| 71 | | <a name="l00031"></a><a class="code" href="classpmsmDS.html#d410b9ca1a362e50a0833ae67803b7ee">00031</a> <span class="keywordtype">string</span> <a class="code" href="classpmsmDS.html#d410b9ca1a362e50a0833ae67803b7ee">opt</a>; |
| 72 | | <a name="l00032"></a>00032 <span class="keyword">public</span>: |
| 73 | | <a name="l00034"></a><a class="code" href="classpmsmDS.html#38803dee6cc0bf261d277a225bca48cf">00034</a> <a class="code" href="classpmsmDS.html#38803dee6cc0bf261d277a225bca48cf" title="Constructor with fixed sampling period.">pmsmDS</a> (<span class="keywordtype">string</span> opt0=<span class="stringliteral">""</span> ) : <a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a> ( 125 ), <a class="code" href="classpmsmDS.html#d410b9ca1a362e50a0833ae67803b7ee">opt</a>(opt0) {} |
| 74 | | <a name="l00035"></a>00035 <span class="keywordtype">void</span> set_parameters ( <span class="keywordtype">double</span> Rs0, <span class="keywordtype">double</span> Ls0, <span class="keywordtype">double</span> Fmag0, <span class="keywordtype">double</span> Bf0, <span class="keywordtype">double</span> p0, <span class="keywordtype">double</span> kp0, <span class="keywordtype">double</span> J0, <span class="keywordtype">double</span> Uc0, <span class="keywordtype">double</span> DT0, <span class="keywordtype">double</span> dt0 ) { |
| 75 | | <a name="l00036"></a>00036 pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 ); |
| 76 | | <a name="l00037"></a>00037 } |
| 77 | | <a name="l00038"></a><a class="code" href="classpmsmDS.html#4e47e678eb56e0b3bd47d801d0995e46">00038</a> <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#4e47e678eb56e0b3bd47d801d0995e46" title="Returns full vector of observed data=[output, input].">getdata</a> ( vec &dt ) {dt=vec ( KalmanObs,6 );} |
| 78 | | <a name="l00039"></a><a class="code" href="classpmsmDS.html#35e9a2b9d82bd1b71d66778021d1e8b4">00039</a> <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#35e9a2b9d82bd1b71d66778021d1e8b4" title="Accepts action variable and schedule it for application.">write</a> ( vec &ut ) {} |
| 79 | | <a name="l00040"></a>00040 |
| 80 | | <a name="l00041"></a><a class="code" href="classpmsmDS.html#664fc8deff7c141ee7ab826a9abb387b">00041</a> <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#664fc8deff7c141ee7ab826a9abb387b" title="Moves from to , i.e. perfroms the actions and reads response of the system.">step</a>() { |
| 81 | | <a name="l00042"></a>00042 <span class="keyword">static</span> <span class="keywordtype">int</span> ind=0; |
| 82 | | <a name="l00043"></a>00043 <span class="keyword">static</span> <span class="keywordtype">double</span> dW; <span class="comment">// increase of W</span> |
| 83 | | <a name="l00044"></a>00044 <span class="keyword">static</span> <span class="keywordtype">double</span> Ww; <span class="comment">// W</span> |
| 84 | | <a name="l00045"></a>00045 <span class="keywordflow">if</span> ( t>=<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>*ind ) { |
| 85 | | <a name="l00046"></a>00046 ind++; |
| 86 | | <a name="l00047"></a>00047 <span class="keywordflow">if</span> ( ind<<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>.length() ) { |
| 87 | | <a name="l00048"></a>00048 <span class="comment">//linear increase</span> |
| 88 | | <a name="l00049"></a>00049 <span class="keywordflow">if</span> ( <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>.length() ==1 ) { |
| 89 | | <a name="l00050"></a>00050 Ww=<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a> ( 0 ); dW=0.0;} |
| 90 | | <a name="l00051"></a>00051 <span class="keywordflow">else</span> { |
| 91 | | <a name="l00052"></a>00052 dW = <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a> ( ind )-<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a> ( ind-1 ); |
