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    6565<h1>pmsmDS.h</h1><a href="pmsmDS_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001  
    6666<a name="l00013"></a>00013 <span class="preprocessor">#include &lt;<a class="code" href="loggers_8h.html" title="Loggers for storing results of experiments.">stat/loggers.h</a>&gt;</span> 
    67 <a name="l00014"></a>00014 <span class="preprocessor">#include "simulator.h"</span> 
    68 <a name="l00015"></a>00015 <span class="preprocessor">#include "pmsm.h"</span> 
    69 <a name="l00016"></a>00016  
    70 <a name="l00018"></a><a class="code" href="classpmsmDS.html">00018</a> <span class="keyword">class </span><a class="code" href="classpmsmDS.html" title="Simulator of PMSM machine with predefined profile on omega.">pmsmDS</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1DS.html" title="Abstract class for discrete-time sources of data.">DS</a> { 
    71 <a name="l00019"></a>00019  
    72 <a name="l00020"></a>00020 <span class="keyword">protected</span>: 
    73 <a name="l00022"></a><a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7">00022</a>         <span class="keywordtype">int</span> <a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7" title="indeces of logged variables">L_x</a>, L_ou, L_oy, L_iu, L_optu; 
    74 <a name="l00024"></a><a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012">00024</a>         vec <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>; 
    75 <a name="l00026"></a><a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe">00026</a>         <span class="keywordtype">double</span> <a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>; 
    76 <a name="l00028"></a><a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40">00028</a>         <span class="keywordtype">int</span> <a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a>; 
    77 <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 &amp;#39;true&amp;#39; voltage">opt_modu</a>; 
    78 <a name="l00031"></a>00031 <span class="keyword">public</span>: 
    79 <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> );} 
    80 <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 ) { 
    81 <a name="l00035"></a>00035                 pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 ); 
    82 <a name="l00036"></a>00036         } 
    83 <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: &amp;quot;modelu&amp;quot; =&amp;gt; opt_modu=true;">set_options</a> ( <span class="keywordtype">string</span> &amp;opt ) { 
    84 <a name="l00039"></a>00039                 <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a> = ( opt.find ( <span class="stringliteral">"modelu"</span> ) ==string::npos ); 
     67<a name="l00014"></a>00014 <span class="preprocessor">#include &lt;<a class="code" href="libKF_8h.html" title="Bayesian Filtering for linear Gaussian models (Kalman Filter) and extensions.">estim/libKF.h</a>&gt;</span> 
     68<a name="l00015"></a>00015 <span class="preprocessor">#include "simulator.h"</span> 
     69<a name="l00016"></a>00016 <span class="preprocessor">#include "pmsm.h"</span> 
     70<a name="l00017"></a>00017  
     71<a name="l00019"></a><a class="code" href="classpmsmDS.html">00019</a> <span class="keyword">class </span><a class="code" href="classpmsmDS.html" title="Simulator of PMSM machine with predefined profile on omega.">pmsmDS</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1DS.html" title="Abstract class for discrete-time sources of data.">DS</a> { 
     72<a name="l00020"></a>00020  
     73<a name="l00021"></a>00021 <span class="keyword">protected</span>: 
     74<a name="l00023"></a><a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7">00023</a>         <span class="keywordtype">int</span> <a class="code" href="classpmsmDS.html#3975e648cc981a550997df8120e176f7" title="indeces of logged variables">L_x</a>, L_ou, L_oy, L_iu, L_optu; 
     75<a name="l00025"></a><a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012">00025</a>         vec <a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>; 
     76<a name="l00027"></a><a class="code" href="classpmsmDS.html#817e0b4c12e2c185271740b3ce3e3980">00027</a>         vec <a class="code" href="classpmsmDS.html#817e0b4c12e2c185271740b3ce3e3980" title="Setpoints of Mz in timespans given by dt_prof.">profileMz</a>; 
     77<a name="l00029"></a><a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe">00029</a>         <span class="keywordtype">double</span> <a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>; 
     78<a name="l00031"></a><a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40">00031</a>         <span class="keywordtype">int</span> <a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a>; 
