Changeset 806

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Timestamp:
02/09/10 11:07:13 (14 years ago)
Author:
smidl
Message:

oprava

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  • applications/dual/texts/pmsm_system.lyx

    r753 r806  
    338338\begin_inset Formula \begin{eqnarray} 
    339339\hat{x}_{t} & = & g(\hat{x}_{t-1})-K\left(y_{t}-h(\hat{x}_{t-1})\right).\label{eq:ekf_mean}\\ 
    340 R_{y} & = & C'P_{t-1}C+R_{t},\nonumber \\ 
    341 K & = & P_{t-1}CR_{y}^{-1}(y_{t}-h(\hat{x}_{t-1})),\nonumber \\ 
     340R_{y} & = & CP_{t-1}C'+R_{t},\nonumber \\ 
     341K & = & P_{t-1}C'R_{y}^{-1},\nonumber \\ 
    342342P_{t} & = & A\left(P_{t-1}-P_{t-1}C'R_{y}^{-1}CP_{t-1}\right)A+Q_{t}.\label{eq:ekf_cov}\end{eqnarray} 
    343343 
     
    3793790 & 0 & \Dt & 1\end{array}\right],\quad C=\left[\begin{array}{cccc} 
    3803801\\ 
    381  & 1\\ 
    382  &  & 0\\ 
    383  &  &  & 0\end{array}\right]\] 
     381 & 1\end{array}\right]\] 
    384382 
    385383\end_inset 
     
    452450\end_layout 
    453451 
     452\begin_layout Standard 
     453Limits: 
     454\begin_inset Formula \begin{eqnarray*} 
     455u_{\alpha,max} & = & 50V,\\ 
     456u_{\beta,max} & = & 50V.\end{eqnarray*} 
     457 
     458\end_inset 
     459 
     460 
     461\end_layout 
     462 
    454463\begin_layout Section 
    455464Control 
     
    475484\end_inset 
    476485 
    477  is the chosen penalization of the inputs. 
     486 is the chosen penalization of the inputs, in this case  
     487\begin_inset Formula $\psi=0$ 
     488\end_inset 
     489 
     490. 
    478491  
    479492\end_layout 
     
    530543\begin_inset Formula \begin{eqnarray*} 
    531544\hat{\isa{}} & = & 0,\,\hat{\isb{}}=0,\hat{\omega}=1,\th=\frac{\pi}{2},\\ 
    532 P_{t} & = & \mathrm{diag}([0.01,0.01,1,1]).\end{eqnarray*} 
     545P_{t} & = & \mathrm{diag}([0.01,0.01,0.01,1]).\end{eqnarray*} 
    533546 
    534547\end_inset 
     
    541554\begin_inset Formula \begin{eqnarray*} 
    542555\hat{\isa{}} & = & 0,\,\hat{\isb{}}=0,\hat{\omega}=1,\th=\frac{\pi}{2},\\ 
    543 P_{t} & = & \mathrm{diag}([0.01,0.01,1,10]).\end{eqnarray*} 
     556P_{t} & = & \mathrm{diag}([0.01,0.01,0.01,10]).\end{eqnarray*} 
    544557 
    545558\end_inset 
     
    550563\begin_layout Standard 
    551564The requested value  
    552 \begin_inset Formula $\overline{\omega}_{t}=3.$ 
    553 \end_inset 
    554  
    555  
     565\begin_inset Formula $\overline{\omega}_{t}=1.0015.$ 
     566\end_inset 
     567 
     568 
     569\end_layout 
     570 
     571\begin_layout Conjecture 
     572It is sufficient to consider hyper-state  
     573\begin_inset Formula $H=[\hat{i}_{\alpha},\hat{i}_{\beta},\hat{\omega},\hat{\vartheta},P(3,3),P(4,4)]$ 
     574\end_inset 
     575 
     576. 
     577\end_layout 
     578 
     579\begin_layout Conjecture 
    556580\begin_inset CommandInset bibtex 
    557581LatexCommand bibtex