Changeset 279 for pmsm

Timestamp:

02/24/09 14:12:19 (16 years ago)

Author:

smidl

Message:

Transition of pmsm and libKF

Location:

pmsm

Files:

• CMakeLists.txt (modified) (2 diffs)
• mpf_load.cpp (modified) (1 diff)
• mpf_test.cpp (modified) (1 diff)
• old (added)
• old/mpf_u_delta.cpp (moved) (moved from pmsm/mpf_u_delta.cpp) (2 diffs)
• old/mpf_u_delta_real.cpp (moved) (moved from pmsm/mpf_u_delta_real.cpp) (1 diff)
• old/mpf_u_weight.cpp (moved) (moved from pmsm/mpf_u_weight.cpp) (2 diffs)
• old/pmsm_mix.cpp (moved) (moved from pmsm/pmsm_mix.cpp) (2 diffs)
• old/pmsm_sim.cpp (moved) (moved from pmsm/pmsm_sim.cpp) (2 diffs)
• old/pmsm_sim2.cpp (moved) (moved from pmsm/pmsm_sim2.cpp) (3 diffs)
• old/pmsm_sim3.cpp (moved) (moved from pmsm/pmsm_sim3.cpp)
• old/pmsm_unkQ.cpp (moved) (moved from pmsm/pmsm_unkQ.cpp) (2 diffs)
• old/pmsm_unkQpf.cpp (moved) (moved from pmsm/pmsm_unkQpf.cpp) (2 diffs)
• old/sim.cpp (moved) (moved from pmsm/sim.cpp)
• old/sim_var.cpp (moved) (moved from pmsm/sim_var.cpp) (1 diff)
• pmsm.h (modified) (3 diffs)
• sim_var_arx.cpp (deleted)
• simulator_zdenek/ekf_example/ekf_obj.h (modified) (1 diff)

pmsm/CMakeLists.txt

@@ -6 +6 @@
 
 # no simulator needed...
-EXEC (pmsm_unkQ )
-EXEC (pmsm_unkQpf)
 EXEC(testbidiff)
 
@@ -22 +20 @@
 #link_directories (./simulator_zdenek/ekf_example)
 
-EXEC (pmsm_sim pmsmsim)
-EXEC (pmsm_sim2 pmsmsim)
-EXEC (mpf_test pmsmsim)
-EXEC (mpf_u_weight pmsmsim)
-EXEC (mpf_u_delta pmsmsim)
-EXEC (mpf_u_delta_real pmsmsim)
-EXEC (mpf_load pmsmsim)
-
-EXEC (sim pmsmsim)
-EXEC (sim_var pmsmsim)
-EXEC (sim_var_arx pmsmsim)
-EXEC (pmsm_mix pmsmsim)
-
+EXEC (pmsm_estim pmsmsim)

pmsm/mpf_load.cpp

@@ -62 +62 @@
         mat Q =diag( Qdiag );
         mat R =diag ( Rdiag );
-        EKFfull Efix ( rx,ry,ru );
+        EKFfull Efix;
         Efix.set_est ( mu0, 1*eye ( 4 )  );
         Efix.set_parameters ( &fxu0,&hxu,diag(Qdiag0),R);
 
-        RV rMz=RV("{Mz }");
-        mlnorm<ldmat> evolMz(rMz,rMz);
+        mlnorm<ldmat> evolMz;
         evolMz.set_parameters(mat("1"),vec("0"),ldmat(1.0*vec("1")));
         evolMz.condition(" 0.0");
         
-        EKFCh_cond Ep ( rx,ry,ru,rMz );
+        EKFCh_cond Ep;
         Ep.set_est ( mu0, 1*eye ( 4 ) );
         Ep.set_parameters ( &fxu,&hxu,Q,R);
         
-        MPF<EKFCh_cond> M ( rx,rMz,evolMz,evolMz, Npart, Ep  );
-        M.set_est(evolMz.posterior());
+        MPF<EKFCh_cond> M ( &evolMz, &evolMz, Npart, Ep  );
+        M.set_est(evolMz._epdf());
 
         //LOG
         int X_log = L.add(rx,"X");
         int E_log = L.add(rx,"EX");
-        int M_log = L.add(concat(rMz,rx),"MX");
+        int M_log = L.add(concat(RV("Mz",1),rx),"MX");
         L.init();
 

pmsm/mpf_test.cpp

@@ -45 +45 @@
         chmat Q ( Qdiag );
         chmat R ( Rdiag );
-        EKFCh KFE ( rx,ry,ru );
+        EKFCh KFE ;
         KFE.set_parameters ( &fxu,&hxu,Q,R );
         KFE.set_est ( mu0, chmat ( zeros ( 4 ) ) );
 
