if __name__ == "__main__":
has_break = True
k = 0;
Ts = 2e-06;
# Inport mat file
mat = io.loadmat('WithoutTorq.mat')
speed = mat['Speed']['signals'][0][0][0][0][0]
time = mat['Speed']['time'][0][0]
voltage = mat['Voltage']['signals'][0][0][0][0][0]
current = mat['Current']['signals'][0][0][0][0][0]
teta = mat['Teta']['signals'][0][0][0][0][0]
acim = ACIM(Rr=9.295e-3, Rs=14.85e-3, Lr=0.3027e-3, \
Ls=0.3027e-3, Lm=10.46e-3, J=0.01, p=2)
coord_trans = CT()
k += 1;
# Initialization
xk = array([[0], [0], [0], [0], [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
# u = array( [[200.], [2.]] )
# yo[i, :] = pmsm.dlsim( u, Ts = Ts )[1][:, 0]
# if( i % 1000 ) == 0:
# print "%d of %d" % ( i, len( mtime ) )
#
# pylab.figure()
# pylab.plot( yo[:, 2] )
#
# pylab.show()
#Control signals
# squareW = squarewave( Ts = Ts, mtime = 10 , freq = 0.2, amp = 30 )
# sw = squareW.signal()
sinW = sinwave( Ts = Ts, mtime = 1, freq = 2, amp = 30 )
sw = sinW.signal()
ct = CT()
#Number of horizon
N = 2
( Ak, Bk, Ck, Dk ) = pmsm.mdss( x, Ts )
dlqr = DSTLQR( Ak, Bk, Ck, N )
w_s = zeros( ( len( sw ), 1 ) )
U_s = zeros( ( len( sw ), 2 ) )
x_s = zeros( ( len( sw ), 5 ) )
error = zeros( ( len( sw ), 1 ) )
w_est = zeros( ( len( sw ), 1 ) )
O_est = zeros( ( len( sw ), 1 ) )
U_abc = zeros( ( len( sw ), 3 ) )
from numpy import array, arange, zeros
from tools.signalgenerator import threephase
from coordinate_transformations.CT import CT
import pylab
if __name__ == "__main__":
Ts = 0.001
mtime = 0.1
three_phase = threephase(amp=220, freq=50, Ts=Ts, mtime=mtime)
signal = three_phase.signal()
transf = CT()
atime = arange(0, mtime, Ts)
a_alpha_beta = zeros((3, len(atime)))
a_a_b_c = zeros((3, len(atime)))
for i in range(len(atime)):
alpha_beta = transf.clarke_p_i_i0(signal[0][i], signal[1][i],
signal[2][i])
a_b_c = transf.inv_clarke_p_i_i0(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]
from numpy import array, arange, zeros
from tools.signalgenerator import threephase
from coordinate_transformations.CT import CT
import pylab
if __name__ == "__main__":
Ts = 0.001
mtime = 0.1
three_phase = threephase(amp = 220, freq = 50, Ts = Ts, mtime = mtime)
signal = three_phase.signal()
transf = CT()
atime = arange( 0, mtime, Ts )
a_alpha_beta = zeros((3, len( atime ) ))
a_a_b_c = zeros((3, len( atime ) ))
for i in range( len( atime ) ):
alpha_beta = transf.clarke_p_i_i0(signal[0][i], signal[1][i], signal[2][i])
a_b_c = transf.inv_clarke_p_i_i0(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]
if __name__ == "__main__":
has_break = True
k = 0;
Ts = 2e-06;
#Inport mat file
mat = io.loadmat( 'WithoutTorq.mat' )
speed = mat['Speed']['signals'][0][0][0][0][0]
time = mat['Speed']['time'][0][0]
voltage = mat['Voltage']['signals'][0][0][0][0][0]
current = mat['Current']['signals'][0][0][0][0][0]
teta = mat['Teta']['signals'][0][0][0][0][0]
acim = acim( Rr = 9.295e-3, Rs = 14.85e-3, Lr = 0.3027e-3, \
Ls = 0.3027e-3, Lm = 10.46e-3, J = 0.01, p = 2 )
coord_trans = CT()
k += 1;
#Initialization
xk = array( [[0], [0], [0], [0], [0], [0]] )
PP = 1e-3 * identity( 6 )
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