Changeset 342 for applications

Timestamp:

05/14/09 17:16:45 (16 years ago)

Author:

smidl

Message:

Barcelona

Location:

applications/pmsm

Files:

• Barcelona/MM.cfg (copied) (copied from applications/pmsm/Barcelona/Mz.cfg) (6 diffs)
• Barcelona/Mz.cfg (modified) (8 diffs)
• Barcelona/QandR.m (modified) (1 diff)
• pmsmDS.h (modified) (4 diffs)
• pmsm_estim.cpp (modified) (1 diff)
• pmsm_ui.h (modified) (1 diff)

applications/pmsm/Barcelona/MM.cfg

@@ -2 +2 @@
 
 experiment={
-        ndat = 90000;
+        ndat = 60000;
 };
 
@@ -9 +9 @@
         params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
         tstep = 1.0; // steps for profile in [s]
-        profileW = [1, 5, 10, 10, 3, 0, -3, -10, -10, 3, 0];
-        profileM = [0, 10, 0, 0, 10, 0, 10, 0, 10, 0];
+        profileW = [1, 5, 10, 10, 10, 3, 0, 0];
+        profileM = [0, 0, 10, 0, 10, 0, 10, 0];
 };
 
-estimator = (
-         {type="EKF";
-         IM = {type="pmsmIM";
-                params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
-                variant = "Mz";
-         };
-         OM = {type="pmsmOM";};
-         dQ=[0.17, 0.17, 0.004, 1e-6, 1e-1];
-         dR=[0.025, 0.025];
-         dP0=[1., 1., 1., 1., 1e-2];
-         //connect
-         drv = {type="rv"; names=["o_ia","o_ib","o_ua","o_ub"];};  // observed u
-         //drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];}; // true u
-         rv = {type="rv"; names=["EKFMz"]; sizes=[5];};
-         options="logll";
-         },
-                                 //
-         {type="EKF";
+E1={type="EKF";
          IM = {type="pmsmIM";
                 params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
@@ -36 +19 @@
          };
          OM = {type="pmsmOM";};
-         dQ=[0.17, 0.17, 0.00004, 1e-8];
+         dQ=[1.7, 1.7, 0.004, 1e-5];
          dR=[0.025, 0.025];
          dP0=[1., 1., 1., 1.];
@@ -44 +27 @@
          rv = {type="rv"; names=["EKF"]; sizes=[4];};
          options="logll";
-         },
-                                                                 //
-         {type="EKF";
+         };
+E2= {type="EKF";
          IM = {type="pmsmIM";
                 params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
@@ -52 +34 @@
          };
          OM = {type="pmsmOM";};
-         dQ=[0.17, 0.17, 0.004, 1e-5];
+         dQ=[1.7, 1.7, 0.004, 1e-5];
          dR=[0.025, 0.025];
          dP0=[1., 1., 1., 1.];
@@ -60 +42 @@
          rv = {type="rv"; names=["EKFw"]; sizes=[4];};
          options="logll";
-         }
-
-
-);
+         };
+         
+estimator = (
+        {type="internal";path="E1";},
+        {type="internal";path="E2";},
+        {type="MultiModel";
+         models=(
+                {type="internal";path="E1";},
+                {type="internal";path="E2";});
+                options="logll";
+        });
         
 logger= {
-        type="dirfilelog";
+`       type="dirfilelog";
         maxlen = 1;
-        dirname = "exp/Mz";
+        dirname = "MM";
 };

applications/pmsm/Barcelona/Mz.cfg

@@ -2 +2 @@
 
 experiment={
-        ndat = 90000;
+        ndat = 120000;
 };
 
@@ -9 +9 @@
         params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
         tstep = 1.0; // steps for profile in [s]
-        profileW = [1, 5, 10, 10, 3, 0, -3, -10, -10, 3, 0];
-        profileM = [0, 10, 0, 0, 10, 0, 10, 0, 10, 0];
+        profileW = [0, 1, 5, 10, 10, 3, 0, 0, -3, -3, -10, -10, -4, 0, 0];
+        profileM = [0, 10, 0, 0, 10, 0, 0, 0, 0, 0, 10, 0, 0];
+        options = "modelu";
 };
 