         RV rQ ( "{Q }","4" );
-        EKFCh_unQ KFEp ( rx,ry,ru,rQ );
+        EKFCh_unQ KFEp ;
         KFEp.set_parameters ( &fxu,&hxu,Q,R );
         KFEp.set_est ( mu0, chmat ( zeros ( 4 ) ) );
 
         //mgamma_fix evolQ ( rQ,rQ );
-        migamma_fix evolQ ( rQ,rQ );
-        MPF<EKFCh_unQ> M ( rx,rQ,evolQ,evolQ,Npart,KFEp );
+        migamma_fix evolQ ;
+        MPF<EKFCh_unQ> M ( &evolQ,&evolQ,Npart,KFEp );
         // initialize
         evolQ.set_parameters ( 0.1, 10*Qdiag, 1.0); //sigma = 1/10 mu

pmsm/old/mpf_u_delta.cpp

@@ -30 +30 @@
 public:
         //! Default constructor
-        EKFCh_du_kQ ( RV rx, RV ry,RV ru,RV rC ) :EKFCh ( rx,ry,ru ),BMcond ( rC ),Qref(rx.count()) {};
+        EKFCh_du_kQ ( ) :EKFCh ( ),BMcond (),Qref() {};
         void set_ref(const chmat &Qref0){Qref=Qref0;}
         void condition ( const vec &val ) {
@@ -98 +98 @@
         mat Q2o=diag(Qdiag);
         chmat R ( Rdiag );
-        EKFCh KFE ( rx,ry,ru );
+        EKFCh KFE ;
         KFE.set_parameters ( &fxu0,&hxu,Q,R );
         KFE.set_est ( mu0, chmat ( ones ( 4 ) ) );
 
         RV rUd ( "{ud k}", "2 1" );
-        EKFCh_du_kQ KFEp ( rx,ry,ru,rUd );
+        EKFCh_du_kQ KFEp ;
         KFEp.set_parameters ( &fxu,&hxu,Q,R );
         KFEp.set_ref(Q);
         KFEp.set_est ( mu0, chmat ( ones ( 4 ) ) );
 
-        mlnorm<ldmat> evolUd ( rUd,rUd );
-        MPF<EKFCh_du_kQ> M ( rx,rUd,evolUd,evolUd,Npart,KFEp );
+        mlnorm<ldmat> evolUd ;
+        MPF<EKFCh_du_kQ> M ( &evolUd,&evolUd,Npart,KFEp );
         // initialize
         vec Ud0="0 0 1.0";
         evolUd.set_parameters ( eye ( 3 ), zeros(3), ldmat ( vec( "1e-4 1e-4 10e-4" )));
         evolUd.condition ( Ud0 );
-        epdf& pfinit=evolUd.posterior();
+        epdf& pfinit=evolUd._epdf();
         M.set_est ( pfinit );
         evolUd.set_parameters ( eye ( 3 ), zeros(3), ldmat ( vec(" 7e-4 7e-4 1e-5" )));

pmsm/old/mpf_u_delta_real.cpp

@@ -83 +83 @@
         chmat Q ( Qdiag );
         chmat R ( Rdiag );
-        EKFCh KFE ( rx,ry,ru );
+        EKFCh KFE ;
         KFE.set_parameters ( &fxu0,&hxu,Q,R );
         KFE.set_est ( mu0, chmat ( ones ( 4 ) ) );
 
         RV rUd ( "{ud }", "2" );
-        EKFCh_cond KFEp ( rx,ry,ru,rUd );
+        EKFCh_cond KFEp ;
         KFEp.set_parameters ( &fxu,&hxu,Q,R );
         KFEp.set_est ( mu0, chmat ( ones ( 4 ) ) );
 
