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345        <name>Fmag</name>
346        <briefdescription>
347        </briefdescription>
348        <detaileddescription>
349        </detaileddescription>
350        <inbodydescription>
351        </inbodydescription>
352        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="48" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="48" bodyend="-1"/>
353      </memberdef>
354      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_115f09e12710588f190ffb75c32fd70e4" prot="public" static="yes" mutable="no">
355        <type>double</type>
356        <definition>double moment</definition>
357        <argsstring></argsstring>
358        <name>moment</name>
359        <briefdescription>
360        </briefdescription>
361        <detaileddescription>
362        </detaileddescription>
363        <inbodydescription>
364        </inbodydescription>
365        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="48" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="48" bodyend="-1"/>
366      </memberdef>
367      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_1bad4eebf61961d8f4731374800617981" prot="public" static="yes" mutable="no">
368        <type>double</type>
369        <definition>double K_Fs</definition>
370        <argsstring></argsstring>
371        <name>K_Fs</name>
372        <briefdescription>
373        </briefdescription>
374        <detaileddescription>
375        </detaileddescription>
376        <inbodydescription>
377        </inbodydescription>
378        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="48" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="48" bodyend="-1"/>
379      </memberdef>
380      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_111a8f4d80b873b7ecfe5daf87b96c89a" prot="public" static="yes" mutable="no">
381        <type>double</type>
382        <definition>double K_moment</definition>
383        <argsstring></argsstring>
384        <name>K_moment</name>
385        <briefdescription>
386        </briefdescription>
387        <detaileddescription>
388        </detaileddescription>
389        <inbodydescription>
390        </inbodydescription>
391        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="48" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="48" bodyend="-1"/>
392      </memberdef>
393      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_1549a89c8114ff1e3d28010e2e1d3d862" prot="public" static="yes" mutable="no">
394        <type>double</type>
395        <definition>double Ismaxf2</definition>
396        <argsstring></argsstring>
397        <name>Ismaxf2</name>
398        <briefdescription>
399        </briefdescription>
400        <detaileddescription>
401        </detaileddescription>
402        <inbodydescription>
403        </inbodydescription>
404        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="49" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="49" bodyend="-1"/>
405      </memberdef>
406      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_1a3378773e6dd84aeb1bcf451ba1d9025" prot="public" static="yes" mutable="no">
407        <type>double</type>
408        <definition>double tmp_omezeni</definition>
409        <argsstring></argsstring>
410        <name>tmp_omezeni</name>
411        <briefdescription>
412        </briefdescription>
413        <detaileddescription>
414        </detaileddescription>
415        <inbodydescription>
416        </inbodydescription>
417        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="49" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="49" bodyend="-1"/>
418      </memberdef>
419      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_173d804f0e21a12004e8412d267f85add" prot="public" static="no" mutable="no">
420        <type>double</type>
421        <definition>double ladeni_regulace[10]</definition>
422        <argsstring>[10]</argsstring>
423        <name>ladeni_regulace</name>
424        <briefdescription>
425        </briefdescription>
426        <detaileddescription>
427        </detaileddescription>
428        <inbodydescription>
429        </inbodydescription>
430        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="51" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="51" bodyend="-1"/>
431      </memberdef>
432      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_18bf8016d7dc5deb088c84616ca363fbc" prot="public" static="no" mutable="no">
433        <type>double</type>
434        <definition>double Treg</definition>
435        <argsstring></argsstring>
436        <name>Treg</name>
437        <briefdescription>
438        </briefdescription>
439        <detaileddescription>
440        </detaileddescription>
441        <inbodydescription>
442        </inbodydescription>
443        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="53" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="53" bodyend="-1"/>
444      </memberdef>
445      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_19fb1b5a606f3b960eef6e434cff36cf9" prot="public" static="yes" mutable="no">
446        <type>unsigned int</type>
447        <definition>unsigned int start_reg</definition>
448        <argsstring></argsstring>
449        <name>start_reg</name>
450        <briefdescription>
451        </briefdescription>
452        <detaileddescription>
453        </detaileddescription>
454        <inbodydescription>
455        </inbodydescription>
456        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="55" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="55" bodyend="-1"/>
457      </memberdef>
458      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_1724e5471347a3b8fc55408582a439303" prot="public" static="yes" mutable="no">
459        <type>double</type>
460        <definition>double Ucf</definition>
461        <argsstring></argsstring>
462        <name>Ucf</name>
463        <briefdescription>
464        </briefdescription>
465        <detaileddescription>
466        </detaileddescription>
467        <inbodydescription>
468        </inbodydescription>
469        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="56" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="56" bodyend="-1"/>
470      </memberdef>
471      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_1cffe92c784d4792e909fe0052d3f74cf" prot="public" static="yes" mutable="no">
472        <type>double</type>
473        <definition>double Isdf</definition>
474        <argsstring></argsstring>
475        <name>Isdf</name>
476        <briefdescription>
477        </briefdescription>
478        <detaileddescription>
479        </detaileddescription>
480        <inbodydescription>
481        </inbodydescription>
482        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="56" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="56" bodyend="-1"/>
483      </memberdef>
484      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_1ed6ad66b72239b34863a5518da23a713" prot="public" static="yes" mutable="no">
485        <type>double</type>
486        <definition>double Ukomp</definition>
487        <argsstring></argsstring>
488        <name>Ukomp</name>
489        <briefdescription>
490        </briefdescription>
491        <detaileddescription>
492        </detaileddescription>
493        <inbodydescription>
494        </inbodydescription>
495        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="56" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="56" bodyend="-1"/>
496      </memberdef>
497      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_16275120fea7036899961e5bcecfcdecb" prot="public" static="yes" mutable="no">
498        <type>double</type>
499        <definition>double zbeta</definition>
500        <argsstring></argsstring>
501        <name>zbeta</name>
502        <briefdescription>
503        </briefdescription>
504        <detaileddescription>
505        </detaileddescription>
506        <inbodydescription>
507        </inbodydescription>
508        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="57" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="57" bodyend="-1"/>
509      </memberdef>
510      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_119972859c96879b7a8dbe9f86a079c07" prot="public" static="yes" mutable="no">
511        <type>double</type>
512        <definition>double zbeta_vyp</definition>
513        <argsstring></argsstring>
514        <name>zbeta_vyp</name>
515        <briefdescription>
516        </briefdescription>
