Changeset 332 for applications/pmsm/pmsmDS.h

Timestamp:

04/29/09 20:14:56 (15 years ago)

Author:

smidl

Message:

pmsm experiments for Barcelona
- improved model of voltage
- new Mz experiment

Files:

• applications/pmsm/pmsmDS.h (modified) (6 diffs)

applications/pmsm/pmsmDS.h

@@ -35 +35 @@
 public:
         //! Constructor with fixed sampling period
-        pmsmDS ()   {Dt=125; Drv=RV ( "{o_ua o_ub o_ia o_ib t_ua t_ub }" );}
+        pmsmDS ()   {Dt=125; Drv=RV ( "{o_ua o_ub o_ia o_ib t_ua t_ub o_om o_th }" );}
         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 );
@@ -43 +43 @@
                 opt_modu = ( opt.find ( "modelu" ) ==string::npos );
         }
-        void getdata ( vec &dt ) {dt=vec ( KalmanObs,6 );}
+        void getdata ( vec &dt ) {dt.set_subvector(0,vec ( KalmanObs,6 ));dt(6)=x[2];dt(7)=x[3];}
         void write ( vec &ut ) {}
 
@@ -80 +80 @@
                 for ( int i=0;i<Dt;i++ ) {      pmsmsim_step ( Ww , Mz);}
 //              for ( int i=0;i<Dt;i++ ) {      pmsmsim_noreg_step ( Ww , Mz);}
+                
+                //discretization
+                double ustep=0.6;
+                KalmanObs [ 0 ] = ustep*itpp::round( KalmanObs [ 0 ]/ ustep) ;
+                KalmanObs [ 1 ] = ustep*itpp::round(KalmanObs [ 1 ]/ ustep);
+                double istep=0.085;
+                KalmanObs [ 2 ] = istep*itpp::round( KalmanObs [ 2 ]/ istep) ;
+                KalmanObs [ 3 ] = istep*itpp::round(KalmanObs [ 3 ]/ istep);
+
         };
 
@@ -108 +117 @@
                         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;
+                        double du1=1.4* ( double ( i1>0.3 ) - double ( i1<-0.3 ) ) +0.2*i1;
+                        double du2=1.4* ( double ( i2>0.3 ) - double ( i2<-0.3 ) ) +0.2*i2;
+                        double du3=1.4* ( double ( i3>0.3 ) - double ( i3<-0.3 ) ) +0.2*i3;
                         ua = ( 2.0* ( u1-du1 )- ( u2-du2 )- ( u3-du3 ) ) /3.0;
                         ub = ( ( u2-du2 )- ( u3-du3 ) ) /sq3;
@@ -135 +144 @@
 
         void bayes(const vec &dt){
+                static vec umin(2);
+                vec u(2); 
                 //assume we know state exactly:
                 vec true_state=vec(x,4); // read from pmsm
@@ -142 +153 @@
                 old_true(4)=KalmanObs[4];
                 old_true(5)=KalmanObs[5];// add U
+                u(0) = KalmanObs[0]; // use the required value for derivatives
+                u(1) = KalmanObs[1];
                 interr = (true_state - pfxu->eval(old_true));
                 
                 //second derivative
                 IMpmsm2o* pf = dynamic_cast<IMpmsm2o*>(pfxu);
-                if (pf) {secder=pf->eval2o(vec_2(KalmanObs[4],KalmanObs[5]));}
+                if (pf) {secder=pf->eval2o(u-umin);}
                                 
+                umin =u;
                 EKFfull::bayes(dt);
                 old_true.set_subvector(0,true_state);