-        mlnorm<ldmat> evolUd ( rUd,rUd );
-        MPF<EKFCh_cond> M ( rx,rUd,evolUd,evolUd,Npart,KFEp );
+        mlnorm<ldmat> evolUd ;
+        MPF<EKFCh_cond> M ( &evolUd,&evolUd,Npart,KFEp );
         // initialize
         vec Ud0="0 0";
         evolUd.set_parameters ( eye ( 2 ), vec_2 ( 0.0,0.0 ), ldmat ( 10.0*eye ( 2 ) ) );
         evolUd.condition ( Ud0 );
-        epdf& pfinit=evolUd.posterior();
+        epdf& pfinit=evolUd._epdf();
         M.set_est ( pfinit );
         evolUd.set_parameters ( eye ( 2 ), vec_2 ( 0.0,0.0 ), ldmat ( 0.005*eye ( 2 ) ) );

pmsm/old/mpf_u_weight.cpp

@@ -28 +28 @@
 class EKFCh_cond : public EKFCh , public BMcond {
 public:
-        //! Default constructor
-        EKFCh_cond ( RV rx, RV ry,RV ru,RV rC ) :EKFCh ( rx,ry,ru ),BMcond ( rC ) {};
+        //! condition on value of pfxu
         void condition ( const vec &val ) {
                 pfxu->condition ( val );
@@ -92 +91 @@
         chmat Q ( Qdiag );
         chmat R ( Rdiag );
-        EKFCh KFE ( rx,ry,ru );
+        EKFCh KFE;
         KFE.set_parameters ( &fxu0,&hxu,Q,R );
         KFE.set_est ( mu0, chmat ( ones ( 4 ) ) );
 
         RV rW ( "{w }" );
-        EKFCh_cond KFEp ( rx,ry,ru,rW );
+        EKFCh_cond KFEp;
         KFEp.set_parameters ( &fxu,&hxu,Q,R );
         KFEp.set_est ( mu0, chmat ( ones ( 4 ) ) );
 
-        mgamma_fix evolW ( rW,rW );
-        MPF<EKFCh_cond> M ( rx,rW,evolW,evolW,Npart,KFEp );
+        mgamma_fix evolW ;
+        MPF<EKFCh_cond> M (&evolW,&evolW,Npart,KFEp );
         // initialize
         vec W0="0.5";
         evolW.set_parameters ( 10.0, W0, 1.0 ); //sigma = 1/10 mu
         evolW.condition ( W0 );
-        epdf& pfinit=evolW.posterior();
+        epdf& pfinit=evolW._epdf();
         M.set_est ( pfinit );
         evolW.set_parameters ( 100.0, W0, 0.99 ); //sigma = 1/10 mu

pmsm/old/pmsm_mix.cpp

@@ -57 +57 @@
         mat Q =diag( Qdiag );
         mat R =diag ( Rdiag );
-        EKFfull Efix ( rx,ry,ru );
+        EKFfull Efix ;
         Efix.set_est ( mu0, 1*eye ( 4 )  );
         Efix.set_parameters ( &fxu,&hxu,Q,R);
 
         RV rQR( "{Q R }", "4 2 ");
-        EKFful_unQR EKU (rx,ry,ru,rQR);
+        EKFful_unQR EKU;
         EKU.set_est ( mu0,  1*ones ( 4 ) );
         EKU.set_parameters ( &fxu,&hxu,diag(Qdiag),diag(Rdiag) );
 
         //QU model
-        egamma Gcom(rQR);Gcom.set_parameters(ones(6),vec("1 1 1e4 1e10 1 1"));
+        egamma Gcom;Gcom.set_parameters(ones(6),vec("1 1 1e4 1e10 1 1"));
 /*      cout << Gcom.mean() <<endl;
         cout << Gcom.sample() <<endl;*/
-        euni Ucom(rQR); Ucom.set_parameters(zeros(6),vec("60 60 453 0.03 100 100"));
+        euni Ucom; Ucom.set_parameters(zeros(6),vec("60 60 453 0.03 100 100"));
 /*      cout << Ucom.mean() <<endl;
         cout << Ucom.sample() <<endl;*/
@@ -76 +76 @@
         Coms(0) = &Gcom;
         Coms(1) = &Ucom;
-        emix Eevol(rQR);        Eevol.set_parameters("0.1 0.9", Coms);
+        emix Eevol;     Eevol.set_parameters("0.1 0.9", Coms);
 //      cout << Eevol.sample() <<endl;
 
         mepdf evolQR(&Eevol);
-        MPF<EKFful_unQR> M ( rx,rQR, evolQR, evolQR, Npar, EKU );
-        M.set_est ( evolQR.posterior() );
+        MPF<EKFful_unQR> M (  &evolQR, &evolQR, Npar, EKU );
+        M.set_est ( evolQR._epdf() );
 
         const epdf& Efix_ep = Efix.posterior();

pmsm/old/pmsm_sim.cpp

@@ -25 +25 @@
 public:
         //! Default constructor
-        EKF_unQ ( RV rx, RV ry,RV ru,RV rQ ) :EKFCh ( rx,ry,ru ),BMcond ( rQ ) {};
         void condition ( const vec &Q0 ) {
                 Q.setD ( Q0,0 );
@@ -53 +52 @@
         chmat Q ( Qdiag );
         chmat R ( Rdiag );
-        EKFCh KFE ( rx,ry,ru );
+        EKFCh KFE ;
         KFE.set_parameters ( &fxu,&hxu,Q,R );
         KFE.set_est ( mu0, chmat ( 1*ones ( 4 ) ) );
 
