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[84] | 17 | <h1>work/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.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"></span> |
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| 19 | <a name="l00003"></a>00003 <span class="comment"> Nastaveni regulatoru vektoroveho rizeni</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"> Konstanty a omezovace</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"> Z. Peroutka</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">Rev. 31.5.2007</span> |
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| 26 | <a name="l00010"></a>00010 <span class="comment">***********************************************/</span> |
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| 27 | <a name="l00011"></a>00011 |
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| 28 | <a name="l00012"></a>00012 <span class="comment">// maximalni proud</span> |
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| 29 | <a name="l00013"></a>00013 <span class="preprocessor">#define Ismax 40.0 // max. proud motoru</span> |
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| 30 | <a name="l00014"></a>00014 <span class="preprocessor"></span> |
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| 31 | <a name="l00015"></a>00015 <span class="comment">// regulatory proudu</span> |
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| 32 | <a name="l00016"></a>00016 <span class="preprocessor">#define Kpi 20. // Kp*Iref/Uref</span> |
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| 33 | <a name="l00017"></a>00017 <span class="preprocessor"></span><span class="preprocessor">#define Tii 0.005 // casova konstanta reg. ... Kp*Iref/Uref*TV/Ti</span> |
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| 34 | <a name="l00018"></a>00018 <span class="preprocessor"></span><span class="preprocessor">#define MAXi 1199.0</span> |
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| 35 | <a name="l00019"></a>00019 <span class="preprocessor"></span><span class="preprocessor">#define Q_Kpi 15</span> |
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| 36 | <a name="l00020"></a>00020 <span class="preprocessor"></span><span class="preprocessor">#define Q_Kii 15</span> |
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| 37 | <a name="l00021"></a>00021 <span class="preprocessor"></span> |
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| 38 | <a name="l00022"></a>00022 <span class="comment">// regulator odbuzovani - RUrm Kp=15, Ti=0.5</span> |
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| 39 | <a name="l00023"></a>00023 <span class="preprocessor">#define Kpurm 50.0 // 2.0/Iref ev. sqrt(3)/Iref pro PWM se 3. harmonickou</span> |
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| 40 | <a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define Tiurm 0.05 // 31.5.2007: puvodne 0.01</span> |
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| 41 | <a name="l00025"></a>00025 <span class="preprocessor"></span><span class="preprocessor">#define MINurm (-0.95*Ismax) // 0.95 ... aby i p�akci reg. Urm byl motor schopen produkovat moment</span> |
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| 42 | <a name="l00026"></a>00026 <span class="preprocessor"></span><span class="preprocessor">#define Tfurm 0.01 // casova konstanta filtru Urm</span> |
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| 43 | <a name="l00027"></a>00027 <span class="preprocessor"></span><span class="preprocessor">#define Q_Kpurm 12</span> |
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| 44 | <a name="l00028"></a>00028 <span class="preprocessor"></span><span class="preprocessor">#define Q_Kiurm 15</span> |
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| 45 | <a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define Q_Kturm 15 // TV/Tf ... nechat Q15!!!!</span> |
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| 46 | <a name="l00030"></a>00030 <span class="preprocessor"></span> |
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| 47 | <a name="l00031"></a>00031 <span class="comment">// blok "Vypocet napeti" - "odvazbovaci blok" ... definice systemu</span> |
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| 48 | <a name="l00032"></a>00032 <span class="preprocessor">#define Q_Kodv_ud 15 // Wref*Iref/Uref*Ls</span> |
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| 49 | <a name="l00033"></a>00033 <span class="preprocessor"></span> |
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| 50 | <a name="l00034"></a>00034 <span class="comment">// regulator rychlosti</span> |
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| 51 | <a name="l00035"></a>00035 <span class="preprocessor">#define Kpw 3.0 // Kpw*Wref/Iref</span> |
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| 52 | <a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">#define Tiw 0.1</span> |
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| 53 | <a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#define MAXw Ismax</span> |
