Exemple #1
0
 
 #Kalman filter covariance matrices
 Q = np.identity( 5 )    
 PP = 1e-3 * np.identity( 5 )
 
 Q[0][0] = 1e-4
 Q[1][1] = 1e-4
 Q[2][2] = 1e-4
 Q[3][3] = 1e-9
 Q[4][4] = 1e-4
 
 
 R = 1e-3 * np.identity( 2 )        
 
 # Classes        
 ekf = dEKF( x, PP, Q, R )
 H = array( [[1, 0, 0, 0, 0, ],
            [0, 1, 0, 0, 0]] )    
 
 #Torque
 torque = np.concatenate( ( np.ones( ( 1, len( sw ) / 4 ) ) * 5, np.ones( ( 1, 3 * len( sw ) / 4 ) ) * 10 ), axis = 1 );
 
 #Simulation loop
 for i in range( len( sw ) - N ):
     
     ( Ak, Bk, Ck, Dk ) = pmsm.mdss( xk, Ts )     
     
     
     # Calculation the optimal control signal
     U = dlqr.calcU( xk, array( [sw[i:i + N]] ) , Ak = Ak, Bk = Bk, Ck = Ck ) 
     
Exemple #2
0
 PP = 1e-3 * identity(5)
 Q = identity(5)    
 
 """ri = random.uniform( 1e-7, 1e-2, )
 fi = random.uniform( 1e-7, 1e-2 )
 wi = random.uniform( 1e-7, 1e-2 )"""
 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]     
Exemple #3
0
 Q = identity( 6 )    
 
 """ri = random.uniform( 1e-7, 1e-2, )
 fi = random.uniform( 1e-7, 1e-2 )
 wi = random.uniform( 1e-7, 1e-2 )"""
 Q[0][0] = 1e-2
 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]