     79<a name="l00033"></a><a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b">00033</a>         <span class="keywordtype">bool</span> <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a>; 
     80<a name="l00035"></a>00035 <span class="keyword">public</span>: 
     81<a name="l00037"></a><a class="code" href="classpmsmDS.html#e6a50a246de039f30cb5423521aab55c">00037</a>         <a class="code" href="classpmsmDS.html#e6a50a246de039f30cb5423521aab55c" title="options for logging, -">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> );} 
     82<a name="l00038"></a>00038         <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 ) { 
     83<a name="l00039"></a>00039                 pmsmsim_set_parameters ( Rs0, Ls0, Fmag0, Bf0, p0, kp0, J0, Uc0, DT0, dt0 ); 
    8584<a name="l00040"></a>00040         } 
    86 <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 &amp;dt ) {dt=vec ( KalmanObs,6 );} 
    87 <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 &amp;ut ) {} 
    88 <a name="l00043"></a>00043  
    89 <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>() { 
    90 <a name="l00045"></a>00045                 <span class="keyword">static</span> <span class="keywordtype">int</span> ind=0; 
    91 <a name="l00046"></a>00046                 <span class="keyword">static</span> <span class="keywordtype">double</span> dW; <span class="comment">// increase of W</span> 
    92 <a name="l00047"></a>00047                 <span class="keyword">static</span> <span class="keywordtype">double</span> Ww; <span class="comment">// W</span> 
    93 <a name="l00048"></a>00048                 <span class="keywordflow">if</span> ( t&gt;=<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>*ind ) { 
    94 <a name="l00049"></a>00049                         ind++; 
    95 <a name="l00050"></a>00050                         <span class="keywordflow">if</span> ( ind&lt;<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>.length() ) { 
    96 <a name="l00051"></a>00051                                 <span class="comment">//linear increase</span> 
    97 <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 ) { 
    98 <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; 
    99 <a name="l00054"></a>00054                                 } 
    100 <a name="l00055"></a>00055                                 <span class="keywordflow">else</span> { 
    101 <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 ); 
    102 <a name="l00057"></a>00057                                         dW *=125e-6/<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>; 
    103 <a name="l00058"></a>00058                                 } 
    104 <a name="l00059"></a>00059                         } 
    105 <a name="l00060"></a>00060                         <span class="keywordflow">else</span> { 
    106 <a name="l00061"></a>00061                                 dW = 0; 
    107 <a name="l00062"></a>00062                         } 
    108 <a name="l00063"></a>00063                 } 
    109 <a name="l00064"></a>00064                 Ww += dW; 
    110 <a name="l00065"></a>00065                 <span class="comment">//Simulate Dt seconds!</span> 
    111 <a name="l00066"></a>00066                 <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> i=0;i&lt;<a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a>;i++ ) {      pmsmsim_step ( Ww );} 
    112 <a name="l00067"></a>00067         }; 
    113 <a name="l00068"></a>00068  
    114 <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> &amp;L ) { 
    115 <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> ); 
    116 <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> ); 
    117 <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> ); 
    118 <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> ); 
    119 <a name="l00074"></a>00074                 <span class="comment">// log differences</span> 
    120 <a name="l00075"></a>00075                 <span class="keywordflow">if</span> ( <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a> ) { 
    121 <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> ); 
     85<a name="l00042"></a><a class="code" href="classpmsmDS.html#75dd22db70746bfd0c3e685a17bbf34a">00042</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmDS.html#75dd22db70746bfd0c3e685a17bbf34a" title="parse options: &amp;quot;modelu&amp;quot; =&amp;gt; opt_modu=true;">set_options</a> ( <span class="keywordtype">string</span> &amp;opt ) { 
     86<a name="l00043"></a>00043                 <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a> = ( opt.find ( <span class="stringliteral">"modelu"</span> ) ==string::npos ); 
     87<a name="l00044"></a>00044         } 