517        <detaileddescription>
518        </detaileddescription>
519        <inbodydescription>
520        </inbodydescription>
521        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="57" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="57" bodyend="-1"/>
522      </memberdef>
523      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_1ddfc4ba6e7b71f345676d45a3421ee59" prot="public" static="yes" mutable="no">
524        <type>double</type>
525        <definition>double zbetaw</definition>
526        <argsstring></argsstring>
527        <name>zbetaw</name>
528        <briefdescription>
529        </briefdescription>
530        <detaileddescription>
531        </detaileddescription>
532        <inbodydescription>
533        </inbodydescription>
534        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="57" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="57" bodyend="-1"/>
535      </memberdef>
536      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_1ae1fb64b97bf1939bcddea50398c1839" prot="public" static="yes" mutable="no">
537        <type>unsigned int</type>
538        <definition>unsigned int ALGORITMUS</definition>
539        <argsstring></argsstring>
540        <name>ALGORITMUS</name>
541        <briefdescription>
542        </briefdescription>
543        <detaileddescription>
544        </detaileddescription>
545        <inbodydescription>
546        </inbodydescription>
547        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="59" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="59" bodyend="-1"/>
548      </memberdef>
549      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_10876bf201aac22bb65ba0060bc309f09" prot="public" static="yes" mutable="no">
550        <type>double</type>
551        <definition>double Sbeta</definition>
552        <argsstring></argsstring>
553        <name>Sbeta</name>
554        <briefdescription>
555        </briefdescription>
556        <detaileddescription>
557        </detaileddescription>
558        <inbodydescription>
559        </inbodydescription>
560        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="62" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="62" bodyend="-1"/>
561      </memberdef>
562      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_154f4cc65f4ff134bd855fe5602cef6d9" prot="public" static="yes" mutable="no">
563        <type>double</type>
564        <definition>double SUkomp</definition>
565        <argsstring></argsstring>
566        <name>SUkomp</name>
567        <briefdescription>
568        </briefdescription>
569        <detaileddescription>
570        </detaileddescription>
571        <inbodydescription>
572        </inbodydescription>
573        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="65" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="65" bodyend="-1"/>
574      </memberdef>
575      <memberdef kind="variable" id="ekf__example_2regulace_8cpp_12adf325de9025786052fa6ac5394a1ab" prot="public" static="yes" mutable="no">
576        <type>unsigned int</type>
577        <definition>unsigned int blokace_beta</definition>
578        <argsstring></argsstring>
579        <name>blokace_beta</name>
580        <initializer>0</initializer>
581        <briefdescription>
582        </briefdescription>
583        <detaileddescription>
584        </detaileddescription>
585        <inbodydescription>
586        </inbodydescription>
587        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="68" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="68" bodyend="-1"/>
588      </memberdef>
589      </sectiondef>
590      <sectiondef kind="func">
591      <memberdef kind="function" id="ekf__example_2regulace_8cpp_1a53473deb0192802d1af2f518f5d3378" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
592        <type>void</type>
593        <definition>void init_regulace</definition>
594        <argsstring>(double *param, double TV)</argsstring>
595        <name>init_regulace</name>
596        <param>
597          <type>double *</type>
598          <declname>param</declname>
599        </param>
600        <param>
601          <type>double</type>
602          <declname>TV</declname>
603        </param>
604        <briefdescription>
605        </briefdescription>
606        <detaileddescription>
607        </detaileddescription>
608        <inbodydescription>
609        </inbodydescription>
610        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="21" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="112" bodyend="165"/>
611      </memberdef>
612      <memberdef kind="function" id="ekf__example_2regulace_8cpp_171d09500b31dfce56234053b946cbf34" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
613        <type>void</type>
614        <definition>void vektor_regulace</definition>
615        <argsstring>(double Idw, double Iqw, double Urm_max, double Ww, double *u, double Isx, double Isy, double theta, double rychlost, double Ucn_2, double Uc, double Ucn, unsigned int rezim)</argsstring>
616        <name>vektor_regulace</name>
617        <param>
618          <type>double</type>
619          <declname>Idw</declname>
620        </param>
621        <param>
622          <type>double</type>
623          <declname>Iqw</declname>
624        </param>
625        <param>
626          <type>double</type>
627          <declname>Urm_max</declname>
628        </param>
629        <param>
630          <type>double</type>
631          <declname>Ww</declname>
632        </param>
633        <param>
634          <type>double *</type>
635          <declname>u</declname>
636        </param>
637        <param>
638          <type>double</type>
639          <declname>Isx</declname>
640        </param>
641        <param>
642          <type>double</type>
643          <declname>Isy</declname>
644        </param>
645        <param>
646          <type>double</type>
647          <declname>theta</declname>
648        </param>
649        <param>
650          <type>double</type>
651          <declname>rychlost</declname>
652        </param>
653        <param>
654          <type>double</type>
655          <declname>Ucn_2</declname>
656        </param>
657        <param>
658          <type>double</type>
659          <declname>Uc</declname>
660        </param>
661        <param>
662          <type>double</type>
663          <declname>Ucn</declname>
664        </param>
665        <param>
666          <type>unsigned int</type>
667          <declname>rezim</declname>
668        </param>
669        <briefdescription>
670        </briefdescription>
671        <detaileddescription>
672        </detaileddescription>
673        <inbodydescription>
674        </inbodydescription>
675        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="23"/>
676      </memberdef>
677      <memberdef kind="function" id="ekf__example_2regulace_8cpp_11531262dc8e2967f7f7fbe649b632e8b" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
678        <type>void</type>
679        <definition>void reset_regulatoru</definition>
680        <argsstring>(void)</argsstring>
681        <name>reset_regulatoru</name>
682        <param>
683          <type>void</type>
684        </param>
685        <briefdescription>
686        </briefdescription>
687        <detaileddescription>
688        </detaileddescription>
689        <inbodydescription>
690        </inbodydescription>
691        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="25" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="372" bodyend="377"/>
692      </memberdef>
693      <memberdef kind="function" id="ekf__example_2regulace_8cpp_1154c64d72d9a6e1e1d5621c6561372eb" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
694        <type>double</type>
695        <definition>double pi_reg</definition>
696        <argsstring>(double epsilon, double Kpf, double Kif, double MAX, double MIN, double *S)</argsstring>
697        <name>pi_reg</name>
698        <param>
699          <type>double</type>
700          <declname>epsilon</declname>
701        </param>
702        <param>
703          <type>double</type>
704          <declname>Kpf</declname>
705        </param>
706        <param>
707          <type>double</type>
708          <declname>Kif</declname>
709        </param>
710        <param>
711          <type>double</type>
712          <declname>MAX</declname>
713        </param>
714        <param>
715          <type>double</type>
716          <declname>MIN</declname>
717        </param>
718        <param>
719          <type>double *</type>
720          <declname>S</declname>
