl.
 
@@ -78 +78 @@
         
         double frg=0.9;
-        vec vecW="0. 0. 0.2 0.4 0.4 0.2 0.0 -0.4 -0.6 -0.6 -0.4 0.0 0.0";
+//      vec vecW="0. 0. 0.2 0.4 0.4 0.2 0.0 -0.4 -0.6 -0.6 -0.4 0.0 0.0";
+        vec vecW="1 2 4 9 4 2 0 -4 -9 -16 -4 0 0 0";
+        vecW*=10.0;
+
         for ( int tK=1;tK<Ndat;tK++ ) {
                 //Number of steps of a simulator for one step of Kalman

pmsm/sim_profiles.h

@@ -80 +80 @@
         static int ind=0;
         static double dW;
-        double tn=t;
-        if (t>0.1*ind) {
+        if (t>=0.1*ind) {
                 ind++;
                 dW = vecWw(ind)-vecWw(ind-1);

pmsm/sim_var.cpp

@@ -1 +1 @@
 /*!
   \file
-  \brief Simulation of disturbances in PMSM model, PWM and integration disturbances are distinguished
+  \brief Simulation of disturbances in PMSM model, EKF runs with simulated covariances
   \author Vaclav Smidl.
 
@@ -24 +24 @@
 
 using namespace itpp;
-//!Extended Kalman filter with unknown \c Q
 
 int main() {