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| 17 | <h1>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/ekf.h</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/************************************</span> |
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| 18 | <a name="l00002"></a>00002 <span class="comment"> Extended Kalman Filter</span> |
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| 19 | <a name="l00003"></a>00003 <span class="comment"> Kalman Observer</span> |
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| 20 | <a name="l00004"></a>00004 <span class="comment"></span> |
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| 21 | <a name="l00005"></a>00005 <span class="comment"> Z. Peroutka</span> |
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| 22 | <a name="l00006"></a>00006 <span class="comment"></span> |
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| 23 | <a name="l00007"></a>00007 <span class="comment">Rev. 15.3.2008</span> |
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| 24 | <a name="l00008"></a>00008 <span class="comment"></span> |
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| 25 | <a name="l00009"></a>00009 <span class="comment"> EKF pocitan s daty ve formatu Q15, zatimco regulace pracuje v Q13 -></span> |
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| 26 | <a name="l00010"></a>00010 <span class="comment"> resenim je vynasobit referencni hodnoty v EKF 4-mi (tim je automaticky</span> |
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| 27 | <a name="l00011"></a>00011 <span class="comment"> zajisten prechod mezi formaty Q13 a Q15). Realizovano konstantou K_PREVOD_FORM.</span> |
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| 28 | <a name="l00012"></a>00012 <span class="comment"></span> |
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| 29 | <a name="l00013"></a>00013 <span class="comment">15.3.2008 Kontrola kodu + zamena datovych typu q15->int a q30->long.</span> |
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| 30 | <a name="l00014"></a>00014 <span class="comment"></span> |
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| 31 | <a name="l00015"></a>00015 <span class="comment">*************************************/</span> |
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| 32 | <a name="l00016"></a>00016 |
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| 33 | <a name="l00017"></a>00017 <span class="comment">/* Declaration of global functions */</span> |
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| 34 | <a name="l00018"></a>00018 <span class="keywordtype">void</span> init_ekf(<span class="keywordtype">double</span> Tv, <span class="keywordtype">double</span> *param); |
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| 35 | <a name="l00019"></a>00019 <span class="keywordtype">void</span> ekf(<span class="keywordtype">double</span> *x_estimation, <span class="keywordtype">double</span> Umd, <span class="keywordtype">double</span> beta, <span class="keywordtype">double</span> Ucnd, <span class="keywordtype">double</span> Ucd, <span class="keywordtype">double</span> isxd, <span class="keywordtype">double</span> isyd); |
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| 36 | <a name="l00020"></a>00020 |
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| 37 | <a name="l00021"></a>00021 <span class="comment">// pouze pro ucely ladeni</span> |
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| 38 | <a name="l00022"></a>00022 <span class="keyword">extern</span> <span class="keywordtype">double</span> ladeni_EKF[10]; |
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| 39 | <a name="l00023"></a>00023 |
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| 40 | </pre></div></div> |
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| 41 | <hr size="1"><address style="text-align: right;"><small>Generated on Thu Sep 4 19:28:01 2008 for mixpp by |
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