Changeset 62 for tests/pmsm.h

Timestamp:

04/06/08 20:14:56 (16 years ago)

Author:

smidl

Message:

nova simulace s EKFfixed a novy EKF na plnych maticich

Files:

• tests/pmsm.h (modified) (4 diffs)

tests/pmsm.h

@@ -10 +10 @@
 RV ry ( "7 8", "{oia, oib}", ones_i ( 2 ) ,zeros_i ( 2 ));
 
-//! State evolution model for a PMSM drive and its derivative with respect to $x$
+//! State evolution model for a PMSM drive and its derivative with respect to \$x\$
 class IMpmsm : public diffbifn {
         double Rs, Ls, dt, Ypm, kp, p,  J, Mz;
 
 public:
-        IMpmsm() :diffbifn ( rx, ru ) {};
+        IMpmsm() :diffbifn (rx.count(), rx, ru ) {};
         //! Set mechanical and electrical variables
         void set_parameters ( double Rs0, double Ls0, double dt0, double Ypm0, double kp0, double p0, double J0, double Mz0 ) {Rs=Rs0; Ls=Ls0; dt=dt0; Ypm=Ypm0; kp=kp0; p=p0; J=J0; Mz=Mz0;}
@@ -34 +34 @@
                 xk ( 1 ) = ( 1.0- Rs/Ls*dt ) * ibm - Ypm/Ls*dt*omm * cos ( thm ) + ubm*dt/Ls;
                 //om
-                xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz;
+                xk ( 2 ) = omm;// + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz;
                 //th
                 xk ( 3 ) = rem(thm + omm*dt,2*pi); // <0..2pi>
@@ -52 +52 @@
                 A ( 1,2 ) = -Ypm/Ls*dt* cos ( thm ); A ( 1,3 ) = Ypm/Ls*dt*omm * ( sin ( thm ) );
                 // d om
-                A ( 2,0 ) = kp*p*p * Ypm/J*dt* ( - sin ( thm ) );
-                A ( 2,1 ) = kp*p*p * Ypm/J*dt* ( cos ( thm ) );
+                A ( 2,0 ) = 0.0;//kp*p*p * Ypm/J*dt* ( - sin ( thm ) );
+                A ( 2,1 ) = 0.0;//kp*p*p * Ypm/J*dt* ( cos ( thm ) );
                 A ( 2,2 ) = 1.0;
-                A ( 2,3 ) = kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );
+                A ( 2,3 ) = 0.0;//kp*p*p * Ypm/J*dt* ( -ibm * sin ( thm )-iam * cos ( thm ) );
                 // d th
                 A ( 3,0 ) = 0.0; A ( 3,1 ) = 0.0; A ( 3,2 ) = dt; A ( 3,3 ) = 1.0;
@@ -64 +64 @@
 };
 
-//! Observation model for PMSM drive and its derivative with respect to $x$
+//! Observation model for PMSM drive and its derivative with respect to \$x\$
 class OMpmsm: public diffbifn {
 public:
-        OMpmsm() :diffbifn ( rx,ru ) {};
+        OMpmsm() :diffbifn (2, rx,ru ) {};
 
         vec eval ( const vec &x0, const vec &u0 ) {