721        </param>
722        <briefdescription>
723        </briefdescription>
724        <detaileddescription>
725        </detaileddescription>
726        <inbodydescription>
727        </inbodydescription>
728        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="27" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="88" bodyend="99"/>
729      </memberdef>
730      <memberdef kind="function" id="ekf__example_2regulace_8cpp_1d52cd3d5f2f7c2561b9d318c3d9e66a8" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
731        <type>double</type>
732        <definition>double uhel</definition>
733        <argsstring>(double x, double y)</argsstring>
734        <name>uhel</name>
735        <param>
736          <type>double</type>
737          <declname>x</declname>
738        </param>
739        <param>
740          <type>double</type>
741          <declname>y</declname>
742        </param>
743        <briefdescription>
744        </briefdescription>
745        <detaileddescription>
746        </detaileddescription>
747        <inbodydescription>
748        </inbodydescription>
749        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="71" bodyend="85"/>
750      </memberdef>
751      <memberdef kind="function" id="ekf__example_2regulace_8cpp_1355f57120e187949afdadc570d5c5bd6" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
752        <type>void</type>
753        <definition>void filtr</definition>
754        <argsstring>(double U, double *Uf, double kt)</argsstring>
755        <name>filtr</name>
756        <param>
757          <type>double</type>
758          <declname>U</declname>
759        </param>
760        <param>
761          <type>double *</type>
762          <declname>Uf</declname>
763        </param>
764        <param>
765          <type>double</type>
766          <declname>kt</declname>
767        </param>
768        <briefdescription>
769        </briefdescription>
770        <detaileddescription>
771        </detaileddescription>
772        <inbodydescription>
773        </inbodydescription>
774        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp" bodystart="101" bodyend="107"/>
775      </memberdef>
776      </sectiondef>
777    <briefdescription>
778    </briefdescription>
779    <detaileddescription>
780    </detaileddescription>
781    <programlisting>
782<codeline lineno="1"><highlight class="comment">/*********************************</highlight></codeline>
783<codeline lineno="2"><highlight class="comment"></highlight></codeline>
784<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Vektorove<sp/>rizeni</highlight></codeline>
785<codeline lineno="4"><highlight class="comment"></highlight></codeline>
786<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>regulacni<sp/>struktura<sp/>-<sp/>plovouci<sp/>radova<sp/>carka</highlight></codeline>
787<codeline lineno="6"><highlight class="comment"></highlight></codeline>
788<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
789<codeline lineno="8"><highlight class="comment"></highlight></codeline>
790<codeline lineno="9"><highlight class="comment">Rev.<sp/>15.3.2008</highlight></codeline>
791<codeline lineno="10"><highlight class="comment"></highlight></codeline>
792<codeline lineno="11"><highlight class="comment">5.6.2007<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Doplnen<sp/>vypocet<sp/>uhlu<sp/>beta,<sp/>ktery<sp/>doplnuje<sp/>regulator<sp/>Isq</highlight></codeline>
793<codeline lineno="12"><highlight class="comment"></highlight></codeline>
794<codeline lineno="13"><highlight class="comment">**********************************/</highlight><highlight class="normal"></highlight></codeline>
795<codeline lineno="14"><highlight class="normal"></highlight></codeline>
796<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>_USE_MATH_DEFINES</highlight></codeline>
797<codeline lineno="16"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#include<sp/>&lt;math.h&gt;</highlight><highlight class="normal"></highlight></codeline>
798<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;nastaveni_regulatoru_float.h&quot;</highlight><highlight class="normal"></highlight></codeline>
799<codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;regulace.h&quot;</highlight><highlight class="normal"></highlight></codeline>
800<codeline lineno="19"><highlight class="normal"></highlight></codeline>
801<codeline lineno="20"><highlight class="normal"></highlight></codeline>
802<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>TV);</highlight></codeline>
803<codeline lineno="22"><highlight class="normal"></highlight><highlight class="comment">//void<sp/>vektor_regulace(double<sp/>Idw,<sp/>double<sp/>Iqw,<sp/>double<sp/>Urm_max,<sp/>double<sp/>Ww,<sp/>double<sp/>*u,<sp/>double<sp/>Isx,<sp/>double<sp/>Isy,<sp/>double<sp/>theta,<sp/>double<sp/>rychlost,<sp/>double<sp/>Ucn_2,<sp/>unsigned<sp/>int<sp/>rezim);</highlight><highlight class="normal"></highlight></codeline>
804<codeline lineno="23"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>vektor_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Iqw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Urm_max,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>theta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>rychlost,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn_2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rezim);</highlight></codeline>
805<codeline lineno="24"><highlight class="normal"></highlight></codeline>
806<codeline lineno="25"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>reset_regulatoru(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">);</highlight></codeline>
807<codeline lineno="26"><highlight class="normal"></highlight></codeline>
808<codeline lineno="27"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>pi_reg(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>epsilon,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kpf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kif,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MAX,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MIN,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*S);</highlight></codeline>
809<codeline lineno="28"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uhel(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>y);</highlight></codeline>
810<codeline lineno="29"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>filtr(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Uf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kt);</highlight></codeline>
811<codeline lineno="30"><highlight class="normal"></highlight></codeline>
812<codeline lineno="31"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulatory<sp/>proudu</highlight><highlight class="normal"></highlight></codeline>
813<codeline lineno="32"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ud,<sp/>uq,<sp/>alfa,<sp/>beta;</highlight></codeline>
814<codeline lineno="33"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Sid,<sp/>Siq,<sp/>Surm;</highlight></codeline>
815<codeline lineno="34"><highlight class="normal"></highlight></codeline>
816<codeline lineno="35"><highlight class="normal"></highlight><highlight class="comment">//<sp/>omezeni<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
817<codeline lineno="36"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kiqmax,<sp/>Iqwmax,<sp/>Iqw_reg;</highlight></codeline>
818<codeline lineno="37"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idw_urm,<sp/>Idw_reg;</highlight></codeline>
819<codeline lineno="38"><highlight class="normal"></highlight></codeline>
820<codeline lineno="39"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
821<codeline lineno="40"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Sw,<sp/>MAXw_lim;</highlight></codeline>
822<codeline lineno="41"><highlight class="normal"></highlight></codeline>
823<codeline lineno="42"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U;</highlight></codeline>
824<codeline lineno="43"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Um,<sp/>Urmf;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>velikost<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
825<codeline lineno="44"><highlight class="normal"></highlight></codeline>
826<codeline lineno="45"><highlight class="normal"></highlight><highlight class="comment">//<sp/>odvazbovaci<sp/>obvod<sp/>-<sp/>blok<sp/>vypocet<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
827<codeline lineno="46"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kodv_ud,<sp/>Kodv_uind;</highlight></codeline>
