| | 402 | \begin_layout Subsection |
| | 403 | Test system |
| | 404 | \end_layout |
| | 405 | |
| | 406 | \begin_layout Standard |
| | 407 | A real PMSM system on which the algorithms will be tested has parameters: |
| | 408 | \end_layout |
| | 409 | |
| | 410 | \begin_layout Standard |
| | 411 | \begin_inset Formula \begin{eqnarray*} |
| | 412 | R_{s} & = & 0.28;\\ |
| | 413 | L_{s} & = & 0.003465;\\ |
| | 414 | \Psi_{pm} & = & 0.1989;\\ |
| | 415 | k_{p} & = & 1.5\\ |
| | 416 | p & = & 4.0;\\ |
| | 417 | J & = & 0.04;\\ |
| | 418 | \Delta t & = & 0.000125\end{eqnarray*} |
| | 419 | |
| | 420 | \end_inset |
| | 421 | |
| | 422 | which yields |
| | 423 | \begin_inset Formula \begin{eqnarray*} |
| | 424 | a & = & 0.9898\\ |
| | 425 | b & = & 0.0072\\ |
| | 426 | c & = & 0.0361\\ |
| | 427 | d & = & 1\\ |
| | 428 | e & = & 0.0149\end{eqnarray*} |
| | 429 | |
| | 430 | \end_inset |
| | 431 | |
| | 432 | The covaraince matrices |
| | 433 | \begin_inset Formula $Q$ |
| | 434 | \end_inset |
| | 435 | |
| | 436 | and |
| | 437 | \begin_inset Formula $R$ |
| | 438 | \end_inset |
| | 439 | |
| | 440 | are assumed to be known. |
| | 441 | For the initial tests, we can use the following values: |
| | 442 | \end_layout |
| | 443 | |
| | 444 | \begin_layout Standard |
| | 445 | \begin_inset Formula \begin{eqnarray*} |
| | 446 | Q & = & \mathrm{diag}(0.0013,0.0013,5e-6,1e-10),\\ |
| | 447 | R & = & \mathrm{diag}(0.0006,0.0006).\end{eqnarray*} |
| | 448 | |
| | 449 | \end_inset |
| | 450 | |
| | 451 | |
| | 452 | \end_layout |
| | 453 | |