| 92 | | <a name="l00053"></a>00053 dW *=125e-6/<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>; |
| | 71 | <a name="l00030"></a><a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b">00030</a> <span class="keywordtype">bool</span> <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &#39;true&#39; voltage">opt_modu</a>; |
| | 72 | <a name="l00031"></a>00031 <span class="keyword">public</span>: |
| | 73 | <a name="l00033"></a><a class="code" href="classpmsmDS.html#e6a50a246de039f30cb5423521aab55c">00033</a> <a class="code" href="classpmsmDS.html#e6a50a246de039f30cb5423521aab55c" title="Constructor with fixed sampling period.">pmsmDS</a> () {<a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a>=125; <a class="code" href="classbdm_1_1DS.html#d8db125ac35f3b8eeb773fc9a4cb45ec" title="Description of data returned by getdata().">Drv</a>=<a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> ( <span class="stringliteral">"{o_ua o_ub o_ia o_ib t_ua t_ub }"</span> );} |
| | 74 | <a name="l00034"></a>00034 <span class="keywordtype">void</span> set_parameters ( <span class="keywordtype">double</span> Rs0, <span class="keywordtype">double</span> Ls0, <span class="keywordtype">double</span> Fmag0, <span class="keywordtype">double</span> Bf0, <span class="keywordtype">double</span> p0, <span class="keywordtype">double</span> kp0, <span class="keywordtype">double</span> J0, <span class="keywordtype">double</span> Uc0, <span class="keywordtype">double</span> DT0, <span class="keywordtype">double</span> dt0 ) { |
| | 75 | <a name="l00035"></a>00035 pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 ); |
| | 76 | <a name="l00036"></a>00036 } |
| | 77 | <a name="l00038"></a><a class="code" href="classpmsmDS.html#75dd22db70746bfd0c3e685a17bbf34a">00038</a> <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#75dd22db70746bfd0c3e685a17bbf34a" title="parse options: &quot;modelu&quot; =&gt; opt_modu=true;">set_options</a> ( <span class="keywordtype">string</span> &opt ) { |
| | 78 | <a name="l00039"></a>00039 <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &#39;true&#39; voltage">opt_modu</a> = ( opt.find ( <span class="stringliteral">"modelu"</span> ) ==string::npos ); |
| | 79 | <a name="l00040"></a>00040 } |
| | 80 | <a name="l00041"></a><a class="code" href="classpmsmDS.html#4e47e678eb56e0b3bd47d801d0995e46">00041</a> <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#4e47e678eb56e0b3bd47d801d0995e46" title="Returns full vector of observed data=[output, input].">getdata</a> ( vec &dt ) {dt=vec ( KalmanObs,6 );} |
| | 81 | <a name="l00042"></a><a class="code" href="classpmsmDS.html#35e9a2b9d82bd1b71d66778021d1e8b4">00042</a> <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#35e9a2b9d82bd1b71d66778021d1e8b4" title="Accepts action variable and schedule it for application.">write</a> ( vec &ut ) {} |
| | 82 | <a name="l00043"></a>00043 |
| | 83 | <a name="l00044"></a><a class="code" href="classpmsmDS.html#664fc8deff7c141ee7ab826a9abb387b">00044</a> <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#664fc8deff7c141ee7ab826a9abb387b" title="Moves from to , i.e. perfroms the actions and reads response of the system.">step</a>() { |
| | 84 | <a name="l00045"></a>00045 <span class="keyword">static</span> <span class="keywordtype">int</span> ind=0; |
| | 85 | <a name="l00046"></a>00046 <span class="keyword">static</span> <span class="keywordtype">double</span> dW; <span class="comment">// increase of W</span> |
| | 86 | <a name="l00047"></a>00047 <span class="keyword">static</span> <span class="keywordtype">double</span> Ww; <span class="comment">// W</span> |
| | 87 | <a name="l00048"></a>00048 <span class="keywordflow">if</span> ( t>=<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>*ind ) { |
| | 88 | <a name="l00049"></a>00049 ind++; |