828<codeline lineno="47"><highlight class="normal"></highlight></codeline>
829<codeline lineno="48"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isd,<sp/>Isq,<sp/>Fs,<sp/>Fmag,<sp/>moment,<sp/>K_Fs,<sp/>K_moment;</highlight></codeline>
830<codeline lineno="49"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ismaxf2,<sp/>tmp_omezeni;</highlight></codeline>
831<codeline lineno="50"><highlight class="normal"></highlight></codeline>
832<codeline lineno="51"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ladeni_regulace[10];</highlight></codeline>
833<codeline lineno="52"><highlight class="normal"></highlight></codeline>
834<codeline lineno="53"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Treg;</highlight></codeline>
835<codeline lineno="54"><highlight class="normal"></highlight></codeline>
836<codeline lineno="55"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>start_reg;</highlight></codeline>
837<codeline lineno="56"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucf,<sp/>Isdf,<sp/>Ukomp;</highlight></codeline>
838<codeline lineno="57"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>zbeta,<sp/>zbeta_vyp,<sp/>zbetaw;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>zatezny<sp/>uhel<sp/>vyhodnoceny<sp/>z<sp/>polohy<sp/>pozadovaneho<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
839<codeline lineno="58"><highlight class="normal"></highlight></codeline>
840<codeline lineno="59"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>ALGORITMUS;</highlight></codeline>
841<codeline lineno="60"><highlight class="normal"></highlight></codeline>
842<codeline lineno="61"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>Isq<sp/>pres<sp/>zatezny<sp/>uhel</highlight><highlight class="normal"></highlight></codeline>
843<codeline lineno="62"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Sbeta;</highlight></codeline>
844<codeline lineno="63"><highlight class="normal"></highlight></codeline>
845<codeline lineno="64"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>Isd<sp/>-<sp/>kompenzace<sp/>vypocteneho<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
846<codeline lineno="65"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>SUkomp;</highlight></codeline>
847<codeline lineno="66"><highlight class="normal"></highlight></codeline>
848<codeline lineno="67"><highlight class="normal"></highlight><highlight class="comment">//<sp/>pomocne<sp/>promenne</highlight><highlight class="normal"></highlight></codeline>
849<codeline lineno="68"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>blokace_beta=0;</highlight></codeline>
850<codeline lineno="69"><highlight class="normal"></highlight></codeline>
851<codeline lineno="71"><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uhel(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>y)</highlight></codeline>
852<codeline lineno="72"><highlight class="normal">{</highlight></codeline>
853<codeline lineno="73"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>th;</highlight></codeline>
854<codeline lineno="74"><highlight class="normal"></highlight></codeline>
855<codeline lineno="75"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x==0)</highlight></codeline>
856<codeline lineno="76"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(y==0)<sp/>th=0.;</highlight></codeline>
857<codeline lineno="77"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(y&gt;0)<sp/>th=M_PI/2.;</highlight></codeline>
858<codeline lineno="78"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>th=-M_PI/2.;</highlight></codeline>
859<codeline lineno="79"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
860<codeline lineno="80"><highlight class="normal"><sp/><sp/><sp/><sp/>th=atan(y/x);</highlight></codeline>
861<codeline lineno="81"><highlight class="normal"></highlight></codeline>
862<codeline lineno="82"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x&lt;0)<sp/>th+=M_PI;</highlight></codeline>
863<codeline lineno="83"><highlight class="normal"></highlight></codeline>
864<codeline lineno="84"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>th;</highlight></codeline>
865<codeline lineno="85"><highlight class="normal">}</highlight></codeline>
866<codeline lineno="86"><highlight class="normal"></highlight></codeline>
867<codeline lineno="87"><highlight class="normal"></highlight></codeline>
868<codeline lineno="88"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>pi_reg(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>epsilon,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kpf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kif,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MAX,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MIN,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*S)</highlight></codeline>
869<codeline lineno="89"><highlight class="normal">{</highlight></codeline>
870<codeline lineno="90"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>out;</highlight></codeline>
871<codeline lineno="91"><highlight class="normal"></highlight></codeline>
872<codeline lineno="92"><highlight class="normal"><sp/><sp/>out=Kpf*epsilon+*S;</highlight></codeline>
873<codeline lineno="93"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(out&gt;MAX)<sp/>out=MAX;</highlight></codeline>
874<codeline lineno="94"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(out&lt;MIN)<sp/>out=MIN;</highlight></codeline>
875<codeline lineno="95"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
876<codeline lineno="96"><highlight class="normal"><sp/><sp/><sp/><sp/>*S+=Kif*epsilon;</highlight></codeline>
877<codeline lineno="97"><highlight class="normal"></highlight></codeline>
878<codeline lineno="98"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>out;</highlight></codeline>
879<codeline lineno="99"><highlight class="normal">}</highlight></codeline>
880<codeline lineno="100"><highlight class="normal"></highlight></codeline>
881<codeline lineno="101"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>filtr(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Uf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kt)</highlight></codeline>
882<codeline lineno="102"><highlight class="normal">{</highlight></codeline>
883<codeline lineno="103"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ufpom;</highlight></codeline>
884<codeline lineno="104"><highlight class="normal"></highlight></codeline>
885<codeline lineno="105"><highlight class="normal"><sp/><sp/>Ufpom=*Uf;</highlight></codeline>
886<codeline lineno="106"><highlight class="normal"><sp/><sp/>*Uf=Ufpom+kt*(U-*Uf);</highlight></codeline>
887<codeline lineno="107"><highlight class="normal">}</highlight></codeline>
888<codeline lineno="108"><highlight class="normal"></highlight></codeline>
889<codeline lineno="110"><highlight class="normal"></highlight></codeline>
890<codeline lineno="111"><highlight class="normal"></highlight></codeline>
891<codeline lineno="112"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>TV)</highlight></codeline>
892<codeline lineno="113"><highlight class="normal">{</highlight></codeline>
893<codeline lineno="114"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kpd;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>pomocna<sp/>velicina</highlight><highlight class="normal"></highlight></codeline>
894<codeline lineno="115"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs,<sp/>Ls,<sp/>kp,<sp/>p;</highlight></codeline>
895<codeline lineno="116"><highlight class="normal"></highlight></codeline>
896<codeline lineno="117"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>parametry<sp/>pro<sp/>odvazbeni</highlight><highlight class="normal"></highlight></codeline>
897<codeline lineno="118"><highlight class="normal"><sp/><sp/>Rs=*(param+0);</highlight></codeline>
898<codeline lineno="119"><highlight class="normal"><sp/><sp/>Ls=*(param+1);</highlight></codeline>
899<codeline lineno="120"><highlight class="normal"><sp/><sp/>Fmag=*(param+2);</highlight></codeline>
900<codeline lineno="121"><highlight class="normal"><sp/><sp/>kp=*(param+5);</highlight></codeline>
901<codeline lineno="122"><highlight class="normal"><sp/><sp/>p=*(param+4);</highlight></codeline>
902<codeline lineno="123"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vyhodit<sp/>az<sp/>sem<sp/>v<sp/>DSP<sp/>////////////////////</highlight><highlight class="normal"></highlight></codeline>
903<codeline lineno="124"><highlight class="normal"></highlight></codeline>