     88<a name="l00045"></a><a class="code" href="classpmsmDS.html#4e47e678eb56e0b3bd47d801d0995e46">00045</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 &amp;dt ) {dt=vec ( KalmanObs,6 );} 
     89<a name="l00046"></a><a class="code" href="classpmsmDS.html#35e9a2b9d82bd1b71d66778021d1e8b4">00046</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 &amp;ut ) {} 
     90<a name="l00047"></a>00047  
     91<a name="l00048"></a><a class="code" href="classpmsmDS.html#664fc8deff7c141ee7ab826a9abb387b">00048</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>() { 
     92<a name="l00049"></a>00049                 <span class="keyword">static</span> <span class="keywordtype">int</span> ind=0; 
     93<a name="l00050"></a>00050                 <span class="keyword">static</span> <span class="keywordtype">double</span> dW; <span class="comment">// increase of W</span> 
     94<a name="l00051"></a>00051                 <span class="keyword">static</span> <span class="keywordtype">double</span> Ww; <span class="comment">// W</span> 
     95<a name="l00052"></a>00052                 <span class="keyword">static</span> <span class="keywordtype">double</span> Mz; <span class="comment">// W</span> 
     96<a name="l00053"></a>00053                 <span class="keywordflow">if</span> ( t&gt;=<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>*ind ) { 
     97<a name="l00054"></a>00054                         ind++; 
     98<a name="l00055"></a>00055                         <span class="comment">// check omega profile and set dW</span> 
     99<a name="l00056"></a>00056                         <span class="keywordflow">if</span> ( ind&lt;<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a>.length() ) { 
     100<a name="l00057"></a>00057                                 <span class="comment">//linear increase</span> 
     101<a name="l00058"></a>00058                                 <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 ) { 
     102<a name="l00059"></a>00059                                         Ww=<a class="code" href="classpmsmDS.html#ba6fbc63e4353135857bbba8f30e3012" title="Setpoints of omega in timespans given by dt_prof.">profileWw</a> ( 0 ); dW=0.0; 
     103<a name="l00060"></a>00060                                 } 
     104<a name="l00061"></a>00061                                 <span class="keywordflow">else</span> { 
     105<a name="l00062"></a>00062                                         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 ); 
     106<a name="l00063"></a>00063                                         dW *=125e-6/<a class="code" href="classpmsmDS.html#01d9d15490d336b6613368557608f4fe" title="time-step for profiles">dt_prof</a>; 
     107<a name="l00064"></a>00064                                 } 
     108<a name="l00065"></a>00065                         } 
     109<a name="l00066"></a>00066                         <span class="keywordflow">else</span> { 
     110<a name="l00067"></a>00067                                 dW = 0; 
     111<a name="l00068"></a>00068                         } 
     112<a name="l00069"></a>00069                         <span class="comment">// Check Mz profile and set Mz</span> 
     113<a name="l00070"></a>00070                         <span class="keywordflow">if</span> ( ind&lt;<a class="code" href="classpmsmDS.html#817e0b4c12e2c185271740b3ce3e3980" title="Setpoints of Mz in timespans given by dt_prof.">profileMz</a>.length() ) { 
     114<a name="l00071"></a>00071                                 <span class="comment">//sudden increase</span> 
     115<a name="l00072"></a>00072                                 Mz = <a class="code" href="classpmsmDS.html#817e0b4c12e2c185271740b3ce3e3980" title="Setpoints of Mz in timespans given by dt_prof.">profileMz</a>(ind); 
     116<a name="l00073"></a>00073                         } 
     117<a name="l00074"></a>00074                         <span class="keywordflow">else</span> { 
     118<a name="l00075"></a>00075                                 Mz = 0; 
     119<a name="l00076"></a>00076                         } 
    122120<a name="l00077"></a>00077                 } 
    123 <a name="l00078"></a>00078         } 
    124 <a name="l00079"></a>00079  
    125 <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> &amp;L ) { 
    126 <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 )      ); 
    127 <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] ) ); 
    128 <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] ) ); 
    129 <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] ) ); 
    130 <a name="l00085"></a>00085                 <span class="keywordflow">if</span> ( <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a> ) { 
    131 <a name="l00086"></a>00086                         <span class="keywordtype">double</span> sq3=sqrt ( 3.0 ); 
