Changeset 260 for pmsm

Timestamp:

02/02/09 14:47:34 (16 years ago)

Author:

smidl

Message:

working UI example

Location:

pmsm

Files:

• pmsmDS.h (modified) (6 diffs)
• sim.cpp (modified) (2 diffs)

pmsm/pmsmDS.h

@@ -12 +12 @@
 
 #include <stat/loggers.h>
-
+#include "simulator.h"
 #include "pmsm.h"
-#include "simulator.h"
-#include <uibuilder.h>
 
 //! Simulator of PMSM machine with predefined profile on omega
@@ -22 +20 @@
 protected:
         //! indeces of logged variables
-        int L_x, L_ou, L_oy, L_iu;
+        int L_x, L_ou, L_oy, L_iu, L_optu;
         //! Setpoints of omega in timespans given by dt_prof
         vec profileWw;
@@ -29 +27 @@
         //! Number of miliseconds per discrete time step
         int Dt;
+        //! options for logging, string in which each character has a meaning:
+        //! \c u - log predictions of 'true' voltage
+        string opt;
 public:
-        pmsmDS ( int Dt0 ) : Dt ( Dt0 ) {}
+        //! Constructor with fixed sampling period
+        pmsmDS (string opt0="" ) : Dt ( 125 ), opt(opt0) {}
         void set_parameters ( double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0 ) {
                 pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 );
@@ -42 +44 @@
                 static double Ww; // W
                 if ( t>=dt_prof*ind ) {
+                        ind++;
                         if ( ind<profileWw.length() ) {
-                                ind++;
                                 //linear increase
-                                dW = profileWw ( ind )-profileWw ( ind-1 );
+                                if ( profileWw.length() ==1 ) {
+                                        Ww=profileWw ( 0 ); dW=0.0;}
+                                else {
+                                        dW = profileWw ( ind )-profileWw ( ind-1 );
+                                        dW *=125e-6/dt_prof;
+                                }
                         }
                         else {
@@ -58 +65 @@
         void log_add ( logger &L ) {
                 L_x = L.add ( rx, "x" );
-                L_oy = L.add ( ry, "oi" );
-                L_ou = L.add ( ru, "ou" );
-                L_iu = L.add ( ru, "iu" );
+                L_oy = L.add ( ry, "obs" );
+                L_ou = L.add ( ru, "obs" );
+                L_iu = L.add ( ru, "true" );
+                // log differences
+                if (opt.find("u")==string::npos){
+                        L_optu = L.add(ru, "model");
+                }
         }
 
@@ -68 +79 @@
                 L.logit ( L_ou, vec_2 ( KalmanObs[0],KalmanObs[1] ) );
                 L.logit ( L_iu, vec_2 ( KalmanObs[4],KalmanObs[5] ) );
-        }
+                if (opt.find("u")==string::npos){
+                        double sq3=sqrt(3.0);
+                        double ua,ub;
+                        double i1=x[0];
+                        double i2=0.5*(-i1+sq3*x[1]);
+                        double i3=0.5*(-i1-sq3*x[1]);
+                        double u1=KalmanObs[0];
+                        double u2=0.5*(-u1+sq3*KalmanObs[1]);
+                        double u3=0.5*(-u1-sq3*KalmanObs[1]);
+                        
+                        double du1=0.7*(double(i1>0.1) - double(i1<-0.1))+0.05*i1;
+                        double du2=0.7*(double(i2>0.1) - double(i2<-0.1))+0.05*i2;
+                        double du3=0.7*(double(i3>0.1) - double(i3<-0.1))+0.05*i3;
+                        ua = (2.0*(u1-du1)-(u2-du2)-(u3-du3))/3.0;
+                        ub = ((u2-du2)-(u3-du3))/sq3;
+                        L.logit( L_optu , vec_2 (ua,ub));
+                }
+                }
 
         void set_profile ( double dt, const vec &Ww ) {dt_prof=dt; profileWw=Ww;}
 };
-
-class UIpmsm: public UIbuilder {
-public:
-        UIpmsm() :UIbuilder ( "pmsm" ) {}
-        //Non-standard BUILD!! Does not create
-        void build ( Setting &S, void** result ) const {
-
-        };
-};
-
-class UIpmsmDS: public UIbuilder {
-        static void tmp_set ( Setting &S, pmsmDS* tmp ) {
-                tmp->set_parameters ( S["Rs"], S["Ls"], S["Fmag"], S["Bf"], S["p"], S["kp"], \
-                                      S["J"], S["Uc"], S["DT"], 1.0e-6 );
-        };
-public:
-        UIpmsmDS() :UIbuilder ( "pmsmDS" ) {};
-        bdmroot* build ( Setting &S ) const {
-                pmsmDS* tmp = new pmsmDS ( S["DT"] );
-                //allowing recursive Settings
-                UIcall<pmsmDS*> ( S["params"], &tmp_set , tmp );
-        };
-
-};
-UIREGISTER(UIpmsmDS);

pmsm/sim.cpp

@@ -11 +11 @@
 */
 
-#include <uibuilder.h>
-#include <stat/libDS.h>
-#include "pmsmDS.h"
-
+#include "pmsm_ui.h"
 #include <stat/loggers_ui.h>
 
@@ -35 +32 @@
                 DS->step();
                 DS->logit(*L);
+                L->step();
         }