Changeset 280 for pmsm

Timestamp:

02/24/09 14:12:46 (15 years ago)

Author:

smidl

Message:

progress...

Location:

pmsm

Files:

• CMakeLists.txt (modified) (1 diff)
• pmsm.h (modified) (1 diff)
• pmsmDS.h (modified) (4 diffs)
• pmsm_estim.cpp (added)
• pmsm_ui.h (added)
• sim.cpp (added)

pmsm/CMakeLists.txt

@@ -21 +21 @@
 
 EXEC (pmsm_estim pmsmsim)
+EXEC (sim pmsmsim)
+EXEC (sim_var pmsmsim)

pmsm/pmsm.h

@@ -38 +38 @@
                 double ubm = u0 ( 1 );
 
-                vec xk=zeros ( 4 );
+                vec xk( 4 );
                 //ia
                 xk ( 0 ) = ( 1.0- Rs/Ls*dt ) * iam + Ypm/Ls*dt*omm * sin ( thm ) + uam*dt/Ls;

pmsm/pmsmDS.h

@@ -27 +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;
+        //! options for logging, - log predictions of 'true' voltage
+        bool opt_modu;
 public:
         //! Constructor with fixed sampling period
-        pmsmDS (string opt0="" ) : Dt ( 125 ), opt(opt0) {}
+        pmsmDS ()   {Dt=125; Drv=RV ( "{o_ua o_ub o_ia o_ib t_ua t_ub }" );}
         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 );
+        }
+        //! parse options: "modelu" => opt_modu=true;
+        void set_options ( string &opt ) {
+                opt_modu = ( opt.find ( "modelu" ) ==string::npos );
         }
         void getdata ( vec &dt ) {dt=vec ( KalmanObs,6 );}
@@ -48 +51 @@
                                 //linear increase
                                 if ( profileWw.length() ==1 ) {
-                                        Ww=profileWw ( 0 ); dW=0.0;}
+                                        Ww=profileWw ( 0 ); dW=0.0;
+                                }
                                 else {
                                         dW = profileWw ( ind )-profileWw ( ind-1 );
@@ -65 +69 @@
         void log_add ( logger &L ) {
                 L_x = L.add ( rx, "x" );
-                L_oy = L.add ( ry, "obs" );
-                L_ou = L.add ( ru, "obs" );
-                L_iu = L.add ( ru, "true" );
+                L_oy = L.add ( ry, "o" );
+                L_ou = L.add ( ru, "o" );
+                L_iu = L.add ( ru, "t" );
                 // log differences
-                if (opt.find("u")==string::npos){
-                        L_optu = L.add(ru, "model");
+                if ( opt_modu ) {
+                        L_optu = L.add ( ru, "model" );
                 }
         }
@@ -79 +83 @@
                 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);
+                if ( opt_modu ) {
+                        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 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));
+                        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;}