    132 <a name="l00087"></a>00087                         <span class="keywordtype">double</span> ua,ub; 
    133 <a name="l00088"></a>00088                         <span class="keywordtype">double</span> i1=x[0]; 
    134 <a name="l00089"></a>00089                         <span class="keywordtype">double</span> i2=0.5* ( -i1+sq3*x[1] ); 
    135 <a name="l00090"></a>00090                         <span class="keywordtype">double</span> i3=0.5* ( -i1-sq3*x[1] ); 
    136 <a name="l00091"></a>00091                         <span class="keywordtype">double</span> u1=KalmanObs[0]; 
    137 <a name="l00092"></a>00092                         <span class="keywordtype">double</span> u2=0.5* ( -u1+sq3*KalmanObs[1] ); 
    138 <a name="l00093"></a>00093                         <span class="keywordtype">double</span> u3=0.5* ( -u1-sq3*KalmanObs[1] ); 
    139 <a name="l00094"></a>00094  
    140 <a name="l00095"></a>00095                         <span class="keywordtype">double</span> du1=0.7* ( double ( i1&gt;0.1 ) - double ( i1&lt;-0.1 ) ) +0.05*i1; 
    141 <a name="l00096"></a>00096                         <span class="keywordtype">double</span> du2=0.7* ( double ( i2&gt;0.1 ) - double ( i2&lt;-0.1 ) ) +0.05*i2; 
    142 <a name="l00097"></a>00097                         <span class="keywordtype">double</span> du3=0.7* ( double ( i3&gt;0.1 ) - double ( i3&lt;-0.1 ) ) +0.05*i3; 
    143 <a name="l00098"></a>00098                         ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; 
    144 <a name="l00099"></a>00099                         ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; 
    145 <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 ) ); 
    146 <a name="l00101"></a>00101                 } 
    147 <a name="l00102"></a>00102         } 
    148 <a name="l00103"></a>00103  
    149 <a name="l00104"></a>00104         <span class="keywordtype">void</span> set_profile ( <span class="keywordtype">double</span> dt, <span class="keyword">const</span> vec &amp;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;} 
    150 <a name="l00105"></a>00105 }; 
     121<a name="l00078"></a>00078                 Ww += dW; 
     122<a name="l00079"></a>00079                 <span class="comment">//Simulate Dt seconds!</span> 
     123<a name="l00080"></a>00080                 <span class="keywordflow">for</span> ( <span class="keywordtype">int</span> i=0;i&lt;<a class="code" href="classpmsmDS.html#c27956dc82ede2e8dbeb34e6cfa15a40" title="Number of miliseconds per discrete time step.">Dt</a>;i++ ) {      pmsmsim_step ( Ww , Mz);} 
     124<a name="l00081"></a>00081         }; 
     125<a name="l00082"></a>00082  
     126<a name="l00083"></a><a class="code" href="classpmsmDS.html#d75b83468db25c56977ffccff46b0b37">00083</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> &amp;L ) { 
     127<a name="l00084"></a>00084                 <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> ); 
     128<a name="l00085"></a>00085                 L_oy = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ry, <span class="stringliteral">"o"</span> ); 
     129<a name="l00086"></a>00086                 L_ou = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ru, <span class="stringliteral">"o"</span> ); 
     130<a name="l00087"></a>00087                 L_iu = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ru, <span class="stringliteral">"t"</span> ); 
     131<a name="l00088"></a>00088                 <span class="comment">// log differences</span> 
     132<a name="l00089"></a>00089                 <span class="keywordflow">if</span> ( <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a> ) { 
     133<a name="l00090"></a>00090                         L_optu = L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a> ( ru, <span class="stringliteral">"model"</span> ); 
     134<a name="l00091"></a>00091                 } 
     135<a name="l00092"></a>00092         } 
     136<a name="l00093"></a>00093  
     137<a name="l00094"></a><a class="code" href="classpmsmDS.html#21cac6deaac2dd073c982d7bec839b47">00094</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> &amp;L ) { 
     138<a name="l00095"></a>00095                 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 )      ); 
     139<a name="l00096"></a>00096                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_oy, vec_2 ( KalmanObs[2],KalmanObs[3] ) ); 
     140<a name="l00097"></a>00097                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_ou, vec_2 ( KalmanObs[0],KalmanObs[1] ) ); 
     141<a name="l00098"></a>00098                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_iu, vec_2 ( KalmanObs[4],KalmanObs[5] ) ); 