904<codeline lineno="125"><highlight class="normal"><sp/><sp/>Sid=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>nulovani<sp/>integracni<sp/>slozky</highlight><highlight class="normal"></highlight></codeline>
905<codeline lineno="126"><highlight class="normal"><sp/><sp/>Siq=0;</highlight></codeline>
906<codeline lineno="127"><highlight class="normal"></highlight></codeline>
907<codeline lineno="128"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulator<sp/>odbuzovani</highlight><highlight class="normal"></highlight></codeline>
908<codeline lineno="129"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Kpd=Kpurm*2.0/Iref;<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>2.0,<sp/>protoze<sp/>Urm<sp/>je<sp/>ladeno<sp/>v<sp/>pomernych<sp/>hodnotach<sp/>Um*2/Ucn<sp/>a<sp/>tady<sp/>je<sp/>to<sp/>vztazeno<sp/>na<sp/>Ucn</highlight><highlight class="normal"></highlight></codeline>
909<codeline lineno="130"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Kiurmf=prevod((Kpd*TV/Tiurm),Q_Kiurm);</highlight><highlight class="normal"></highlight></codeline>
910<codeline lineno="131"><highlight class="normal"></highlight></codeline>
911<codeline lineno="132"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Kt_urm=prevod(TV/Tfurm,Q_Kturm);<sp/><sp/><sp/>//<sp/>casova<sp/>konstanta<sp/>filtru<sp/>Urm</highlight><highlight class="normal"></highlight></codeline>
912<codeline lineno="133"><highlight class="normal"></highlight></codeline>
913<codeline lineno="134"><highlight class="normal"><sp/><sp/>Surm=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>nulovani<sp/>integracni<sp/>slozky</highlight><highlight class="normal"></highlight></codeline>
914<codeline lineno="135"><highlight class="normal"><sp/><sp/>Urmf=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>filtrovane<sp/>napeti<sp/>Urm</highlight><highlight class="normal"></highlight></codeline>
915<codeline lineno="136"><highlight class="normal"></highlight></codeline>
916<codeline lineno="137"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>momentu<sp/>kvuli<sp/>momentu<sp/>zvratu<sp/>-<sp/>omezeni<sp/>pomoci<sp/>frmax</highlight><highlight class="normal"></highlight></codeline>
917<codeline lineno="138"><highlight class="normal"><sp/><sp/>Ismaxf2=Ismax*Ismax;</highlight></codeline>
918<codeline lineno="139"><highlight class="normal"></highlight></codeline>
919<codeline lineno="140"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>blok<sp/>VYPOCET<sp/>NAPETI</highlight><highlight class="normal"></highlight></codeline>
920<codeline lineno="141"><highlight class="normal"><sp/><sp/>Kodv_ud=Ls;</highlight></codeline>
921<codeline lineno="142"><highlight class="normal"><sp/><sp/>Kodv_uind=Fmag;</highlight></codeline>
922<codeline lineno="143"><highlight class="normal"></highlight></codeline>
923<codeline lineno="144"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulator<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
924<codeline lineno="145"><highlight class="normal"><sp/><sp/>Sw=0;</highlight></codeline>
925<codeline lineno="146"><highlight class="normal"></highlight></codeline>
926<codeline lineno="147"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>modelu</highlight><highlight class="normal"></highlight></codeline>
927<codeline lineno="148"><highlight class="normal"><sp/><sp/>K_Fs=Ls;</highlight></codeline>
928<codeline lineno="149"><highlight class="normal"><sp/><sp/>K_moment=kp*p*Fmag;</highlight></codeline>
929<codeline lineno="150"><highlight class="normal"></highlight></codeline>
930<codeline lineno="151"><highlight class="normal"><sp/><sp/>Treg=TV;</highlight></codeline>
931<codeline lineno="152"><highlight class="normal"></highlight></codeline>
932<codeline lineno="153"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>pocatecni<sp/>ALGORITMUS</highlight><highlight class="normal"></highlight></codeline>
933<codeline lineno="154"><highlight class="normal"><sp/><sp/>ALGORITMUS=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>implicitne<sp/>se<sp/>pouzije<sp/>klasicke<sp/>vektorove<sp/>rizeni</highlight><highlight class="normal"></highlight></codeline>
934<codeline lineno="155"><highlight class="normal"></highlight></codeline>
935<codeline lineno="156"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulator<sp/>Isq<sp/>prostrednictvim<sp/>beta</highlight><highlight class="normal"></highlight></codeline>
936<codeline lineno="157"><highlight class="normal"><sp/><sp/>zbeta=0.;</highlight></codeline>
937<codeline lineno="158"><highlight class="normal"><sp/><sp/>Sbeta=0.;</highlight></codeline>
938<codeline lineno="159"><highlight class="normal"><sp/><sp/></highlight></codeline>
939<codeline lineno="160"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulator<sp/>Isd<sp/>-<sp/>kompenzace<sp/>vypocteneho<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
940<codeline lineno="161"><highlight class="normal"><sp/><sp/>SUkomp=0.;</highlight></codeline>
941<codeline lineno="162"><highlight class="normal"></highlight></codeline>
942<codeline lineno="163"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>start<sp/>regulace</highlight><highlight class="normal"></highlight></codeline>
943<codeline lineno="164"><highlight class="normal"><sp/><sp/>start_reg=1;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>indikace<sp/>1.<sp/>pruchodu<sp/>regulacni<sp/>smyckou<sp/>kvuli<sp/>nastaveni<sp/>spravnych<sp/>hodnot<sp/>filtru<sp/>Uc<sp/>a<sp/>Isd</highlight><highlight class="normal"></highlight></codeline>
944<codeline lineno="165"><highlight class="normal">}</highlight></codeline>
945<codeline lineno="166"><highlight class="normal"></highlight></codeline>
946<codeline lineno="167"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>vektor_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Iqw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Urm_max,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>theta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>rychlost,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn_2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rezim)</highlight></codeline>
947<codeline lineno="168"><highlight class="normal">{</highlight></codeline>
948<codeline lineno="169"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>Isd,<sp/>Isq</highlight><highlight class="normal"></highlight></codeline>
949<codeline lineno="170"><highlight class="normal"><sp/><sp/>Isd=Isx*cos(theta)+Isy*sin(theta);</highlight></codeline>
950<codeline lineno="171"><highlight class="normal"><sp/><sp/>Isq=Isy*cos(theta)-Isx*sin(theta);</highlight></codeline>
951<codeline lineno="172"><highlight class="normal"></highlight></codeline>
952<codeline lineno="173"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>filtrace<sp/>napeti<sp/>ss<sp/>obvodu</highlight><highlight class="normal"></highlight></codeline>
953<codeline lineno="174"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(start_reg==1)</highlight></codeline>
954<codeline lineno="175"><highlight class="normal"><sp/><sp/>{<sp/></highlight></codeline>
955<codeline lineno="176"><highlight class="normal"><sp/><sp/><sp/><sp/>Ucf=Uc;</highlight></codeline>
956<codeline lineno="177"><highlight class="normal"><sp/><sp/><sp/><sp/>Isdf=Isd;</highlight></codeline>
957<codeline lineno="178"><highlight class="normal"><sp/><sp/><sp/><sp/>start_reg=0;</highlight></codeline>
958<codeline lineno="179"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
959<codeline lineno="180"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
960<codeline lineno="181"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
961<codeline lineno="182"><highlight class="normal"><sp/><sp/><sp/><sp/>filtr(Uc,&amp;Ucf,Treg/Tfuc);</highlight></codeline>
962<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/>filtr(Isd,&amp;Isdf,Treg/Tfid);</highlight></codeline>
963<codeline lineno="184"><highlight class="normal"><sp/><sp/>}<sp/></highlight></codeline>
964<codeline lineno="185"><highlight class="normal"></highlight></codeline>
965<codeline lineno="186"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vyber<sp/>varianty<sp/>regulace</highlight><highlight class="normal"></highlight></codeline>
966<codeline lineno="187"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(fabs(rychlost)&gt;prechod_1_2)<sp/>ALGORITMUS=1;<sp/></highlight><highlight class="comment">//<sp/>prechod<sp/>z<sp/>algoritmu<sp/>1<sp/>na<sp/>2</highlight><highlight class="normal"></highlight></codeline>
