Changeset 352

Timestamp:

06/02/09 10:04:12 (15 years ago)

Author:

smidl

Message:

Barcelona

Location:

applications/pmsm

Files:

• Barcelona/Mz_mx.cfg (modified) (3 diffs)
• Barcelona/Mz_mx.m (modified) (1 diff)
• Barcelona/pwm.m (modified) (1 diff)
• pmsm_ui.h (modified) (1 diff)

applications/pmsm/Barcelona/Mz_mx.cfg

@@ -21 +21 @@
          };
          OM = {type="pmsmOM";};
-/*       dQ : 
-        {
-        elements = [ 0.001738643873, 0.001738643873, 1.00000004, 1.562501e-08, 1 ];
-        cols = 4;
-        };*/
-        dQ=[0.017, 0.017, 0.00000004, 1e-14, 1e-1];
-         dR=[0.025, 0.025];
+     dQ=[0.002, 0.002, 5e-7, 3e-13, 1e-1];
+         dR=[0.0025, 0.0025];
          dP0=[0., 0., 0., 0., 0.];
          //connect
@@ -43 +38 @@
          };
          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];
+     dQ=[0.002, 0.002, 5e-7, 3e-13, 1e-1];
+         dR=[0.0025, 0.0025];
          dP0=[0., 0., 0., 0., 0.];
          //connect
@@ -60 +54 @@
          };
          OM = {type="pmsmOM";};
-        dQ=[0.0017, 0.0017, 1.00000004, 1e-8];
-//       dQ=[0.017, 0.017, .1, 1e-6];//[0.017, 0.017, 100., 1e-4];
+     dQ=[0.002, 0.002, 0.3, 5e-9];
          dR=[0.025, 0.025];
-         dP0=[0., 0., 0., 0., 0.];
+         dP0=[0., 0., 0., 0.];
          //connect
          drv = {type="rv"; names=["o_ia","o_ib","t_ua","t_ub"];};  // observed u

applications/pmsm/Barcelona/Mz_mx.m

@@ -1 @@
-M=pmsm_estim_mex('Mz_mx.cfg');
+if 0
+    M=pmsm_estim_mex('Mz_mx.cfg');
+    save Mz M
+else
+    load Mz
+end
+
+time = 0.000125*[0:size(M.crbzth,1)-1];
 
 figure(1)
 subplot(2,1,1);
-plot(M.x(:,3));
+plot(time,M.xom);
+grid on
+title('Simulated rotor speed profile');
 
 subplot(2,1,2);
 hold off
-plot(M.crbz(:,4));
+plot(time,M.crbzth);
 hold on
-plot(M.crb(:,4),'r');
+plot(time,M.crbth,'r--');
+grid on
+legend('EKF TL','EKF')
+title('Cramer-Rao bounds on rotor position')
 
 figure(2)
 hold off
-plot(M.crbz(:,3));
+plot(time,M.crbzom);
 hold on
-plot(M.crb(:,3),'r');
+plot(time,M.crbom,'r');
 
-ind=100:size(M.crb,1)-100;
-[min(M.crb(ind,3)), max(M.crb(ind,3))]
-[min(M.crbz(ind,3)), max(M.crbz(ind,3))]
+ind=100:size(M.crbth,1)-100;
+[min(M.crbom(ind)), max(M.crbom(ind))]
+[min(M.crbzom(ind)), max(M.crbzom(ind))]
+

applications/pmsm/Barcelona/pwm.m

@@ -38 +38 @@
 
 bnds = [max(abs(M.modelua-M.tua)), max(abs(M.modelub-M.tub)) 0 0];
-Qpwm = (dt/Ls)^2*(2*bnds).^2/12
+Qpwm = (dt/Ls)^2*[1 1 0 0]%(2*bnds).^2/12
 
 %%%%%%%%%%%%%%% Integration

applications/pmsm/pmsm_ui.h

@@ -113 +113 @@
                         mat P0;
                         if (S.exists("mu0")){mu0=getvec(S["mu0"]);}else{mu0=zeros(dim);};
-                        if (S.exists("P0")){mu0=getmat(S["P0"],dim);}else{P0=eye(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);