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| 54 | <a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define Q_Kpw 7</span> |
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| 55 | <a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">#define Q_Kiw 15</span> |
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| 56 | <a name="l00040"></a>00040 <span class="preprocessor"></span> |
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| 57 | <a name="l00041"></a>00041 <span class="comment">// model motoru pro vypocet toku a momentu</span> |
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| 58 | <a name="l00042"></a>00042 <span class="preprocessor">#define Q_K_Fs 15 // max. Q15 ... Ls*Iref/Fref</span> |
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| 59 | <a name="l00043"></a>00043 <span class="preprocessor"></span><span class="preprocessor">#define Q_K_moment 12 // max. Q15 ... kp*p*Fref*Iref/Mref</span> |
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| 60 | <a name="l00044"></a>00044 <span class="preprocessor"></span> |
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| 61 | <a name="l00045"></a>00045 |
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| 62 | <a name="l00046"></a>00046 <span class="comment">// filtrace napeti v ss obvodu</span> |
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| 63 | <a name="l00047"></a>00047 <span class="preprocessor">#define Tfuc 0.1</span> |
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| 64 | <a name="l00048"></a>00048 <span class="preprocessor"></span> |
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| 65 | <a name="l00049"></a>00049 <span class="comment">// filtrace Isd</span> |
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| 66 | <a name="l00050"></a>00050 <span class="preprocessor">#define Tfid 0.1</span> |
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| 67 | <a name="l00051"></a>00051 <span class="preprocessor"></span> |
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| 68 | <a name="l00052"></a>00052 <span class="comment">// prechod mezi algoritmy regulace VARIANTA 1 a VARIANTA 2</span> |
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| 69 | <a name="l00053"></a>00053 <span class="preprocessor">#define prechod_1_2 (2.*M_PI*75.) // 55Hz ... wme [rad/s]</span> |
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| 70 | <a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor">#define prechod_2_1 (2.*M_PI*70.) // 50Hz ... wme [rad/s]</span> |
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| 71 | <a name="l00055"></a>00055 <span class="preprocessor"></span> |
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| 72 | <a name="l00056"></a>00056 <span class="comment">// regulator Isq prostednictvim beta - algoritmus VARIANTA 2: Karel (Kp=0.0002, Ti=0.001s)</span> |
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| 73 | <a name="l00057"></a>00057 <span class="preprocessor">#define Kpib 0.005</span> |
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| 74 | <a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define Tiib 0.01 </span> |
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| 75 | <a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#define MAXbeta (40./180.*M_PI) // zatezny uhel omezen na +/- 40st.</span> |
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| 76 | <a name="l00060"></a>00060 <span class="preprocessor"></span> |
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| 77 | <a name="l00061"></a>00061 <span class="comment">// regulator Isd - VAR2 - kompenzace vypocteneho napeti</span> |
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| 78 | <a name="l00062"></a>00062 <span class="preprocessor">#define Kpidb 0</span> |
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| 79 | <a name="l00063"></a>00063 <span class="preprocessor"></span><span class="preprocessor">#define Tiidb 0.1</span> |
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| 80 | <a name="l00064"></a>00064 <span class="preprocessor"></span><span class="preprocessor">#define MAXud 50.</span> |
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| 81 | <a name="l00065"></a>00065 <span class="preprocessor"></span><span class="preprocessor">#define MINud (-600.) // principialne neni nutne omezovat, avsak s ohledem na format Q13 s dostatecnou bezpecnosti uvazovano 600V</span> |
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[91] | 82 | </pre></div></div> |
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[139] | 83 | <hr size="1"><address style="text-align: right;"><small>Generated on Sat Aug 16 11:58:42 2008 for mixpp by |
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[84] | 84 | <a href="http://www.doxygen.org/index.html"> |
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[139] | 85 | <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.6 </small></address> |
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[84] | 86 | </body> |
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