         RV rQ ( "{Q }","2" );
-        EKF_unQ KFEp ( rx,ry,ru,rQ );
+        EKF_unQ KFEp;
         KFEp.set_parameters ( &fxu,&hxu,Q,R );
         KFEp.set_est ( mu0, chmat ( zeros ( 4 ) ) );
 
-        mgamma evolQ ( rQ,rQ );
-        MPF<EKF_unQ> M ( rx,rQ,evolQ,evolQ,Npart,KFEp );
+        mgamma evolQ ;
+        MPF<EKF_unQ> M (&evolQ,&evolQ,Npart,KFEp );
         // initialize
-        evolQ.set_parameters ( 10.0 ); //sigma = 1/10 mu
+        evolQ.set_parameters ( 10.0, "0.01 0.01" ); //sigma = 1/10 mu
         evolQ.condition ( "0.01 0.01" ); //Zdenek default
-        epdf& pfinit=evolQ.posterior();
+        epdf& pfinit=evolQ._epdf();
         M.set_est ( pfinit );
-        evolQ.set_parameters ( 10.0 );
+        evolQ.set_parameters ( 10.0,  "0.01 0.01");
 
         //

pmsm/old/pmsm_sim2.cpp

@@ -27 +27 @@
 public:
         //! Default constructor
-        EKF_unQ ( RV rx, RV ry,RV ru,RV rQ ) :EKFCh ( rx,ry,ru ),BMcond ( rQ ) {};
         void condition ( const vec &Q0 ) {
                 Q.setD ( Q0,0 );
@@ -48 +47 @@
 class EKF_unQful : public EKFfull , public BMcond {
 public:
-        //! Default constructor
-        EKF_unQful ( RV rx, RV ry,RV ru,RV rQ ) :EKFfull ( rx,ry,ru ),BMcond ( rQ ) {};
         void condition ( const vec &Q0 ) {
                 Q=diag(Q0);
@@ -89 +86 @@
         chmat Q ( Qdiag );
         chmat R ( Rdiag );
-        EKFCh KFE ( rx,ry,ru );
+        EKFCh KFE ;
         KFE.set_est ( mu0, chmat( 1*eye ( 4 ) ) );
         KFE.set_parameters ( &fxu,&hxu,Q,R);
 
         RV rQ ( "{Q}","4" );
-        EKF_unQful KFEp ( rx,ry,ru,rQ );
+        EKF_unQful KFEp ;
         KFEp.set_est ( mu0,  1*ones ( 4 ) );
         KFEp.set_parameters ( &fxu,&hxu,diag(Qdiag),diag(Rdiag) );
 
-        mgamma_fix evolQ ( rQ,rQ );
-        MPF<EKF_unQful> M ( rx,rQ,evolQ,evolQ,Npart,KFEp );
+        mgamma_fix evolQ ;
+        MPF<EKF_unQful> M ( &evolQ,&evolQ,Npart,KFEp );
         // initialize
         evolQ.set_parameters ( 1000.0 ,Qdiag, 0.5); //sigma = 1/10 mu
         evolQ.condition ( Qdiag ); //Zdenek default
-        epdf& pfinit=evolQ.posterior();
+        epdf& pfinit=evolQ._epdf();
         M.set_est ( pfinit );
         evolQ.set_parameters ( 100000.0, Qdiag, 0.9999 );

pmsm/old/pmsm_unkQ.cpp

@@ -46 +46 @@
         chmat Q ( Qdiag );
         chmat R ( Rdiag );
-        EKFCh KFE ( rx,ry,ru );
+        EKFCh KFE ;
         KFE.set_est ( mu0, chmat ( 1000*ones ( 4 ) ) );
         KFE.set_parameters ( &fxu,&hxu,Q,R );
@@ -57 +57 @@
                 vec Qid ( Qdiag );
                 Qid ( 0 ) = vQ ( i ); Qid ( 1 ) = vQ ( i );
-                kfArray[i]= new EKFCh ( rx,ry,ru );
+                kfArray[i]= new EKFCh;
                 kfArray[i]->set_est ( mu0, chmat ( 1000*ones ( 4 ) ) );
                 kfArray[i]->set_parameters ( &fxu,&hxu,chmat ( Qid ),R );

