Q[0][0] = 1e-4
Q[1][1] = 1e-4
Q[2][2] = 3e-2
Q[3][3] = 3e-2
Q[4][4] = 1e-8
#
R = 1e-7 * identity(2)
# Classes
ekf = dEKF(xk, PP, Q, R)
w_r = zeros((len(time), 3))
for i in range(0, int(len(time) / 5)):
(Ak, Bk, H, D) = acim.dss_statorreferenceframe1(xk[4], Ts)
Ulb = coord_trans.clarke_m_i(voltage[i][0], voltage[i][1], voltage[i][2])
Ilb = coord_trans.clarke_m_i(current[i][0], current[i][1], current[i][2])
Udq = coord_trans.stator_coordinate(Ulb, teta[i][0])
Idq = coord_trans.stator_coordinate(Ilb, teta[i][0])
xk = ekf.update_state(Udq, Ak, Bk);
Gk = acim.dss_Gk_stator1(xk[2], xk[3], xk[4], Ts)
(xk, PP, error) = ekf.update(Idq, Udq, Gk, Ak, Bk, H)
w_r[i][0] = xk[ 4 ][0]
w_r[i][1] = speed[i][0]
w_r[i][2] = speed[i][1]
print w_r[i][0] - w_r[i][1]
if(abs(w_r[i][0] - w_r[i][1]) > 50):
break
pylab.figure(1)
U = dlqr.calcU( xk, array( [sw[i:i + N]] ) , Ak = Ak, Bk = Bk, Ck = Ck )
# Voltages inverse transformation
Ulb = ct.inv_rotor_coordinate( U, P * xk[4, 0] )
U_abc[ i] = ct.inv_clarke_m_i( Ulb[0, 0], Ulb[1, 0] )[:, 0]
#Limitating the signal
for k in range( 0, U_abc.shape[1] ):
if( np.abs( U_abc[i, k] ) > 380 ):
U_abc[i, k] = np.sign( U_abc[i, k] ) * 380;
#Voltages transformation
Ulb = ct.clarke_m_i( U_abc[ i, 0], U_abc[ i, 1], U_abc[ i, 2] )
Udq = ct.rotor_coordinate( Ulb, P * xk[4, 0] )
#Simulating the model...
( y_out, x ) = pmsm.dlsim( Udq, xk, Ts = Ts, Tl = torque[ 0, i] ) #Tl = torque[ i] )
#Estimating the states. We assume that the x(0) and x(1) is the measured current
xk = ekf.update_state( Udq, Ak, Bk );
Gk = pmsm.GK( xk, Ts )
( xk, PP, eerror ) = ekf.update( array( [[x[0, 0]], [x[1, 0]]] ), Udq, Gk, Ak, Bk, H )
#History
w_est[i, :] = xk[2, 0];
O_est[i, :] = xk[3, 0];
w_s[i, :] = y_out
pylab.plot(signal[0])
pylab.plot(signal[1])
pylab.plot(signal[2])
pylab.subplot(3,1,2, title='Alpha,Beta transformation')
pylab.plot(a_alpha_beta[0])
pylab.plot(a_alpha_beta[1])
pylab.subplot(3,1,3, title="Alpha,Beta inverse transformation")
pylab.plot(a_a_b_c[0])
pylab.plot(a_a_b_c[1])
pylab.plot(a_a_b_c[2])
for i in range( len( atime ) ):
alpha_beta = transf.clarke_m_i(signal[0][i], signal[1][i], signal[2][i])
a_b_c = transf.inv_clarke_m_i(alpha_beta[0][0], alpha_beta[1][0], alpha_beta[2][0])
a_alpha_beta[0][i] = alpha_beta[0][0]
a_alpha_beta[1][i] = alpha_beta[1][0]
a_alpha_beta[2][i] = alpha_beta[2][0]
a_a_b_c[0][i] = a_b_c[0][0]
a_a_b_c[1][i] = a_b_c[1][0]
a_a_b_c[2][i] = a_b_c[2][0]
pylab.figure( 3 )
pylab.subplot(3,1,1, title="Three phase signal")
