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18<h1>work/git/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>
19<a name="l00002"></a>00002 <span class="comment"></span>
20<a name="l00003"></a>00003 <span class="comment">     Nastaveni regulatoru vektoroveho rizeni</span>
21<a name="l00004"></a>00004 <span class="comment"></span>
22<a name="l00005"></a>00005 <span class="comment">     Konstanty a omezovace</span>
23<a name="l00006"></a>00006 <span class="comment"></span>
24<a name="l00007"></a>00007 <span class="comment">     Z. Peroutka</span>
25<a name="l00008"></a>00008 <span class="comment"></span>
26<a name="l00009"></a>00009 <span class="comment">Rev. 31.5.2007</span>
27<a name="l00010"></a>00010 <span class="comment">***********************************************/</span>
28<a name="l00011"></a>00011
29<a name="l00012"></a>00012 <span class="comment">// maximalni proud</span>
30<a name="l00013"></a>00013 <span class="preprocessor">#define Ismax   40.0    // max. proud motoru</span>
31<a name="l00014"></a>00014 <span class="preprocessor"></span>
32<a name="l00015"></a>00015 <span class="comment">// regulatory proudu</span>
33<a name="l00016"></a>00016 <span class="preprocessor">#define Kpi     20.            // Kp*Iref/Uref</span>
34<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>
35<a name="l00018"></a>00018 <span class="preprocessor"></span><span class="preprocessor">#define MAXi    1199.0</span>
36<a name="l00019"></a>00019 <span class="preprocessor"></span><span class="preprocessor">#define Q_Kpi   15</span>
37<a name="l00020"></a>00020 <span class="preprocessor"></span><span class="preprocessor">#define Q_Kii   15</span>
38<a name="l00021"></a>00021 <span class="preprocessor"></span>
39<a name="l00022"></a>00022 <span class="comment">// regulator odbuzovani - RUrm  Kp=15, Ti=0.5</span>
40<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>
41<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define Tiurm   0.05                            // 31.5.2007: puvodne 0.01</span>
42<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>
43<a name="l00026"></a>00026 <span class="preprocessor"></span><span class="preprocessor">#define Tfurm   0.01            // casova konstanta filtru Urm</span>
44<a name="l00027"></a>00027 <span class="preprocessor"></span><span class="preprocessor">#define Q_Kpurm 12</span>
45<a name="l00028"></a>00028 <span class="preprocessor"></span><span class="preprocessor">#define Q_Kiurm 15</span>
46<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define Q_Kturm 15              // TV/Tf  ... nechat Q15!!!!</span>
47<a name="l00030"></a>00030 <span class="preprocessor"></span>
48<a name="l00031"></a>00031 <span class="comment">// blok "Vypocet napeti" - "odvazbovaci blok" ... definice systemu</span>
49<a name="l00032"></a>00032 <span class="preprocessor">#define Q_Kodv_ud       15              // Wref*Iref/Uref*Ls</span>
50<a name="l00033"></a>00033 <span class="preprocessor"></span>
51<a name="l00034"></a>00034 <span class="comment">// regulator rychlosti</span>
52<a name="l00035"></a>00035 <span class="preprocessor">#define Kpw     3.0                     // Kpw*Wref/Iref</span>
53<a name="l00036"></a>00036 <span class="preprocessor"></span><span class="preprocessor">#define Tiw     0.1</span>
54<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="preprocessor">#define MAXw    Ismax</span>
55<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define Q_Kpw   7</span>
56<a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">#define Q_Kiw   15</span>
57<a name="l00040"></a>00040 <span class="preprocessor"></span>
58<a name="l00041"></a>00041 <span class="comment">// model motoru pro vypocet toku a momentu</span>
59<a name="l00042"></a>00042 <span class="preprocessor">#define Q_K_Fs          15      // max. Q15 ... Ls*Iref/Fref</span>
60<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>
61<a name="l00044"></a>00044 <span class="preprocessor"></span>
62<a name="l00045"></a>00045
63<a name="l00046"></a>00046 <span class="comment">// filtrace napeti v ss obvodu</span>
64<a name="l00047"></a>00047 <span class="preprocessor">#define Tfuc    0.1</span>
65<a name="l00048"></a>00048 <span class="preprocessor"></span>
66<a name="l00049"></a>00049 <span class="comment">// filtrace Isd</span>
67<a name="l00050"></a>00050 <span class="preprocessor">#define Tfid    0.1</span>
68<a name="l00051"></a>00051 <span class="preprocessor"></span>
69<a name="l00052"></a>00052 <span class="comment">// prechod mezi algoritmy regulace VARIANTA 1 a VARIANTA 2</span>
70<a name="l00053"></a>00053 <span class="preprocessor">#define prechod_1_2             (2.*M_PI*75.)           // 55Hz ... wme [rad/s]</span>
71<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>
72<a name="l00055"></a>00055 <span class="preprocessor"></span>
73<a name="l00056"></a>00056 <span class="comment">// regulator Isq prostednictvim beta - algoritmus VARIANTA 2: Karel (Kp=0.0002, Ti=0.001s)</span>
74<a name="l00057"></a>00057 <span class="preprocessor">#define Kpib    0.005</span>
75<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor">#define Tiib    0.01                    </span>
76<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#define MAXbeta (40./180.*M_PI)         // zatezny uhel omezen na +/- 40st.</span>
77<a name="l00060"></a>00060 <span class="preprocessor"></span>
78<a name="l00061"></a>00061 <span class="comment">// regulator Isd - VAR2 - kompenzace vypocteneho napeti</span>
79<a name="l00062"></a>00062 <span class="preprocessor">#define Kpidb   0</span>
80<a name="l00063"></a>00063 <span class="preprocessor"></span><span class="preprocessor">#define Tiidb   0.1</span>
81<a name="l00064"></a>00064 <span class="preprocessor"></span><span class="preprocessor">#define MAXud   50.</span>
82<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>
83</pre></div></div>
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