| | 89 | <a name="l00050"></a>00050 <span class="keywordflow">if</span> ( ind<<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>.length() ) { |
| | 90 | <a name="l00051"></a>00051 <span class="comment">//linear increase</span> |
| | 91 | <a name="l00052"></a>00052 <span class="keywordflow">if</span> ( <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>.length() ==1 ) { |
| | 92 | <a name="l00053"></a>00053 Ww=<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a> ( 0 ); dW=0.0; |
| 94 | | <a name="l00055"></a>00055 } |
| 95 | | <a name="l00056"></a>00056 <span class="keywordflow">else</span> { |
| 96 | | <a name="l00057"></a>00057 dW = 0; |
| 97 | | <a name="l00058"></a>00058 } |
| 98 | | <a name="l00059"></a>00059 } |
| 99 | | <a name="l00060"></a>00060 Ww += dW; |
| 100 | | <a name="l00061"></a>00061 <span class="comment">//Simulate Dt seconds!</span> |
| 101 | | <a name="l00062"></a>00062 <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> i=0;i<<a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a>;i++ ) { pmsmsim_step ( Ww );} |
| 102 | | <a name="l00063"></a>00063 }; |
| 103 | | <a name="l00064"></a>00064 |
| 104 | | <a name="l00065"></a><a class="code" href="classpmsmDS.html#d75b83468db25c56977ffccff46b0b37">00065</a> <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#d75b83468db25c56977ffccff46b0b37" title="Register DS for logging into logger L.">log_add</a> ( <a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &L ) { |
| 105 | | <a name="l00066"></a>00066 <a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7" title="indeces of logged variables">L_x</a> = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( rx, <span class="stringliteral">"x"</span> ); |
| 106 | | <a name="l00067"></a>00067 L_oy = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ry, <span class="stringliteral">"obs"</span> ); |
| 107 | | <a name="l00068"></a>00068 L_ou = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ru, <span class="stringliteral">"obs"</span> ); |
| 108 | | <a name="l00069"></a>00069 L_iu = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ru, <span class="stringliteral">"true"</span> ); |
| 109 | | <a name="l00070"></a>00070 <span class="comment">// log differences</span> |
| 110 | | <a name="l00071"></a>00071 <span class="keywordflow">if</span> (<a class="code" href="classpmsmDS.html#d410b9ca1a362e50a0833ae67803b7ee">opt</a>.find(<span class="stringliteral">"u"</span>)==string::npos){ |
| 111 | | <a name="l00072"></a>00072 L_optu = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a>(ru, <span class="stringliteral">"model"</span>); |
| 112 | | <a name="l00073"></a>00073 } |
| 113 | | <a name="l00074"></a>00074 } |
| 114 | | <a name="l00075"></a>00075 |
| 115 | | <a name="l00076"></a><a class="code" href="classpmsmDS.html#21cac6deaac2dd073c982d7bec839b47">00076</a> <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#21cac6deaac2dd073c982d7bec839b47" title="Register DS for logging into logger L.">logit</a> ( <a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &L ) { |
| 116 | | <a name="l00077"></a>00077 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( <a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7" title="indeces of logged variables">L_x</a>, vec ( x,4 ) ); |
| 117 | | <a name="l00078"></a>00078 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_oy, vec_2 ( KalmanObs[2],KalmanObs[3] ) ); |
| 118 | | <a name="l00079"></a>00079 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_ou, vec_2 ( KalmanObs[0],KalmanObs[1] ) ); |
| 119 | | <a name="l00080"></a>00080 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_iu, vec_2 ( KalmanObs[4],KalmanObs[5] ) ); |
| 120 | | <a name="l00081"></a>00081 <span class="keywordflow">if</span> (<a class="code" href="classpmsmDS.html#d410b9ca1a362e50a0833ae67803b7ee">opt</a>.find(<span class="stringliteral">"u"</span>)==string::npos){ |