pmsm/old/pmsm_unkQpf.cpp

@@ -24 +24 @@
 public:
         //! Default constructor
-        EKF_unQ ( RV rx, RV ry,RV ru,RV rQ ) :EKFCh ( rx,ry,ru ),BMcond ( rQ ) {};
         void condition ( const vec &Q0 ) {
                 Q.setD ( Q0,0 );
@@ -53 +52 @@
 
         RV rQ ( "{Q}","2" );
-        EKF_unQ KFE ( rx,ry,ru,rQ );
+        EKF_unQ KFE ;
         KFE.set_parameters ( &fxu,&hxu,Q,R );
         KFE.set_est ( mu0, chmat ( 1000*ones ( 4 ) ) );
 
-        mgamma evolQ ( rQ,rQ );
+        mgamma evolQ ;
         //evolQ.set_parameters ( 10000.0 ); //sigma = 1/10 mu
 
-        MPF<EKF_unQ> M ( rx,rQ,evolQ,evolQ,100,KFE );
+        MPF<EKF_unQ> M ( &evolQ,&evolQ,100,KFE );
 
         const epdf& KFEep = KFE.posterior();
         const epdf& Mep = M.posterior();
         // initialize
-        evolQ.set_parameters ( 1.0 ); //sigma = 1/10 mu
+        evolQ.set_parameters ( 1.0, "0.5 0.5" ); //sigma = 1/10 mu
         evolQ.condition ( "0.5 0.5" );
-        const epdf& pfinit=evolQ.posterior();
+        const epdf& pfinit=evolQ._epdf();
         M.set_est ( pfinit );
-        evolQ.set_parameters ( 1000.0 ); //sigma = 1/10 mu
+        evolQ.set_parameters ( 1000.0 , "0.5 0.5"); //sigma = 1/10 mu
 
         //simulator values

pmsm/old/sim_var.cpp

@@ -63 +63 @@
         mat Q =diag( Qdiag );
         mat R =diag ( Rdiag );
-        EKFfull Efix ( rx,ry,ru );
+        EKFfull Efix ;
         Efix.set_est ( mu0, 1*eye ( 4 )  );
         Efix.set_parameters ( &fxu,&hxu,Q,R);
 
-        EKFfull Eop ( rx,ry,ru );
+        EKFfull Eop ;
         Eop.set_est ( mu0, 1*eye ( 4 ) );
         Eop.set_parameters ( &fxu,&hxu,Q,R);
 
-        EKFfull Edi ( rx,ry,ru );
+        EKFfull Edi ;
         Edi.set_est ( mu0, 1*eye ( 4 ) );
         Edi.set_parameters ( &fxu,&hxu,Q,R);

pmsm/pmsm.h

@@ -25 +25 @@
 
 public:
-        IMpmsm() :diffbifn (rx.count(), rx, ru ) {};
+        IMpmsm() :diffbifn ( ) {dimy=4; dimx = 4; dimu=2;};
         //! Set mechanical and electrical variables
         void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;}
@@ -86 +86 @@
                 double iam, ibm, omm, thm, uam, ubm;
         public:
-                IMpmsm2o() :diffbifn (rx.count(), rx, ru ) {};
+                IMpmsm2o() :diffbifn () {dimy=4;dimx=4;dimu=2;};
         //! Set mechanical and electrical variables
                 void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0; d2t=dt*dt/2;}
@@ -209 +209 @@
 class OMpmsm: public diffbifn {
 public:
-        OMpmsm() :diffbifn (2, rx,ru ) {};
+        OMpmsm() :diffbifn () {dimy=2;dimx=4;dimu=2;};
 
         vec eval ( const vec &x0, const vec &u0 ) {

pmsm/simulator_zdenek/ekf_example/ekf_obj.h

@@ -64 +64 @@
 public:
         //! Default constructor
-        EKFfixed ( RV rvx,RV rvc ):BM(rvx),BMcond(rvc),E(rvx),Ry(2,2){
+        EKFfixed ():BM(),BMcond(),E(),Ry(2,2){
         int i;
  for(i=0;i<16;i++){Q[i]=0;}