967<codeline lineno="188"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(fabs(rychlost)&lt;prechod_2_1)<sp/>ALGORITMUS=0;<sp/></highlight><highlight class="comment">//<sp/>prechod<sp/>z<sp/>algortimu<sp/>2<sp/>na<sp/>1</highlight><highlight class="normal"></highlight></codeline>
968<codeline lineno="189"><highlight class="normal"><sp/><sp/>ALGORITMUS=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>provozovana<sp/>pouze<sp/>definovana<sp/>varianta<sp/>algoritmu<sp/>rizeni</highlight><highlight class="normal"></highlight></codeline>
969<codeline lineno="190"><highlight class="normal"></highlight></codeline>
970<codeline lineno="191"><highlight class="normal"><sp/><sp/>Iqw_reg=pi_reg(Ww-rychlost,Kpw,Kpw*Treg/Tiw,MAXw,-MAXw,&amp;Sw);</highlight></codeline>
971<codeline lineno="192"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rezim==0)</highlight></codeline>
972<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/>Iqw_reg=Iqw;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>vyrazeni<sp/>reg.<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
973<codeline lineno="194"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rezim==2)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>zkouska<sp/>max.<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
974<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/>Iqw_reg=Iqwmax;<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Iqw<sp/>=<sp/>sqrt(Imax^2-Idw^2)</highlight><highlight class="normal"></highlight></codeline>
975<codeline lineno="196"><highlight class="normal"></highlight></codeline>
976<codeline lineno="198"><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ALGORITMUS==0)<sp/></highlight></codeline>
977<codeline lineno="199"><highlight class="normal">{</highlight></codeline>
978<codeline lineno="200"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Regulator<sp/>odbuzovani</highlight><highlight class="normal"></highlight></codeline>
979<codeline lineno="201"><highlight class="normal"><sp/><sp/>Idw_urm=pi_reg(Urm_max-Urmf,Kpurm,Kpurm*Treg/Tiurm,0.,MINurm,&amp;Surm);</highlight></codeline>
980<codeline lineno="202"><highlight class="normal"></highlight></codeline>
981<codeline lineno="203"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulace<sp/>proudu<sp/>Id,<sp/>Iq</highlight><highlight class="normal"></highlight></codeline>
982<codeline lineno="204"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Idw_urm<sp/>=<sp/>Idw;<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>vyrazena<sp/>regulace<sp/>Urm</highlight><highlight class="normal"></highlight></codeline>
983<codeline lineno="205"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Idw_urm=0;</highlight><highlight class="normal"></highlight></codeline>
984<codeline lineno="206"><highlight class="normal"><sp/><sp/>ud=pi_reg(Idw_urm-Isd,Kpi,Kpi*Treg/Tii,MAXi,-MAXi,&amp;Sid);</highlight></codeline>
985<codeline lineno="207"><highlight class="normal"></highlight></codeline>
986<codeline lineno="208"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>max.<sp/>momentu<sp/>(resp.<sp/>max.<sp/>Iqw)<sp/>s<sp/>ohledem<sp/>na<sp/>max.<sp/>proud</highlight><highlight class="normal"></highlight></codeline>
987<codeline lineno="209"><highlight class="normal"><sp/><sp/>tmp_omezeni=Ismaxf2-Idw_urm*Idw_urm;</highlight></codeline>
988<codeline lineno="210"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_omezeni&lt;0)<sp/>Iqwmax=0;</highlight></codeline>
989<codeline lineno="211"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>Iqwmax=sqrt(tmp_omezeni);</highlight></codeline>
990<codeline lineno="212"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(MAXw&gt;Iqwmax)<sp/>MAXw_lim=Iqwmax;</highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>MAXw_lim=MAXw;</highlight></codeline>
991<codeline lineno="213"><highlight class="normal"></highlight></codeline>
992<codeline lineno="214"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulace<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
993<codeline lineno="215"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Iqw_reg=pi_reg(Ww-rychlost,Kpw,Kpw*Treg/Tiw,MAXw_lim,-MAXw_lim,&amp;Sw);</highlight><highlight class="normal"></highlight></codeline>
994<codeline lineno="216"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>if<sp/>(rezim==0)</highlight></codeline>
995<codeline lineno="217"><highlight class="comment"><sp/><sp/><sp/><sp/>Iqw_reg=Iqw;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>vyrazeni<sp/>reg.<sp/>rychlosti</highlight></codeline>
996<codeline lineno="218"><highlight class="comment"><sp/><sp/>if<sp/>(rezim==2)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>zkouska<sp/>max.<sp/>momentu</highlight></codeline>
997<codeline lineno="219"><highlight class="comment"><sp/><sp/><sp/><sp/>Iqw_reg=Iqwmax;<sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>Iqw<sp/>=<sp/>sqrt(Imax^2-Idw^2)</highlight></codeline>
998<codeline lineno="220"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
999<codeline lineno="221"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Iqw_reg&gt;Iqwmax)<sp/>Iqw_reg=Iqwmax;</highlight></codeline>
1000<codeline lineno="222"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Iqw_reg&lt;-Iqwmax)<sp/>Iqw_reg=-Iqwmax;</highlight></codeline>
1001<codeline lineno="223"><highlight class="normal"><sp/><sp/>uq=pi_reg(Iqw_reg-Isq,Kpi,Kpi*Treg/Tii,MAXi,-MAXi,&amp;Siq);</highlight></codeline>
1002<codeline lineno="224"><highlight class="normal"></highlight></codeline>
1003<codeline lineno="226"><highlight class="normal"><sp/><sp/>ud-=Kodv_ud*rychlost*Iqw_reg;</highlight></codeline>
1004<codeline lineno="227"><highlight class="normal"><sp/><sp/>uq+=Kodv_ud*rychlost*Idw_urm+Kodv_uind*rychlost;</highlight></codeline>
1005<codeline lineno="228"><highlight class="normal"></highlight></codeline>
1006<codeline lineno="229"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>-<sp/>saturace<sp/>napeti<sp/>-<sp/>stejne<sp/>omezeni<sp/>jako<sp/>u<sp/>reg.<sp/>proudu</highlight><highlight class="normal"></highlight></codeline>
1007<codeline lineno="230"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ud&gt;MAXi)<sp/>ud=MAXi;</highlight></codeline>
1008<codeline lineno="231"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ud&lt;-MAXi)<sp/>ud=-MAXi;</highlight></codeline>
1009<codeline lineno="232"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(uq&gt;MAXi)<sp/>uq=MAXi;</highlight></codeline>
1010<codeline lineno="233"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(uq&lt;-MAXi)<sp/>uq=-MAXi;</highlight></codeline>
1011<codeline lineno="234"><highlight class="normal"></highlight></codeline>
1012<codeline lineno="236"><highlight class="normal"></highlight></codeline>
1013<codeline lineno="237"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>velikost<sp/>a<sp/>poloha<sp/>vektoru<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
1014<codeline lineno="238"><highlight class="normal"><sp/><sp/>Um=sqrt(ud*ud+uq*uq);</highlight></codeline>
1015<codeline lineno="239"><highlight class="normal"><sp/><sp/>alfa=uhel(ud,uq);</highlight></codeline>
1016<codeline lineno="240"><highlight class="normal"></highlight></codeline>
1017<codeline lineno="241"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>zatezneho<sp/>uhlu<sp/>z<sp/>pozadovaneho<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
1018<codeline lineno="242"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rychlost&gt;=0)</highlight></codeline>
1019<codeline lineno="243"><highlight class="normal"><sp/><sp/><sp/><sp/>zbetaw=alfa-M_PI/2.;</highlight></codeline>
1020<codeline lineno="244"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
1021<codeline lineno="245"><highlight class="normal"><sp/><sp/>{<sp/>zbetaw=alfa+M_PI/2.;</highlight></codeline>
1022<codeline lineno="246"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ud&lt;0)<sp/>zbetaw-=2.*M_PI;</highlight></codeline>
1023<codeline lineno="247"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
1024<codeline lineno="248"><highlight class="normal"></highlight></codeline>
1025<codeline lineno="249"><highlight class="normal"><sp/><sp/>Sbeta=zbetaw;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>inicializace<sp/>regulatoru<sp/>Isq<sp/>prostednictvim<sp/>beta<sp/>-<sp/>sumace<sp/>pri<sp/>prepnuti<sp/>nastavena<sp/>na<sp/>aktualni<sp/>hodnotu<sp/>zatezneho<sp/>uhlu!</highlight><highlight class="normal"></highlight></codeline>
1026<codeline lineno="250"><highlight class="normal">}</highlight></codeline>
1027<codeline lineno="252"><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>(ALGORITMUS<sp/>==<sp/>1)<sp/><sp/><sp/><sp/>...<sp/>regulace<sp/>zatezneho<sp/>uhlu</highlight><highlight class="normal"></highlight></codeline>