| 121 | | <a name="l00082"></a>00082 <span class="keywordtype">double</span> sq3=sqrt(3.0); |
| 122 | | <a name="l00083"></a>00083 <span class="keywordtype">double</span> ua,ub; |
| 123 | | <a name="l00084"></a>00084 <span class="keywordtype">double</span> i1=x[0]; |
| 124 | | <a name="l00085"></a>00085 <span class="keywordtype">double</span> i2=0.5*(-i1+sq3*x[1]); |
| 125 | | <a name="l00086"></a>00086 <span class="keywordtype">double</span> i3=0.5*(-i1-sq3*x[1]); |
| 126 | | <a name="l00087"></a>00087 <span class="keywordtype">double</span> u1=KalmanObs[0]; |
| 127 | | <a name="l00088"></a>00088 <span class="keywordtype">double</span> u2=0.5*(-u1+sq3*KalmanObs[1]); |
| 128 | | <a name="l00089"></a>00089 <span class="keywordtype">double</span> u3=0.5*(-u1-sq3*KalmanObs[1]); |
| 129 | | <a name="l00090"></a>00090 |
| 130 | | <a name="l00091"></a>00091 <span class="keywordtype">double</span> du1=0.7*(double(i1>0.1) - double(i1<-0.1))+0.05*i1; |
| 131 | | <a name="l00092"></a>00092 <span class="keywordtype">double</span> du2=0.7*(double(i2>0.1) - double(i2<-0.1))+0.05*i2; |
| 132 | | <a name="l00093"></a>00093 <span class="keywordtype">double</span> du3=0.7*(double(i3>0.1) - double(i3<-0.1))+0.05*i3; |
| 133 | | <a name="l00094"></a>00094 ua = (2.0*(u1-du1)-(u2-du2)-(u3-du3))/3.0; |
| 134 | | <a name="l00095"></a>00095 ub = ((u2-du2)-(u3-du3))/sq3; |
| 135 | | <a name="l00096"></a>00096 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a>( L_optu , vec_2 (ua,ub)); |
| 136 | | <a name="l00097"></a>00097 } |
| 137 | | <a name="l00098"></a>00098 } |
| 138 | | <a name="l00099"></a>00099 |
| 139 | | <a name="l00100"></a>00100 <span class="keywordtype">void</span> set_profile ( <span class="keywordtype">double</span> dt, <span class="keyword">const</span> vec &Ww ) {<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>=dt; <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>=Ww;} |
| 140 | | <a name="l00101"></a>00101 }; |
| | 94 | <a name="l00055"></a>00055 <span class="keywordflow">else</span> { |
| | 95 | <a name="l00056"></a>00056 dW = <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a> ( ind )-<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a> ( ind-1 ); |
| | 96 | <a name="l00057"></a>00057 dW *=125e-6/<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>; |
| | 97 | <a name="l00058"></a>00058 } |
| | 98 | <a name="l00059"></a>00059 } |
| | 99 | <a name="l00060"></a>00060 <span class="keywordflow">else</span> { |
| | 100 | <a name="l00061"></a>00061 dW = 0; |
| | 101 | <a name="l00062"></a>00062 } |
| | 102 | <a name="l00063"></a>00063 } |
| | 103 | <a name="l00064"></a>00064 Ww += dW; |
| | 104 | <a name="l00065"></a>00065 <span class="comment">//Simulate Dt seconds!</span> |
| | 105 | <a name="l00066"></a>00066 <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> i=0;i<<a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a>;i++ ) { pmsmsim_step ( Ww );} |
| | 106 | <a name="l00067"></a>00067 }; |
| | 107 | <a name="l00068"></a>00068 |
| | 108 | <a name="l00069"></a><a class="code" href="classpmsmDS.html#d75b83468db25c56977ffccff46b0b37">00069</a> <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#d75b83468db25c56977ffccff46b0b37" title="Register DS for logging into logger L.">log_add</a> ( <a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &L ) { |
| | 109 | <a name="l00070"></a>00070 <a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7" title="indeces of logged variables">L_x</a> = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( rx, <span class="stringliteral">"x"</span> ); |
| | 110 | <a name="l00071"></a>00071 L_oy = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ry, <span class="stringliteral">"o"</span> ); |
| | 111 | <a name="l00072"></a>00072 L_ou = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ru, <span class="stringliteral">"o"</span> ); |
