Changeset 686 for applications/pmsm

Timestamp:

10/29/09 23:24:04 (15 years ago)

Author:

smidl

Message:

pmsm using new syntax for bayes

Location:

applications/pmsm

Files:

• cfg/uni_test.cfg (modified) (2 diffs)
• filters.h (modified) (2 diffs)
• pmsmDS.h (modified) (3 diffs)
• pmsm_estim.cpp (modified) (3 diffs)

applications/pmsm/cfg/uni_test.cfg

@@ -5 +5 @@
 };
 
-system0= "system@cfg/sim.cfg";
+system= "system@cfg/sim.cfg";
 
-system= {
+system0= {
         class = "ITppFileDS";
         filename = "Barcelona/tec0009ALL.it";
@@ -32 +32 @@
         prior = {class ="euni"; low = [-1,-1,-1,-1]; high=[1,1,1,1];};
         //connect
-        drv = {class="RV"; names=("o_ia","o_ib","o_ua","o_ub");};
+        yrv = {class="RV"; names=("o_ia","o_ib");};
+        rvc = {class="RV"; names=("o_ua","o_ub");};
         rv = {class="RV"; names=("e_ia","e_ib","e_om","e_th");};
         options = "logbounds";

applications/pmsm/filters.h

@@ -141 +141 @@
                 validate();
         }
-        void bayes ( const vec& data ) {
+        void bayes ( const vec &yt, const vec &cond ) {
                 const vec &mu = posterior().mean();
                 const vec &Var =  posterior().variance();
@@ -163 +163 @@
 #pragma parallel for
                 for ( i = 0; i < n; i++ ) {
-                        BMs ( i ) -> condition ( pf->posterior()._sample ( i ) );
-                        BMs ( i ) -> bayes ( data );
+                        BMs ( i ) -> bayes ( yt, concat(cond, pf->posterior()._sample ( i )) );
                         lls ( i ) += BMs ( i )->_ll();
                 }

applications/pmsm/pmsmDS.h

@@ -38 +38 @@
 public:
     //! Constructor with fixed sampling period
-    pmsmDS ()
+    pmsmDS () : DS()
     {
         Dt=125;
-        Drv=RV ( "{o_ua o_ub o_ia o_ib t_ua t_ub o_om o_th Mz }" );
+        Yrv=RV ( "{o_ua o_ub o_ia o_ib t_ua t_ub o_om o_th Mz }" );
+                ytsize = Yrv._dsize();
+                Drv = Yrv;
     }
     void set_parameters ( double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0 )
@@ -210 +212 @@
         static vec umin(2);
                 vec u(2);
-                vec &mu = est->_mu();
+                vec &mu = est._mu();
                 //assume we know state exactly:
         vec true_state=vec(x,4); // read from pmsm
@@ -312 +314 @@
         true_state(4)=x[8];
 
-        vec &mu = est->_mu();
+        vec &mu = est._mu();
         mu = true_state;
         //hack for ut

applications/pmsm/pmsm_estim.cpp

@@ -44 +44 @@
         vec dt=zeros ( pDS->_drv()._dsize() );   //data variable
         Array<datalink*> Dls(nE); 
+        Array<datalink*> Dlsc(nE); 
         for (int i=0; i<nE; i++){
-                Dls(i)=new datalink( Es(i)->_drv(),pDS->_drv() ); //datalink between a datasource and estimator
+                Dls(i)=new datalink( Es(i)->_yrv(),pDS->_drv() ); //datalink between a datasource and estimator
+                Dlsc(i)=new datalink( Es(i)->_rvc(),pDS->_drv() ); //datalink between a datasource and estimator
         }
         
@@ -57 +59 @@
                 // Estimators
                 for (int i=0; i<nE; i++){
-                        Es(i)->bayes ( Dls(i)->pushdown ( dt ) );               // update estimates
+                        Es(i)->bayes ( Dls(i)->pushdown ( dt ), Dlsc(i)->pushdown(dt) );                // update estimates
 
                         Es(i)->log_write ();
@@ -69 +71 @@
         for (int i=0; i<nE; i++){
                 delete Dls(i);
+                delete Dlsc(i);
         }
         return 0;