1028<codeline lineno="253"><highlight class="normal">{</highlight></codeline>
1029<codeline lineno="255"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>max.<sp/>momentu<sp/>(resp.<sp/>max.<sp/>Iqw)<sp/>s<sp/>ohledem<sp/>na<sp/>max.<sp/>proud</highlight><highlight class="normal"></highlight></codeline>
1030<codeline lineno="256"><highlight class="normal"><sp/><sp/>tmp_omezeni=Ismaxf2-Isdf*Isdf;</highlight></codeline>
1031<codeline lineno="257"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_omezeni&lt;0)<sp/>Iqwmax=0;</highlight></codeline>
1032<codeline lineno="258"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>Iqwmax=sqrt(tmp_omezeni);</highlight></codeline>
1033<codeline lineno="259"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(MAXw&gt;Iqwmax)<sp/>MAXw_lim=Iqwmax;</highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>MAXw_lim=MAXw;</highlight></codeline>
1034<codeline lineno="260"><highlight class="normal"><sp/><sp/></highlight></codeline>
1035<codeline lineno="261"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulace<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
1036<codeline lineno="262"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>Iqw_reg=pi_reg(Ww-rychlost,Kpw,Kpw*Treg/Tiw,MAXw_lim,-MAXw_lim,&amp;Sw);</highlight></codeline>
1037<codeline lineno="263"><highlight class="comment"><sp/><sp/>if<sp/>(rezim==0)</highlight></codeline>
1038<codeline lineno="264"><highlight class="comment"><sp/><sp/><sp/><sp/>Iqw_reg=Iqw;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>vyrazeni<sp/>reg.<sp/>rychlosti</highlight></codeline>
1039<codeline lineno="265"><highlight class="comment"><sp/><sp/>if<sp/>(rezim==2)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>zkouska<sp/>max.<sp/>momentu</highlight></codeline>
1040<codeline lineno="266"><highlight class="comment"><sp/><sp/><sp/><sp/>Iqw_reg=Iqwmax;<sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>Iqw<sp/>=<sp/>sqrt(Imax^2-Idw^2)</highlight></codeline>
1041<codeline lineno="267"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
1042<codeline lineno="268"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Iqw_reg&gt;Iqwmax)<sp/>Iqw_reg=Iqwmax;</highlight></codeline>
1043<codeline lineno="269"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Iqw_reg&lt;-Iqwmax)<sp/>Iqw_reg=-Iqwmax;</highlight></codeline>
1044<codeline lineno="270"><highlight class="normal"><sp/><sp/></highlight></codeline>
1045<codeline lineno="271"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Iqw_reg=Iqw;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>bez<sp/>omezovani<sp/>Isqw</highlight><highlight class="normal"></highlight></codeline>
1046<codeline lineno="272"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulace<sp/>Isq<sp/>prostrednictvim<sp/>zatezneho<sp/>uhlu</highlight><highlight class="normal"></highlight></codeline>
1047<codeline lineno="273"><highlight class="normal"><sp/><sp/>zbeta=pi_reg(Iqw_reg-Isq,Kpib,Kpib*Treg/Tiib,MAXbeta,-MAXbeta,&amp;Sbeta);</highlight></codeline>
1048<codeline lineno="274"><highlight class="normal"></highlight></codeline>
1049<codeline lineno="275"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>test<sp/>upravy<sp/>signalu<sp/>beta</highlight><highlight class="normal"></highlight></codeline>
1050<codeline lineno="276"><highlight class="normal"></highlight><highlight class="comment">//if<sp/>((zbeta&gt;73./180.*M_PI)||(blokace_beta==1))<sp/>{zbeta=80./180.*M_PI;<sp/>blokace_beta=1;}</highlight><highlight class="normal"></highlight></codeline>
1051<codeline lineno="277"><highlight class="normal"></highlight></codeline>
1052<codeline lineno="278"><highlight class="normal"><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>napeti<sp/>-<sp/>jednoducha<sp/>varianta<sp/>bez<sp/>uvazovani<sp/>odbuzeni</highlight><highlight class="normal"></highlight></codeline>
1053<codeline lineno="279"><highlight class="normal"><sp/><sp/>Um=sqrt(Kodv_uind*Kodv_uind*rychlost*rychlost+Kodv_ud*Kodv_ud*rychlost*rychlost*Iqw_reg*Iqw_reg);<sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>rychlost<sp/>musi<sp/>byt<sp/>v<sp/>kvadratu,<sp/>aby<sp/>se<sp/>eliminoval<sp/>vliv<sp/>znamenka<sp/>rychlosti<sp/>-<sp/>Um<sp/>musi<sp/>byt<sp/>&gt;=0!</highlight><highlight class="normal"></highlight></codeline>
1054<codeline lineno="280"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>Um=rychlost*sqrt(Kodv_uind*Kodv_uind+Kodv_ud*Kodv_ud*Iqw*Iqw);<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>neni<sp/>uvazovano<sp/>omezeni<sp/>Isqw</highlight><highlight class="normal"></highlight></codeline>
1055<codeline lineno="281"><highlight class="normal"></highlight></codeline>
1056<codeline lineno="282"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vylepseny<sp/>vypocet<sp/>napeti<sp/>-<sp/>odvazbovaci<sp/>obvod</highlight><highlight class="normal"></highlight></codeline>
1057<codeline lineno="283"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>ud=Kodv_ud*rychlost*Iqw_reg;</highlight></codeline>
1058<codeline lineno="284"><highlight class="comment"><sp/><sp/>uq=Kodv_ud*rychlost*Isdf+Kodv_uind*rychlost;</highlight></codeline>
1059<codeline lineno="285"><highlight class="comment"><sp/><sp/>Um=sqrt(ud*ud+uq*uq);</highlight></codeline>
1060<codeline lineno="286"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
1061<codeline lineno="287"><highlight class="normal"><sp/><sp/></highlight></codeline>
1062<codeline lineno="288"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>korece<sp/>napeti<sp/>pomoci<sp/>regulatoru<sp/>Isd</highlight><highlight class="normal"></highlight></codeline>
1063<codeline lineno="289"><highlight class="normal"><sp/><sp/>Ukomp=pi_reg(0.-Isd,0,1.*Treg/Tiidb,MAXud,MINud,&amp;SUkomp);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>do<sp/>zaporu<sp/>neomezovat!!!<sp/><sp/></highlight><highlight class="normal"></highlight></codeline>
1064<codeline lineno="290"><highlight class="normal"><sp/><sp/>Um+=Ukomp;</highlight></codeline>
1065<codeline lineno="291"><highlight class="normal"></highlight></codeline>
1066<codeline lineno="292"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>zahrnuti<sp/>vlivu<sp/>skutecneho<sp/>napeti<sp/>Uc</highlight><highlight class="normal"></highlight></codeline>
1067<codeline lineno="293"><highlight class="normal"><sp/><sp/>Um=Um*Ucn/Ucf;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>v<sp/>pevne<sp/>radove<sp/>carce<sp/>pak:<sp/>Um=(long)Um*Qm/Ucf;</highlight><highlight class="normal"></highlight></codeline>
1068<codeline lineno="294"><highlight class="normal"></highlight></codeline>
1069<codeline lineno="295"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>na<sp/>Urm=1</highlight><highlight class="normal"></highlight></codeline>
1070<codeline lineno="296"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Um&gt;Ucn_2)<sp/>Um=Ucn_2;</highlight></codeline>
1071<codeline lineno="297"><highlight class="normal"></highlight></codeline>
1072<codeline lineno="298"><highlight class="normal"><sp/><sp/>reset_regulatoru();<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>zajistuje<sp/>pripravenost<sp/>reg.<sp/>struktury<sp/>VAR1</highlight><highlight class="normal"></highlight></codeline>
1073<codeline lineno="299"><highlight class="normal"></highlight></codeline>
1074<codeline lineno="300"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>doplneni<sp/>vypoctu<sp/>zatezneho<sp/>uhlu<sp/>...<sp/>zbeta_vyp</highlight><highlight class="normal"></highlight></codeline>
1075<codeline lineno="301"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(fabs(rychlost*Kodv_ud*Iqw_reg)&gt;=Um)</highlight></codeline>
1076<codeline lineno="302"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Iqw_reg&gt;0)</highlight></codeline>
1077<codeline lineno="303"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rychlost&gt;0)<sp/>zbeta_vyp=M_PI/2.;</highlight></codeline>
1078<codeline lineno="304"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>zbeta_vyp=-M_PI/2.;</highlight></codeline>
1079<codeline lineno="305"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
1080<codeline lineno="306"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rychlost&gt;0)<sp/>zbeta_vyp=-M_PI/2.;</highlight></codeline>
1081<codeline lineno="307"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>zbeta_vyp=M_PI/2.;</highlight></codeline>
1082<codeline lineno="308"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
