Changeset 227

Timestamp:

01/12/09 13:28:20 (15 years ago)

Author:

smidl

Message:

novy test

Location:

pmsm

Files:

• CMakeLists.txt (modified) (1 diff)
• mpf_test.cpp (modified) (3 diffs)
• mpf_u_delta_real.cpp (added)
• simulator_zdenek/simulator.cpp (modified) (1 diff)
• simulator_zdenek/simulator.h (modified) (1 diff)

pmsm/CMakeLists.txt

@@ -27 +27 @@
 EXEC (mpf_u_weight pmsmsim)
 EXEC (mpf_u_delta pmsmsim)
+EXEC (mpf_u_delta_real pmsmsim)
 
 EXEC (sim pmsmsim)

pmsm/mpf_test.cpp

@@ -50 +50 @@
 
         vec mu0= "0.0 0.0 0.0 0.0";
-        vec Qdiag ( "1e-5 1e-5 0.0001 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.0001
+        vec Qdiag ( "1e-6 1e-6 0.001 0.0001" ); //zdenek: 0.01 0.01 0.0001 0.0001
         vec Rdiag ( "1e-8 1e-8" ); //var(diff(xth)) = "0.034 0.034"
         chmat Q ( Qdiag );
@@ -63 +63 @@
         KFEp.set_est ( mu0, chmat ( zeros ( 4 ) ) );
 
-        mgamma_fix evolQ ( rQ,rQ );
+        //mgamma_fix evolQ ( rQ,rQ );
+        migamma_fix evolQ ( rQ,rQ );
         MPF<EKF_unQ> M ( rx,rQ,evolQ,evolQ,Npart,KFEp );
         // initialize
-        evolQ.set_parameters ( 10.0, Qdiag, 1.0 ); //sigma = 1/10 mu
+        evolQ.set_parameters ( 0.1, Qdiag, 1.0); //sigma = 1/10 mu
         evolQ.condition (Qdiag ); //Zdenek default
-        epdf& pfinit=evolQ._epdf();
-        M.set_est ( pfinit );
-        evolQ.set_parameters ( 100.0, Qdiag, 0.99 ); //sigma = 1/10 mu
+        double xxx;
+        cout << Qdiag <<endl << "smp:"<< evolQ.samplecond(Qdiag,xxx) <<endl;
+        eigamma* pfinit=dynamic_cast<eigamma*>(evolQ._e());
+        cout << pfinit->mean()<<endl;
+        M.set_est ( *pfinit );
+        evolQ.set_parameters ( 0.10, Qdiag,0.995); //sigma = 1/10 mu
+        cout << Qdiag <<endl << "smp:"<< evolQ.samplecond(Qdiag,xxx) <<endl;
         
         //
@@ -111 +116 @@
                 if (tK==3000)  Qdiag(1)*=10; 
                 if (tK==4000) Qdiag(1)/=10; 
-                if (tK==5000)  Qdiag(2)*=100; 
-                if (tK==6000) Qdiag(2)/=100; 
-                if (tK==7000)  Qdiag(3)*=100; 
-                if (tK==8000) Qdiag(3)/=100; 
+                if (tK==5000)  Qdiag(2)*=10; 
+                if (tK==6000) Qdiag(2)/=10; 
+                if (tK==7000)  Qdiag(3)*=10; 
+                if (tK==8000) Qdiag(3)/=10; 
                 
                 //estimator

pmsm/simulator_zdenek/simulator.cpp

@@ -365 +365 @@
   }
 }
+
+void pmsmsim_noreg_step(double ua, double ub)            // you must link array KalmanObs[] to EKF modul
+{
+                *us=ua;
+                *(us+1)=ub;
+//              pwm(modulace);
+                pmsm_model(5);
+
+}
 //////////////////////////////////////////////////////////////////////////////////////////////////////
+//////////////////////////////////////////////////////////////////////////////////////////////////////

pmsm/simulator_zdenek/simulator.h

@@ -19 +19 @@
 extern void pmsmsim_set_parameters(double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0);
 extern void pmsmsim_step(double Ww);
+extern void pmsmsim_noreg_step(double ua, double ub);
 
 extern double x[9];