// settings for pmsm_estim.cpp

experiment={
	Ndat = 50000;
};

system= {
	class= "pmsmDSctrl";
	params = "pmsm107@../cfg/zcu.cfg";
	tstep = 1; // steps for profile in [s]
	profileW = [0, 50, 0, -50, 0, 50  ];
//	profileW = [0, -10, 30, 60, 90, 60, 30, 0, -30, -60, -30];
//	profileW = [1, 10, 50, 200, 200, 30, 0, 0, -30, -30, -100, -100, -40, 0, 0];
//	profileM = [0, 30, 0, 0, 30, 0, 0, 0, 0, 0, 10, 0, 0];
	profileM = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
};

UD = {class="EKFfixedCh";
	 IM = {class="IMpmsmStat";
		params = "pmsm107@../cfg/zcu.cfg";
	 };
	 OM = {class="OMpmsm";};
	 name = "Est0";
	 };

full = {class="EKFCh";
	 IM = {class="IMpmsmStat";
		params = "pmsm107@../cfg/zcu.cfg";
		compensate = 1;
	 };
	 OM = {class="OMpmsm";};
	dQ=[289., 289., 12630., 0.009]; // 0.01*170^2, 0.0005*5026^2, 0.001*3.14^2
	dR=[1445, 1445];
	dP0=[14450., 144500., 157000000., 10.];
	 //connect
	 log_level="logmean,logU,logG,logD";
	 name = "Est0";
	 };

controllers=({
		class = "PMSM_PICtrl";
		estim = "UD";
	}
);
	
logger= {
	class="dirfilelog";
	maxlen = 100;
	dirname = "exp/ctrlPI";
};