11 | | profileW = [1, 5, 63, 63, 31, 31, 10, 10]; |
12 | | profileM = [0, 0, 0, 0, 0, 0, 0, 0]; |
13 | | opt = "modelu"; |
| 11 | profileW = [1, 5, 10, 10, 10, 3, 0, 0]; |
| 12 | profileM = [0, 10, 0, 0, 10, 0, 10, 0]; |
23 | | dQ=[0.013, 0.013, 0.0155, 1e-7]; |
24 | | dR=[0.0001, 0.0001]; |
| 22 | dQ=[0.17, 0.17, 0.4, 1e-6, 1e-1]; |
| 23 | dR=[0.1, 0.1]; |
| 24 | dP0=[1., 1., 1., 1., 1e-2]; |
| 25 | //connect |
| 26 | drv = {type="rv"; names=["o_ia","o_ib","o_ua","o_ub"];}; // observed u |
| 27 | //drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];}; // true u |
| 28 | rv = {type="rv"; names=["EKFMz"]; sizes=[5];}; |
| 29 | //options="logbounds"; |
| 30 | }, |
| 31 | {type="EKF"; |
| 32 | IM = {type="pmsmIM"; |
| 33 | params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";}; |
| 34 | variant = "Stat"; |
| 35 | }; |
| 36 | OM = {type="pmsmOM";}; |
| 37 | dQ=[0.17, 0.17, 0.4, 1e-2]; |
| 38 | dR=[0.1, 0.1]; |
| 39 | dP0=[1., 1., 1., 1.]; |
29 | | options="logbounds"; |
30 | | }, |
31 | | /////////// |
32 | | {type="pmsmCRB"; |
33 | | IM = {type="pmsmIM"; |
34 | | params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";}; |
35 | | variant = "2o";// 2nd order Taylor |
36 | | }; |
37 | | OM = {type="pmsmOM";}; |
38 | | dQ=[0.0013, 0.0013, 0.000155, 1e-11]; |
39 | | dR=[0.01, 0.01]; |
40 | | //connect |
41 | | drv = {type="rv"; names=["o_ia","o_ib","o_ua","o_ub"];}; // observed u |
42 | | //drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];}; // true u |
43 | | rv = {type="rv"; names=["EKF"]; sizes=[4];}; |
| 44 | //options="logbounds"; |