@@ -20 +21 @@
          };
          OM = {type="pmsmOM";};
-         dQ=[0.17, 0.17, 0.004, 1e-6, 1e-1];
+/*       dQ : 
+        {
+        elements = [ 0.001738643873, 0.001738643873, 1.00000004, 1.562501e-08, 1 ];
+        cols = 4;
+        };*/
+        dQ=[0.0017, 0.0017, 0.00000004, 1e-14, 1e-1];
          dR=[0.025, 0.025];
-         dP0=[1., 1., 1., 1., 1e-2];
+         dP0=[0., 0., 0., 0., 0.];
          //connect
          drv = {type="rv"; names=["o_ia","o_ib","o_ua","o_ub"];};  // observed u
          //drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];}; // true u
          rv = {type="rv"; names=["EKFMz"]; sizes=[5];};
-         options="logll";
+         options="logll,logbounds";
          },
                                  //
@@ -36 +42 @@
          };
          OM = {type="pmsmOM";};
-         dQ=[0.17, 0.17, 0.00004, 1e-8];
+         dQ=[0.017, 0.017, .1, 1e-6];
          dR=[0.025, 0.025];
          dP0=[1., 1., 1., 1.];
@@ -43 +49 @@
          //drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];}; // true u
          rv = {type="rv"; names=["EKF"]; sizes=[4];};
-         options="logll";
+         options="logll,logbounds";
          },
                                                                  //
@@ -52 +58 @@
          };
          OM = {type="pmsmOM";};
-         dQ=[0.17, 0.17, 0.004, 1e-5];
+         dQ=[0.017, 0.017, .1, 1e-6];//[0.017, 0.017, 100., 1e-4];
          dR=[0.025, 0.025];
          dP0=[1., 1., 1., 1.];
@@ -59 +65 @@
          //drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];}; // true u
          rv = {type="rv"; names=["EKFw"]; sizes=[4];};
-         options="logll";
+         options="logll,logbounds";
+         },
+
+         {type="pmsmCRBMz";
+         IM = {type="pmsmIM";
+                params = {type = "external";filename = "../cfg/zcu.cfg";path = "pmsm107";};
+                variant = "Mz";
+         };
+         OM = {type="pmsmOM";};
+        dQ=[0.0017, 0.0017, 0.00000004, 1e-14, 1e-1];
+//       dQ=[0.017, 0.017, .1, 1e-6];//[0.017, 0.017, 100., 1e-4];
+         dR=[0.025, 0.025];
+         dP0=[0., 0., 0., 0., 0.];
+         //connect
+         drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];};  // observed u
+         //drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];}; // true u
+         rv = {type="rv"; names=["CRB"]; sizes=[5];};
+         options="logll,logbounds";
          }
 
@@ -67 +90 @@
 logger= {
         type="dirfilelog";
-        maxlen = 1;
+        maxlen = 100;
         dirname = "exp/Mz";
 };

applications/pmsm/Barcelona/QandR.m

@@ -30 +30 @@
 R11 = (istep+istep)^2/12
 
-%diffs
-Tl=10;
-th=[0 pi/2 pi];
+% %diffs
+ Tl=10;
+% th=[0 pi/2 pi];
+% dom = p/J*Tl*dt
+% dia = Fmag/Ls*dt*dom*sin(th)
+% dib = -Fmag/Ls*dt*dom*cos(th)
+% dth = dom*dt
+% 
+% % from om=0;
+% dom2= dom + kp*p*p * Fmag/J*dt* ( dib .* cos ( th +dth)- dia .* sin ( th +dth) ) + dom
+% dia = Fmag/Ls*dt*dom2.*sin(th+dth)
+% dib = -Fmag/Ls*dt*dom2.*cos(th+dth)
+% dth = dom2*dt
+% 
+
 dom = p/J*Tl*dt
-dia = Fmag/Ls*dt*dom*sin(th)
-dib = -Fmag/Ls*dt*dom*cos(th)
-dth = dom*dt
-
-% from om=0;
-dom2= dom + kp*p*p * Fmag/J*dt* ( dib .* cos ( th +dth)- dia .* sin ( th +dth) ) + dom
-dia = Fmag/Ls*dt*dom2.*sin(th+dth)
-dib = -Fmag/Ls*dt*dom2.*cos(th+dth)
-dth = dom2*dt
+Qrat=[Fmag/Ls*dt,Fmag/Ls*dt, 1, dt].^2