1083<codeline lineno="309"><highlight class="normal"><sp/><sp/><sp/><sp/>zbeta_vyp=asin(rychlost*Kodv_ud*Iqw_reg/Um);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>kontrola,<sp/>zda<sp/>Kodv_ud=Ls!</highlight><highlight class="normal"></highlight></codeline>
1084<codeline lineno="310"><highlight class="normal"></highlight></codeline>
1085<codeline lineno="311"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>zbeta=0;<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>vyrazeni<sp/>reg.<sp/>Isq</highlight><highlight class="normal"></highlight></codeline>
1086<codeline lineno="312"><highlight class="normal"><sp/><sp/>zbeta_vyp=0;<sp/><sp/></highlight><highlight class="comment">//<sp/>vyrazeni<sp/>bloku<sp/>&quot;vypocet<sp/>zatezneho<sp/>uhlu&quot;</highlight><highlight class="normal"></highlight></codeline>
1087<codeline lineno="313"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>urceni<sp/>pozadovaneho<sp/>zatezneho<sp/>uhlu<sp/>a<sp/>jeho<sp/>omezeni<sp/>na<sp/>&lt;-90st;<sp/>90st.&gt;</highlight><highlight class="normal"></highlight></codeline>
1088<codeline lineno="314"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rychlost&lt;0)</highlight></codeline>
1089<codeline lineno="315"><highlight class="normal"><sp/><sp/><sp/><sp/>zbetaw=-zbeta_vyp+zbeta;</highlight></codeline>
1090<codeline lineno="316"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
1091<codeline lineno="317"><highlight class="normal"><sp/><sp/><sp/><sp/>zbetaw=zbeta_vyp+zbeta;</highlight></codeline>
1092<codeline lineno="318"><highlight class="normal"></highlight></codeline>
1093<codeline lineno="319"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(zbetaw&gt;MAXbeta)</highlight></codeline>
1094<codeline lineno="320"><highlight class="normal"><sp/><sp/><sp/><sp/>zbetaw=MAXbeta;</highlight></codeline>
1095<codeline lineno="321"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(zbetaw&lt;-MAXbeta)</highlight></codeline>
1096<codeline lineno="322"><highlight class="normal"><sp/><sp/><sp/><sp/>zbetaw=-MAXbeta;<sp/></highlight></codeline>
1097<codeline lineno="323"><highlight class="normal"></highlight></codeline>
1098<codeline lineno="324"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>urceni<sp/>polohy<sp/>vektoru<sp/>napeti<sp/>v<sp/>souradnem<sp/>systemu<sp/>(d,q)</highlight><highlight class="normal"></highlight></codeline>
1099<codeline lineno="325"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rychlost&lt;0)</highlight></codeline>
1100<codeline lineno="326"><highlight class="normal"><sp/><sp/><sp/><sp/>alfa=zbetaw-M_PI/2.;</highlight></codeline>
1101<codeline lineno="327"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
1102<codeline lineno="328"><highlight class="normal"><sp/><sp/><sp/><sp/>alfa=zbetaw+M_PI/2.;</highlight></codeline>
1103<codeline lineno="329"><highlight class="normal">}</highlight></codeline>
1104<codeline lineno="331"><highlight class="normal"></highlight></codeline>
1105<codeline lineno="332"><highlight class="normal"></highlight><highlight class="comment">//<sp/>KOD<sp/>SPOLECNY<sp/>PRO<sp/>OBE<sp/>REGULACNI<sp/>STRUKTURY</highlight><highlight class="normal"></highlight></codeline>
1106<codeline lineno="333"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>polohy<sp/>vektoru<sp/>napeti<sp/>ve<sp/>stojicim<sp/>souradnem<sp/>systemu</highlight><highlight class="normal"></highlight></codeline>
1107<codeline lineno="334"><highlight class="normal"><sp/><sp/>beta=alfa+theta;</highlight></codeline>
1108<codeline lineno="335"><highlight class="normal"></highlight></codeline>
1109<codeline lineno="336"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>Urmf<sp/>pro<sp/>dalsi<sp/>periodu<sp/>vzorkovani</highlight><highlight class="normal"></highlight></codeline>
1110<codeline lineno="337"><highlight class="normal"><sp/><sp/>filtr(Um/Ucn_2,&amp;Urmf,Treg/Tfurm);</highlight></codeline>
1111<codeline lineno="338"><highlight class="normal"><sp/><sp/></highlight></codeline>
1112<codeline lineno="339"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>velikosti<sp/>toku<sp/>a<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
1113<codeline lineno="340"><highlight class="normal"><sp/><sp/>Fs=Fmag+K_Fs*Isd;</highlight></codeline>
1114<codeline lineno="341"><highlight class="normal"><sp/><sp/>moment=K_moment*Isq;</highlight></codeline>
1115<codeline lineno="342"><highlight class="normal"></highlight></codeline>
1116<codeline lineno="343"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>test<sp/>filtru<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>-<sp/>umisteni<sp/>filtru<sp/>nema<sp/>vubec<sp/>vliv<sp/>na<sp/>kvalitu<sp/>regulace<sp/>algoritmy<sp/>var.<sp/>2</highlight><highlight class="normal"></highlight></codeline>
1117<codeline lineno="344"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/>if<sp/>(start_reg==0)</highlight></codeline>
1118<codeline lineno="345"><highlight class="comment"><sp/><sp/>{</highlight></codeline>
1119<codeline lineno="346"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>filtr(Uc,&amp;Ucf,Treg/Tfuc);</highlight></codeline>
1120<codeline lineno="347"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>filtr(Isd,&amp;Isdf,Treg/Tfid);</highlight></codeline>
1121<codeline lineno="348"><highlight class="comment"><sp/><sp/>}<sp/>*/</highlight><highlight class="normal"></highlight></codeline>
1122<codeline lineno="349"><highlight class="normal"></highlight></codeline>
1123<codeline lineno="351"><highlight class="normal"></highlight></codeline>
1124<codeline lineno="352"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Odblokovat<sp/>pri<sp/>pouziti<sp/>PWM_FULL_NEW()</highlight><highlight class="normal"></highlight></codeline>
1125<codeline lineno="353"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>*u=ud*cos(theta)-uq*sin(theta);</highlight><highlight class="normal"></highlight></codeline>
1126<codeline lineno="354"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>*(u+1)=ud*sin(theta)+uq*cos(theta);</highlight><highlight class="normal"></highlight></codeline>
1127<codeline lineno="355"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Odblokovat<sp/>pri<sp/>pouziti<sp/>PWM_FULL_NEW_3h()</highlight><highlight class="normal"></highlight></codeline>
1128<codeline lineno="356"><highlight class="normal"><sp/><sp/>*u=Um;</highlight></codeline>
1129<codeline lineno="357"><highlight class="normal"><sp/><sp/>*(u+1)=beta;</highlight></codeline>
1130<codeline lineno="358"><highlight class="normal"></highlight></codeline>
1131<codeline lineno="359"><highlight class="normal"><sp/><sp/>ladeni_regulace[0]=Idw_urm;</highlight></codeline>
1132<codeline lineno="360"><highlight class="normal"><sp/><sp/>ladeni_regulace[1]=Urmf;</highlight></codeline>
1133<codeline lineno="361"><highlight class="normal"><sp/><sp/>ladeni_regulace[2]=Iqw_reg;</highlight></codeline>
1134<codeline lineno="362"><highlight class="normal"><sp/><sp/>ladeni_regulace[3]=Um;</highlight></codeline>
1135<codeline lineno="363"><highlight class="normal"><sp/><sp/>ladeni_regulace[4]=Fs;</highlight></codeline>
1136<codeline lineno="364"><highlight class="normal"><sp/><sp/>ladeni_regulace[5]=moment;</highlight></codeline>
1137<codeline lineno="365"><highlight class="normal"><sp/><sp/>ladeni_regulace[6]=zbetaw;</highlight></codeline>
1138<codeline lineno="366"><highlight class="normal"><sp/><sp/>ladeni_regulace[7]=Um/Ucn_2;</highlight></codeline>
1139<codeline lineno="367"><highlight class="normal"><sp/><sp/>ladeni_regulace[8]=Ukomp;</highlight></codeline>
1140<codeline lineno="368"><highlight class="normal"><sp/><sp/>ladeni_regulace[9]=ALGORITMUS;</highlight></codeline>
1141<codeline lineno="369"><highlight class="normal">}</highlight></codeline>
1142<codeline lineno="370"><highlight class="normal"></highlight></codeline>
1143<codeline lineno="371"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>reset_regulatoru(</highlight><highlight class="keywordtype">void</highlight><highlight class="normal">)</highlight></codeline>
1144<codeline lineno="372"><highlight class="normal">{</highlight></codeline>
1145<codeline lineno="373"><highlight class="normal"><sp/><sp/>Surm=0;</highlight></codeline>
1146<codeline lineno="374"><highlight class="normal"><sp/><sp/>Sid=0;</highlight></codeline>
1147<codeline lineno="375"><highlight class="normal"><sp/><sp/>Siq=0;</highlight></codeline>
1148<codeline lineno="376"><highlight class="normal">}</highlight></codeline>
1149    </programlisting>
1150    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/regulace.cpp"/>
1151  </compounddef>
1152</doxygen>
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