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Revision 1440, 0.7 kB
(checked in by smidl, 13 years ago)
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rychly exp + vice clenu randn
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| 1 | // Bayesian Filtering for PMSM using Marginalized Particle Filter |
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| 2 | |
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| 3 | #include "parametry_motoru.h" |
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| 4 | #define Fpm 0.1989 |
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| 5 | //#define pi 3.141596 |
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| 6 | |
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| 7 | #define N 4 |
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| 8 | |
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| 9 | #define Lsd Ls*0.9 |
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| 10 | #define Lsq Ls |
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| 11 | #define _dt 0.000125 |
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| 12 | #define _ad (1.-Rs*_dt/(Lsd)) |
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| 13 | #define _aq (1.-Rs*_dt/(Lsq)) |
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| 14 | #define _b Fpm/Lsq*_dt |
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| 15 | #define _cd _dt/(Lsd) |
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| 16 | #define _cq _dt/(Lsq) |
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| 17 | |
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| 18 | |
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| 19 | # define floatx float |
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| 20 | |
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| 21 | floatx qrandn(); |
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| 22 | floatx qrandu(); |
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| 23 | |
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| 24 | void mpf_bayes ( const floatx isa, const floatx isb , const floatx usa, const floatx usb ); |
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| 25 | void mpf_init(floatx qom0, floatx qth0, floatx r0); |
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| 26 | void mpf_mean(floatx *Ecosth, floatx *Esinth, floatx *Eome); |
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| 27 | void mpf_th(floatx th1[N]); |
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| 28 | |
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| 29 | floatx kalman_om ( const floatx isa, const floatx isb , const floatx usa, const floatx usb, const floatx th ); |
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