u[0, i] = (M22 * (v[0, i] - L2H1) - M12 * (v[1, i] - L2H2)) / detA
u[1, i] = (-M21 * (v[0, i] - L2H1) + M11 * (v[1, i] - L2H2)) / detA
# inverter model
dx_temp = nl(x[0, i], x[1, i], x[2, i], x[3, i], pqf[0, i], pqf[1, i], w, L, C, u[0, i], u[1, i])
dx[0, i] = dx_temp[0]
dx[1, i] = dx_temp[1]
dx[2, i] = dx_temp[2]
dx[3, i] = dx_temp[3]
for j in range(4):
x[j, i + 1] = x[j, i] + dx_temp[j] * t_delta
# measurement
y[0, i + 1] = x[0, i + 1]
y[1, i + 1] = x[1, i + 1]
[iL[0, i + 1], iL[1, i + 1]] = il(x[0, i], x[1, i], x[2, i], x[3, i], pqf[0, i], pqf[1, i], w, C, L)
# estimate states
dz_temp = ss(z[1, i], z[3, i], v[0, i], v[1, i])
for j in range(4):
z[j, i + 1] = z[j, i] + dz_temp[j] * t_delta
dz_temp[0] = dz_temp[0] + 0.0559 * (y[0, i + 1] - z[0, i + 1])
dz_temp[1] = dz_temp[1] - 0.5000 * (y[0, i + 1] - z[0, i + 1])
dz_temp[2] = dz_temp[2] + 0.0559 * (y[1, i + 1] - z[2, i + 1])
dz_temp[3] = dz_temp[3] - 0.5000 * (y[1, i + 1] - z[2, i + 1])
for j in range(4):
z[j, i + 1] = z[j, i] + dz_temp[j] * t_delta
print([ise, iae, itae])
# plot result
fig, ax = plt.subplots()
t1 = 0
t2 = 200
q[i], w, L, C)
M11 = m11(x[0, i], x[1, i], x[2, i], w, L, C)
M12 = m12(x[0, i], x[1, i], x[3, i], w, L, C)
M21 = m21(x[0, i], x[1, i], x[2, i], w, L, C)
M22 = m22(x[0, i], x[1, i], x[3, i], w, L, C)
detA = M11 * M22 - M12 * M21
u1[i] = (M22 * (v1[i] - L2H1) - M12 * (v2[i] - L2H2)) / detA
u2[i] = (-M21 * (v1[i] - L2H1) + M11 * (v2[i] - L2H2)) / detA
# updating state variable
dx_temp = nl(x[0, i], x[1, i], x[2, i], x[3, i], p[i], q[i], w, L, C,
u1[i], u2[i])
dx[2, i] = dx_temp[2]
dx[3, i] = dx_temp[3]
for j in range(4):
x[j, i + 1] = x[j, i] + dx_temp[j] * t_delta
dz_temp = ss(dx[0, i], dx[1, i], v1[i], v2[i])
for j in range(4):
z[j, i + 1] = z[j, i] + dz_temp[j] * t_delta
dz_temp[0] = dz_temp[0] + 0.0838 * (x[0, i + 1] - z[0, i + 1])
dz_temp[1] = dz_temp[1] - 0.5000 * (x[0, i + 1] - z[0, i + 1])
dz_temp[2] = dz_temp[2] + 0.0838 * (x[1, i + 1] - z[2, i + 1])
dz_temp[3] = dz_temp[3] - 0.5000 * (x[1, i + 1] - z[2, i + 1])
for j in range(4):
z[j, i + 1] = z[j, i] + dz_temp[j] * t_delta
# updating value
x[0, i + 1] = z[0, i + 1]
x[1, i + 1] = z[2, i + 1]
dx[0, i + 1] = z[1, i + 1]
dx[1, i + 1] = z[3, i + 1]
iL[0, i + 1] = -C * dx[0, i] + C * w * x[1, i + 1] + x[2, i + 1]
iL[1, i + 1] = -C * dx[1, i] - C * w * x[0, i + 1] + x[3, i + 1]
ser = serial.Serial('COM3', baudrate=9600, timeout=1)
z = np.zeros((4, len(t)))
tmp = [' ', ' ', ' ', ' ']
z[0, 1] = 0.247346
z[1, 1] = 48.64925
z[2, 1] = 0
z[3, 1] = 0
for idx in range(len(t) - 1):
for i in range(4):
tmp[i] = str(round(1000 * z[i, idx], 2)) + ","
send = tmp[0] + tmp[2] + tmp[1] + tmp[3]
ser.write(send.encode())
time.sleep(1.0)
data = ser.readline().decode('ascii')
if len(data) > 0:
split = 0
for j in range(len(data)):
if data[j] == ',':
split = j
v1 = float(data[0:split])
v2 = float(data[split + 1:len(data) + 1])
dz_temp = ss(z[1, idx], z[3, idx], v1, v2)
for k in range(4):
z[k, idx + 1] = z[k, idx] + dz_temp[k] * t_delta
plt.plot(t, z[0, :])
plt.show()