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 o_om o_th }" );}
+        pmsmDS ()   {Dt=125; Drv=RV ( "{o_ua o_ub o_ia o_ib t_ua t_ub o_om o_th Mz }" );}
         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 );
@@ -41 +41 @@
         //! parse options: "modelu" => opt_modu=true;
         void set_options ( string &opt ) {
-                opt_modu = ( opt.find ( "modelu" ) ==string::npos );
-        }
-        void getdata ( vec &dt ) {dt.set_subvector(0,vec ( KalmanObs,6 ));dt(6)=x[2];dt(7)=x[3];}
+                opt_modu = ( opt.find ( "modelu" ) !=string::npos );
+        }
+        void getdata ( vec &dt ) {dt.set_subvector(0,vec ( KalmanObs,6 ));dt(6)=x[2];dt(7)=x[3];dt(8)=x[8];}
         void write ( vec &ut ) {}
 
@@ -82 +82 @@
                 
                 //discretization
-                double ustep=0.6;
+                double ustep=1.2;
                 KalmanObs [ 0 ] = ustep*itpp::round( KalmanObs [ 0 ]/ ustep) ;
                 KalmanObs [ 1 ] = ustep*itpp::round(KalmanObs [ 1 ]/ ustep);
@@ -177 +177 @@
         }
 };
+
+//! This class behaves like BM but it is evaluating EKF
+class pmsmCRBMz : public EKFfull{
+        protected:
+                int L_CRB;
+        public:
+        //! constructor
+                pmsmCRBMz():EKFfull(){}
+
+                void bayes(const vec &dt){
+//assume we know state exactly:
+                        vec true_state(5);
+                        true_state.set_subvector(0,vec(x,4)); // read from pmsm
+                        true_state(4)=x[8];
+                        
+                        E.set_mu(true_state);
+                        mu = true_state;
+                        //hack for ut
+                        EKFfull::bayes(dt);
+                }
+        
+                void log_add(logger &L, const string &name="" ){
+                        L_CRB=L.add(concat(rx,RV("Mz",1,0)),"crb");
+                }
+                void logit(logger &L){
+                        L.logit(L_CRB,diag(_R()));
+                }
+};

applications/pmsm/pmsm_estim.cpp

@@ -10 +10 @@
 #include "stat/loggers_ui.h"
 #include "estim/KF_ui.h"
+#include "stat/libDS_ui.h"
 
 using namespace bdm;

applications/pmsm/pmsm_ui.h

@@ -127 +127 @@
 };
 UIREGISTER ( UIpmsmCRB );
+
+class UIpmsmCRBMz: public UIbuilder {
+        public:
+                UIpmsmCRBMz():UIbuilder("pmsmCRBMz"){};
+                bdmroot* build ( Setting &S ) const {
+                        diffbifn* IM; UIbuild(S["IM"],IM);
+                        diffbifn* OM; UIbuild(S["OM"],OM);
+                
+                //parameters
+                        pmsmCRBMz* E; E=new pmsmCRBMz;
+                
+                //statistics
+                        int dim=IM->dimension();
+                        vec mu0;
+                        mat P0;
+                        if (S.exists("mu0")){mu0=getvec(S["mu0"]);}else{mu0=zeros(dim);};
+                        if (S.exists("dP0")){P0=diag(getvec(S["dP0"]));}else{
+                                if (S.exists("P0")){mu0=getmat(S["P0"],dim);}else{P0=eye(dim);};
+                        }
+                        E->set_statistics(mu0,P0);
+                
+                        E->set_parameters(IM, OM, diag(getvec(S["dQ"])), diag(getvec(S["dR"])));
+
+                //connect
+                        RV* drv; UIbuild(S["drv"],drv);
+                        E->set_drv(*drv);
+                        RV* rv; UIbuild(S["rv"],rv);
+                        E->set_rv(*rv);
+                        return E;
+                }       
+};
+UIREGISTER ( UIpmsmCRBMz );