Changeset 81

Timestamp:

04/18/08 14:10:47 (16 years ago)

Author:

smidl

Message:

opravy + pridani simulace kovarianci

Location:

pmsm

Files:

• CMakeLists.txt (modified) (1 diff)
• pmsm.h (modified) (3 diffs)
• pmsm_sim2.cpp (modified) (1 diff)
• pmsm_sim3.cpp (modified) (1 diff)
• sim_var.cpp (added)

pmsm/CMakeLists.txt

@@ -38 +38 @@
 target_link_libraries (pmsm_sim2 ${BdmLibs} pmsmsim )
 target_link_libraries (pmsm_sim3 ${BdmLibs} pmsmsim ekf_obj)
+
+add_executable (sim_var sim_var.cpp)
+target_link_libraries (sim_var ${BdmLibs} pmsmsim)

pmsm/pmsm.h

@@ -3 +3 @@
 
 #include <stat/libFN.h>
+#include <userinfo.h>
 
 
@@ -9 +10 @@
 RV ru ( "5 6", "{ua, ub}", ones_i ( 2 ) ,zeros_i ( 2 ));
 RV ry ( "7 8", "{oia, oib}", ones_i ( 2 ) ,zeros_i ( 2 ));
+
+class uipmsm : public uicompound{
+        double Rs, Ls, dt, Ypm, kp, p,  J, Mz;
+};
 
 //! State evolution model for a PMSM drive and its derivative with respect to \$x\$
@@ -37 +42 @@
                 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>
+                xk ( 3 ) = thm + omm*dt; // <0..2pi>
+                if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi;
+                if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi;
                 return xk;
         }

pmsm/pmsm_sim2.cpp

@@ -42 +42 @@
                 xtrue(3)=x[3];
                 
-                ll = -0.5* ( 4 * 1.83787706640935 +_P->logdet() +xtrue* ( inv(_P->to_mat())*xtrue ) );
+                ll = -0.5* ( 4 * 1.83787706640935 +_P.logdet() +_P.invqform(xtrue));
         }
 };

pmsm/pmsm_sim3.cpp

@@ -150 +150 @@
                 Dt.set_row ( tK, concat ( dt,ut));
                 XtE.set_row ( tK,KFEep.mean() );
-                double qNaN = std::numeric_limits<double>::quiet_NaN();
                 XtM.set_row ( tK,Mep.mean() );
         }