nastaveni_regulatoru_float.h work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp Ismax 40.0 Kpi 20. Tii 0.005 MAXi 1199.0 Q_Kpi 15 Q_Kii 15 Kpurm 50.0 Tiurm 0.05 MINurm (-0.95*Ismax) Tfurm 0.01 Q_Kpurm 12 Q_Kiurm 15 Q_Kturm 15 Q_Kodv_ud 15 Kpw 3.0 Tiw 0.1 MAXw Ismax Q_Kpw 7 Q_Kiw 15 Q_K_Fs 15 Q_K_moment 12 Tfuc 0.1 Tfid 0.1 prechod_1_2 (2.*M_PI*75.) prechod_2_1 (2.*M_PI*70.) Kpib 0.005 Tiib 0.01 MAXbeta (40./180.*M_PI) Kpidb 0 Tiidb 0.1 MAXud 50. /*********************************************** Nastaveniregulatoruvektorovehorizeni Konstantyaomezovace Z.Peroutka Rev.31.5.2007 ***********************************************/ //maximalniproud #defineIsmax40.0//max.proudmotoru //regulatoryproudu #defineKpi20.//Kp*Iref/Uref #defineTii0.005//casovakonstantareg....Kp*Iref/Uref*TV/Ti #defineMAXi1199.0 #defineQ_Kpi15 #defineQ_Kii15 //regulatorodbuzovani-RUrmKp=15,Ti=0.5 #defineKpurm50.0//2.0/Irefev.sqrt(3)/IrefproPWMse3.harmonickou #defineTiurm0.05//31.5.2007:puvodne0.01 #defineMINurm(-0.95*Ismax)//0.95...abyipřireakcireg.Urmbylmotorschopenprodukovatmoment #defineTfurm0.01//casovakonstantafiltruUrm #defineQ_Kpurm12 #defineQ_Kiurm15 #defineQ_Kturm15//TV/Tf...nechatQ15!!!! //blok"Vypocetnapeti"-"odvazbovaciblok"...definicesystemu #defineQ_Kodv_ud15//Wref*Iref/Uref*Ls //regulatorrychlosti #defineKpw3.0//Kpw*Wref/Iref #defineTiw0.1 #defineMAXwIsmax #defineQ_Kpw7 #defineQ_Kiw15 //modelmotoruprovypocettokuamomentu #defineQ_K_Fs15//max.Q15...Ls*Iref/Fref #defineQ_K_moment12//max.Q15...kp*p*Fref*Iref/Mref //filtracenapetivssobvodu #defineTfuc0.1 //filtraceIsd #defineTfid0.1 //prechodmezialgoritmyregulaceVARIANTA1aVARIANTA2 #defineprechod_1_2(2.*M_PI*75.)//55Hz...wme[rad/s] #defineprechod_2_1(2.*M_PI*70.)//50Hz...wme[rad/s] //regulatorIsqprostednictvimbeta-algoritmusVARIANTA2:Karel(Kp=0.0002,Ti=0.001s) #defineKpib0.005 #defineTiib0.01 #defineMAXbeta(40./180.*M_PI)//zateznyuhelomezenna+/-40st. //regulatorIsd-VAR2-kompenzacevypoctenehonapeti #defineKpidb0 #defineTiidb0.1 #defineMAXud50. #defineMINud(-600.)//principialneneninutneomezovat,avsaksohledemnaformatQ13sdostatecnoubezpecnostiuvazovano600V