     142<a name="l00099"></a>00099                 <span class="keywordflow">if</span> ( <a class="code" href="classpmsmDS.html#f387fee363e4a8492074fee36bb8421b" title="options for logging, - log predictions of &amp;#39;true&amp;#39; voltage">opt_modu</a> ) { 
     143<a name="l00100"></a>00100                         <span class="keywordtype">double</span> sq3=sqrt ( 3.0 ); 
     144<a name="l00101"></a>00101                         <span class="keywordtype">double</span> ua,ub; 
     145<a name="l00102"></a>00102                         <span class="keywordtype">double</span> i1=x[0]; 
     146<a name="l00103"></a>00103                         <span class="keywordtype">double</span> i2=0.5* ( -i1+sq3*x[1] ); 
     147<a name="l00104"></a>00104                         <span class="keywordtype">double</span> i3=0.5* ( -i1-sq3*x[1] ); 
     148<a name="l00105"></a>00105                         <span class="keywordtype">double</span> u1=KalmanObs[0]; 
     149<a name="l00106"></a>00106                         <span class="keywordtype">double</span> u2=0.5* ( -u1+sq3*KalmanObs[1] ); 
     150<a name="l00107"></a>00107                         <span class="keywordtype">double</span> u3=0.5* ( -u1-sq3*KalmanObs[1] ); 
     151<a name="l00108"></a>00108  
     152<a name="l00109"></a>00109                         <span class="keywordtype">double</span> du1=0.7* ( double ( i1&gt;0.1 ) - double ( i1&lt;-0.1 ) ) +0.05*i1; 
     153<a name="l00110"></a>00110                         <span class="keywordtype">double</span> du2=0.7* ( double ( i2&gt;0.1 ) - double ( i2&lt;-0.1 ) ) +0.05*i2; 
     154<a name="l00111"></a>00111                         <span class="keywordtype">double</span> du3=0.7* ( double ( i3&gt;0.1 ) - double ( i3&lt;-0.1 ) ) +0.05*i3; 
     155<a name="l00112"></a>00112                         ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0; 
     156<a name="l00113"></a>00113                         ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3; 
     157<a name="l00114"></a>00114                         L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a> ( L_optu , vec_2 ( ua,ub ) ); 
     158<a name="l00115"></a>00115                 } 
     159<a name="l00116"></a>00116                  
     160<a name="l00117"></a>00117         } 
     161<a name="l00118"></a>00118  
     162<a name="l00119"></a>00119         <span class="keywordtype">void</span> set_profile ( <span class="keywordtype">double</span> dt, <span class="keyword">const</span> vec &amp;Ww, <span class="keyword">const</span> vec &amp;Mz ) {<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; <a class="code" href="classpmsmDS.html#817e0b4c12e2c185271740b3ce3e3980" title="Setpoints of Mz in timespans given by dt_prof.">profileMz</a>=Mz;} 
     163<a name="l00120"></a>00120 }; 
     164<a name="l00121"></a>00121  
     165<a name="l00123"></a><a class="code" href="classpmsmCRB.html">00123</a> <span class="keyword">class </span><a class="code" href="classpmsmCRB.html" title="This class behaves like BM but it is evaluating EKF.">pmsmCRB</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1EKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a>{ 
     166<a name="l00124"></a>00124         <span class="keyword">protected</span>: 
     167<a name="l00125"></a>00125                 vec interr; 
     168<a name="l00126"></a>00126                 vec old_true; 
     169<a name="l00127"></a>00127                 vec secder; 
     170<a name="l00128"></a>00128                 <span class="keywordtype">int</span> L_CRB; 
     171<a name="l00129"></a>00129                 <span class="keywordtype">int</span> L_err; 
     172<a name="l00130"></a>00130                 <span class="keywordtype">int</span> L_sec; 
     173<a name="l00131"></a>00131         <span class="keyword">public</span>: 
     174<a name="l00133"></a><a class="code" href="classpmsmCRB.html#81c85cc94deabb48f8fdd0a22e34aa14">00133</a>         <a class="code" href="classpmsmCRB.html#81c85cc94deabb48f8fdd0a22e34aa14" title="constructor">pmsmCRB</a>():<a class="code" href="classbdm_1_1EKFCh.html" title="Extended Kalman Filter in Square root.">EKFCh</a>(){old_true=zeros(6);} 
     175<a name="l00134"></a>00134  
     176<a name="l00135"></a><a class="code" href="classpmsmCRB.html#13749c201329922511369cdbe2f0f50a">00135</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmCRB.html#13749c201329922511369cdbe2f0f50a" title="Here dt = [yt;ut] of appropriate dimensions.">bayes</a>(<span class="keyword">const</span> vec &amp;dt){ 
     177<a name="l00136"></a>00136                 <span class="comment">//assume we know state exactly:</span> 
     178<a name="l00137"></a>00137                 vec true_state=vec(x,4); <span class="comment">// read from pmsm</span> 