pylab.plot(signal[0])
pylab.plot(signal[1])
pylab.plot(signal[0])
pylab.plot(signal[1])
pylab.plot(signal[2])
pylab.subplot(3, 1, 2, title='Alpha,Beta transformation')
pylab.plot(a_alpha_beta[0])
pylab.plot(a_alpha_beta[1])
pylab.subplot(3, 1, 3, title="Alpha,Beta inverse transformation")
pylab.plot(a_a_b_c[0])
pylab.plot(a_a_b_c[1])
pylab.plot(a_a_b_c[2])
for i in range(len(atime)):
alpha_beta = transf.clarke_m_i(signal[0][i], signal[1][i],
signal[2][i])
a_b_c = transf.inv_clarke_m_i(alpha_beta[0][0], alpha_beta[1][0],
alpha_beta[2][0])
a_alpha_beta[0][i] = alpha_beta[0][0]
a_alpha_beta[1][i] = alpha_beta[1][0]
a_alpha_beta[2][i] = alpha_beta[2][0]
a_a_b_c[0][i] = a_b_c[0][0]
a_a_b_c[1][i] = a_b_c[1][0]
a_a_b_c[2][i] = a_b_c[2][0]
pylab.figure(3)
pylab.subplot(3, 1, 1, title="Three phase signal")
pylab.plot(signal[0])
Q[1][1] = 1e-2
Q[2][2] = 1e-4
Q[3][3] = 1e-4
Q[4][4] = 1e-6
Q[5][5] = 1e-6
#
R = 1e-7 * identity( 2 )
#Classes
ekf = dEKF( xk, PP, Q, R )
w_r = zeros( ( len( time ), 3 ) )
for i in range( 0, int( len( time ) / 5 ) ):
( Ak, Bk, H, D ) = acim.dss_statorreferenceframe2( xk[4], Ts )
Ulb = coord_trans.clarke_m_i( voltage[i][0], voltage[i][1], voltage[i][2] )
Ilb = coord_trans.clarke_m_i( current[i][0], current[i][1], current[i][2] )
Udq = coord_trans.stator_coordinate( Ulb, teta[i][0] )
Idq = coord_trans.stator_coordinate( Ilb, teta[i][0] )
xk = ekf.update_state( Udq, Ak, Bk );
Gk = acim.dss_Gk_stator1( xk[2], xk[3], xk[4], Ts )
( xk, PP, error ) = ekf.update( Idq, Udq, Gk, Ak, Bk, H )
w_r[i][0] = xk[ 4 ][0]
w_r[i][1] = speed[i][0]
w_r[i][2] = speed[i][1]
print w_r[i][0] - w_r[i][1]
if( abs( w_r[i][0] - w_r[i][1] ) > 50 ):
break
pylab.figure( 1 )
Q[0][0] = 1e-4
Q[1][1] = 1e-4
Q[2][2] = 3e-2
Q[3][3] = 3e-2
Q[4][4] = 1e-8
#
R = 1e-7 * identity(2)
#Classes
ekf = dEKF(xk, PP, Q, R)
w_r = zeros((len(time), 3))
for i in range(0, int(len(time) / 5)):
(Ak, Bk, H, D) = acim.dss_statorreferenceframe1(xk[4], Ts)
Ulb = coord_trans.clarke_m_i(voltage[i][0], voltage[i][1],
voltage[i][2])
Ilb = coord_trans.clarke_m_i(current[i][0], current[i][1],
current[i][2])
Udq = coord_trans.stator_coordinate(Ulb, teta[i][0])
Idq = coord_trans.stator_coordinate(Ilb, teta[i][0])
xk = ekf.update_state(Udq, Ak, Bk)
Gk = acim.dss_Gk_stator1(xk[2], xk[3], xk[4], Ts)
(xk, PP, error) = ekf.update(Idq, Udq, Gk, Ak, Bk, H)
w_r[i][0] = xk[4][0]
w_r[i][1] = speed[i][0]
w_r[i][2] = speed[i][1]
print w_r[i][0] - w_r[i][1]
if (abs(w_r[i][0] - w_r[i][1]) > 50):
break
pylab.figure(1)
