Changeset 342 for applications/pmsm/pmsmDS.h

Timestamp:

05/14/09 17:16:45 (15 years ago)

Author:

smidl

Message:

Barcelona

Files:

• applications/pmsm/pmsmDS.h (modified) (4 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 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()));
+                }
+};