     179<a name="l00138"></a>00138                 <a class="code" href="classbdm_1_1Kalman.html#383f329ff18bbe219254c8b3b916f40d" title="posterior density on $x_t$">est</a>.<a class="code" href="classbdm_1_1enorm.html#8915d68ae76ad185c8c314f960a63f0c">set_mu</a>(true_state); 
     180<a name="l00139"></a>00139                  
     181<a name="l00140"></a>00140                 <span class="comment">//integration error</span> 
     182<a name="l00141"></a>00141                 old_true(4)=KalmanObs[4]; 
     183<a name="l00142"></a>00142                 old_true(5)=KalmanObs[5];<span class="comment">// add U</span> 
     184<a name="l00143"></a>00143                 interr = (true_state - <a class="code" href="classbdm_1_1EKFCh.html#e1e895f994398a55bc425551fc275ba3" title="Internal Model f(x,u).">pfxu</a>-&gt;<a class="code" href="classbdm_1_1diffbifn.html#188f31066bd72e1bf0ddacd1eb0e6af3" title="Evaluates  (VS: Do we really need common eval? ).">eval</a>(old_true)); 
     185<a name="l00144"></a>00144                  
     186<a name="l00145"></a>00145                 <span class="comment">//second derivative</span> 
     187<a name="l00146"></a>00146                 <a class="code" href="classIMpmsm2o.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm2o</a>* pf = <span class="keyword">dynamic_cast&lt;</span><a class="code" href="classIMpmsm2o.html" title="State evolution model for a PMSM drive and its derivative with respect to .">IMpmsm2o</a>*<span class="keyword">&gt;</span>(<a class="code" href="classbdm_1_1EKFCh.html#e1e895f994398a55bc425551fc275ba3" title="Internal Model f(x,u).">pfxu</a>); 
     188<a name="l00147"></a>00147                 <span class="keywordflow">if</span> (pf) {secder=pf-&gt;<a class="code" href="classIMpmsm2o.html#cf66e75d9e532b0a1c2135b34ac57c89" title="eval 2nd order Taylor expansion, MUST be used only as a follow up AFTER eval()!!">eval2o</a>(vec_2(KalmanObs[4],KalmanObs[5]));} 
     189<a name="l00148"></a>00148                                  
     190<a name="l00149"></a>00149                 <a class="code" href="classpmsmCRB.html#13749c201329922511369cdbe2f0f50a" title="Here dt = [yt;ut] of appropriate dimensions.">EKFCh::bayes</a>(dt); 
     191<a name="l00150"></a>00150                 old_true.set_subvector(0,true_state); 
     192<a name="l00151"></a>00151         } 
     193<a name="l00152"></a>00152          
     194<a name="l00153"></a><a class="code" href="classpmsmCRB.html#b50294749e1be33687e852ea186815ad">00153</a>         <span class="keywordtype">void</span> <a class="code" href="classpmsmCRB.html#b50294749e1be33687e852ea186815ad" title="Add all logged variables to a logger.">log_add</a>(<a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &amp;L, <span class="keyword">const</span> <span class="keywordtype">string</span> &amp;name=<span class="stringliteral">""</span> ){ 
     195<a name="l00154"></a>00154                 L_CRB=L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a>(rx,<span class="stringliteral">"crb"</span>); 
     196<a name="l00155"></a>00155                 L_err=L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a>(rx,<span class="stringliteral">"err"</span>); 
     197<a name="l00156"></a>00156                 L_sec=L.<a class="code" href="classbdm_1_1logger.html#cfb4807e20b3d00f3d33e55ada528dc1">add</a>(rx,<span class="stringliteral">"d2"</span>); 
     198<a name="l00157"></a>00157         } 
     199<a name="l00158"></a>00158         <span class="keywordtype">void</span> logit(<a class="code" href="classbdm_1_1logger.html" title="Class for storing results (and semi-results) of an experiment.">logger</a> &amp;L){ 
     200<a name="l00159"></a>00159                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a>(L_err, interr); 
     201<a name="l00160"></a>00160                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a>(L_CRB,diag(<a class="code" href="classbdm_1_1Kalman.html#383f329ff18bbe219254c8b3b916f40d" title="posterior density on $x_t$">est</a>.<a class="code" href="classbdm_1_1enorm.html#81d81e35e57c9f194bde248e3affcf1f">_R</a>().<a class="code" href="classchmat.html#045addd685f8d978efda232d7dcb070e" title="Conversion to full matrix.">to_mat</a>())); 
     202<a name="l00161"></a>00161                 L.<a class="code" href="classbdm_1_1logger.html#397c014b0aaf3581516e2a105d26a5c9" title="log this vector">logit</a>(L_sec,secder); 
     203<a name="l00162"></a>00162         } 
     204<a name="l00163"></a>00163 }; 
    151205</pre></div></div> 
    152 <hr size="1"><address style="text-align: right;"><small>Generated on Thu Apr 9 14:33:20 2009 for mixpp by&nbsp; 
     206<hr size="1"><address style="text-align: right;"><small>Generated on Thu Apr 23 21:06:42 2009 for mixpp by&nbsp; 
    153207<a href="http://www.doxygen.org/index.html"> 
    154208<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address>