卡尔曼滤波
我在用卡尔曼滤波做异步电机的转子电阻辨识,用MATLAB编的M文件,但是有错,不知道为什么,想请教哈各位,谢谢了function = train(t,x,u,flag,T)
%input,u:Usa,Usb,Isa,Isb,speed
%state,x:Isa,Isb,Ira,Irb,Rr
%sample time:T
global Q R x_1 P_1 delta P h Y out;
%Motor parameters
Lr=0.07331;Ls=0.07131;Lm=0.06931;Rs=0.435;delta=1-Lm*Lm/(Ls*Lr);
P=;
Q=;
R=;
%initial parameters and states
if flag==0
x0=zeros(5,1);K=zeros(5,2);
%Updata discrete states
elseabs(flag)==2
%Set measurement variable
U=;
Y=;
%Prediction of state
dif_F=[1-Rs/(delta*Ls)*T,Lm*Lm/(delta*Ls*Lr)*T*u(5),Lm*T/(delta*Ls*Lr)*x(5),Lm*T/(delta*Ls)*u(5),Lm/(delta*Ls*Lr)*x(3);
-Lm*Lm/(delta*Ls*Lr)*T*u(5),1-Rs/(delta*Ls)*T,-Lm/(delta*Ls)*T*u(5),Lm*T/(delta*Ls*Lr)*x(5),Lm*T/(delta*Ls*Lr)*x(4);
Lm*Rs/(delta*Ls*Lr)*T,-Lm*T/(delta*Lr)*u(5),1-T/(delta*Lr)*x(5),-T*u(5)/delta,-T*x(3)/(delta*Lr);
Lm/(delta*Lr)*T*u(5),Lm*Rs/(delta*Ls*Lr)*T,T*u(5)/delta,1-T*x(5)/(delta*Lr),-T*x(4)/(delta*Lr);
0,0,0,0,1];
x_1=[diff_F(1,1)*x(1)+diff_F(1,2)*x(2)+diff_F(1,3)*x(3)+diff_F(1,4)*x(4);
diff_F(2,1)*x(1)+diff_F(2,2)*x(2)+diff_F(2,3)*x(3)+diff_F(2,4)*x(4);
diff_F(3,1)*x(1)+diff_F(3,2)*x(2)+diff_F(3,3)*x(3)+diff_F(3,4)*x(4);
diff_(4,1)*x(1)+diff_F(4,2)*x(2)+diff_F(4,3)*x(3)+diff_F(4,4)*x(4);
diff_F(5,5)*x(5)]+T*;
%Estimation of error covariance matrix
P_1=diff_F*P*diff_F+Q;
%Calculation of h and diff_h
h=;
diff_h=;
%Computation of Kalman Filter
K=P_1*diff_h'*inv(dif_h*P_1*diff_h'+R);
%State estimetion
out=x_1+K*(Y-h);
sys=out;
%Updata of the error covariance matrix
P=P_1-K*diff_h*P_1;
end
if flag==3
sys=out;
else flag==4
sys=(round(t/T)+1)*T;
end
卡尔曼滤波
为什么总提示“Output returned by S-function must be a real vector consisting of integer value of length 6 有了解的吗?请教哈高手了 这个我看你还是按sfuntmpl.m改那样不容易出错！我也刚把S函数调通， 但仿出来的结果不对，郁闷ING tyler你的QQ为什么加不了呢??想和你讨论一下
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