| | 112 | <a name="l00073"></a>00073 L_iu = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ru, <span class="stringliteral">"t"</span> ); |
| | 113 | <a name="l00074"></a>00074 <span class="comment">// log differences</span> |
| | 114 | <a name="l00075"></a>00075 <span class="keywordflow">if</span> ( <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &#39;true&#39; voltage">opt_modu</a> ) { |
| | 115 | <a name="l00076"></a>00076 L_optu = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ru, <span class="stringliteral">"model"</span> ); |
| | 116 | <a name="l00077"></a>00077 } |
| | 117 | <a name="l00078"></a>00078 } |
| | 118 | <a name="l00079"></a>00079 |
| | 119 | <a name="l00080"></a><a class="code" href="classpmsmDS.html#21cac6deaac2dd073c982d7bec839b47">00080</a> <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#21cac6deaac2dd073c982d7bec839b47" title="Register DS for logging into logger L.">logit</a> ( <a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &L ) { |
| | 120 | <a name="l00081"></a>00081 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( <a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7" title="indeces of logged variables">L_x</a>, vec ( x,4 ) ); |
| | 121 | <a name="l00082"></a>00082 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_oy, vec_2 ( KalmanObs[2],KalmanObs[3] ) ); |
| | 122 | <a name="l00083"></a>00083 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_ou, vec_2 ( KalmanObs[0],KalmanObs[1] ) ); |
| | 123 | <a name="l00084"></a>00084 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_iu, vec_2 ( KalmanObs[4],KalmanObs[5] ) ); |
| | 124 | <a name="l00085"></a>00085 <span class="keywordflow">if</span> ( <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &#39;true&#39; voltage">opt_modu</a> ) { |
| | 125 | <a name="l00086"></a>00086 <span class="keywordtype">double</span> sq3=sqrt ( 3.0 ); |
| | 126 | <a name="l00087"></a>00087 <span class="keywordtype">double</span> ua,ub; |
| | 127 | <a name="l00088"></a>00088 <span class="keywordtype">double</span> i1=x[0]; |
| | 128 | <a name="l00089"></a>00089 <span class="keywordtype">double</span> i2=0.5* ( -i1+sq3*x[1] ); |
| | 129 | <a name="l00090"></a>00090 <span class="keywordtype">double</span> i3=0.5* ( -i1-sq3*x[1] ); |
| | 130 | <a name="l00091"></a>00091 <span class="keywordtype">double</span> u1=KalmanObs[0]; |
| | 131 | <a name="l00092"></a>00092 <span class="keywordtype">double</span> u2=0.5* ( -u1+sq3*KalmanObs[1] ); |
| | 132 | <a name="l00093"></a>00093 <span class="keywordtype">double</span> u3=0.5* ( -u1-sq3*KalmanObs[1] ); |
| | 133 | <a name="l00094"></a>00094 |
| | 134 | <a name="l00095"></a>00095 <span class="keywordtype">double</span> du1=0.7* ( double ( i1>0.1 ) - double ( i1<-0.1 ) ) +0.05*i1; |
| | 135 | <a name="l00096"></a>00096 <span class="keywordtype">double</span> du2=0.7* ( double ( i2>0.1 ) - double ( i2<-0.1 ) ) +0.05*i2; |
| | 136 | <a name="l00097"></a>00097 <span class="keywordtype">double</span> du3=0.7* ( double ( i3>0.1 ) - double ( i3<-0.1 ) ) +0.05*i3; |
| | 137 | <a name="l00098"></a>00098 ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; |
| | 138 | <a name="l00099"></a>00099 ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; |
| | 139 | <a name="l00100"></a>00100 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_optu , vec_2 ( ua,ub ) ); |
| | 140 | <a name="l00101"></a>00101 } |
| | 141 | <a name="l00102"></a>00102 } |
| | 142 | <a name="l00103"></a>00103 |
| | 143 | <a name="l00104"></a>00104 <span class="keywordtype">void</span> set_profile ( <span class="keywordtype">double</span> dt, <span class="keyword">const</span> vec &Ww ) {<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>=dt; <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>=Ww;} |
| | 144 | <a name="l00105"></a>00105 }; |
