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| 655 | </inbodydescription> |
---|
| 656 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="17" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="58" bodyend="91"/> |
---|
| 657 | </memberdef> |
---|
| 658 | <memberdef kind="function" id="pmsm__mod_8cpp_130e641e4ff70fdbcb19de2bcaba31ceb" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual"> |
---|
| 659 | <type>void</type> |
---|
| 660 | <definition>void pmsm_double</definition> |
---|
| 661 | <argsstring>(double usx, double usy, double h, unsigned int vypocet)</argsstring> |
---|
| 662 | <name>pmsm_double</name> |
---|
| 663 | <param> |
---|
| 664 | <type>double</type> |
---|
| 665 | <declname>usx</declname> |
---|
| 666 | </param> |
---|
| 667 | <param> |
---|
| 668 | <type>double</type> |
---|
| 669 | <declname>usy</declname> |
---|
| 670 | </param> |
---|
| 671 | <param> |
---|
| 672 | <type>double</type> |
---|
| 673 | <declname>h</declname> |
---|
| 674 | </param> |
---|
| 675 | <param> |
---|
| 676 | <type>unsigned int</type> |
---|
| 677 | <declname>vypocet</declname> |
---|
| 678 | </param> |
---|
| 679 | <briefdescription> |
---|
| 680 | </briefdescription> |
---|
| 681 | <detaileddescription> |
---|
| 682 | </detaileddescription> |
---|
| 683 | <inbodydescription> |
---|
| 684 | </inbodydescription> |
---|
| 685 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="93" bodyend="144"/> |
---|
| 686 | </memberdef> |
---|
| 687 | <memberdef kind="function" id="pmsm__mod_8cpp_1d52cd3d5f2f7c2561b9d318c3d9e66a8" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual"> |
---|
| 688 | <type>double</type> |
---|
| 689 | <definition>double uhel</definition> |
---|
| 690 | <argsstring>(double x, double y)</argsstring> |
---|
| 691 | <name>uhel</name> |
---|
| 692 | <param> |
---|
| 693 | <type>double</type> |
---|
| 694 | <declname>x</declname> |
---|
| 695 | </param> |
---|
| 696 | <param> |
---|
| 697 | <type>double</type> |
---|
| 698 | <declname>y</declname> |
---|
| 699 | </param> |
---|
| 700 | <briefdescription> |
---|
| 701 | </briefdescription> |
---|
| 702 | <detaileddescription> |
---|
| 703 | </detaileddescription> |
---|
| 704 | <inbodydescription> |
---|
| 705 | </inbodydescription> |
---|
| 706 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" line="21" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp" bodystart="41" bodyend="55"/> |
---|
| 707 | </memberdef> |
---|
| 708 | </sectiondef> |
---|
| 709 | <briefdescription> |
---|
| 710 | </briefdescription> |
---|
| 711 | <detaileddescription> |
---|
| 712 | </detaileddescription> |
---|
| 713 | <programlisting> |
---|
| 714 | <codeline lineno="1"><highlight class="comment">/*<sp/>model<sp/>synchronniho<sp/>motoru<sp/>s<sp/>permanentnimi<sp/>magnety</highlight></codeline> |
---|
| 715 | <codeline lineno="2"><highlight class="comment"></highlight></codeline> |
---|
| 716 | <codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/>PMSM<sp/>v<sp/>plovouci<sp/>radove<sp/>carce<sp/>-<sp/>fyzikalni<sp/>model!</highlight></codeline> |
---|
| 717 | <codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/></highlight></codeline> |
---|
| 718 | <codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/>31.5.2007</highlight></codeline> |
---|
| 719 | <codeline lineno="6"><highlight class="comment"></highlight></codeline> |
---|
| 720 | <codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/>Upraven<sp/>vypocet<sp/>momentu<sp/>M<sp/>=<sp/>Fmag*Isq!!<sp/>(nikoliv<sp/>M<sp/>=<sp/>Fs*Isq!!)</highlight></codeline> |
---|
| 721 | <codeline lineno="8"><highlight class="comment"><sp/><sp/><sp/>31.5.2007<sp/><sp/><sp/><sp/>doplnen<sp/>vypocet<sp/>zatezneho<sp/>uhlu<sp/>(beta)</highlight></codeline> |
---|
| 722 | <codeline lineno="9"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline> |
---|
| 723 | <codeline lineno="10"><highlight class="normal"></highlight></codeline> |
---|
| 724 | <codeline lineno="11"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>_USE_MATH_DEFINES</highlight></codeline> |
---|
| 725 | <codeline lineno="12"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#include<sp/><math.h></highlight><highlight class="normal"></highlight></codeline> |
---|
| 726 | <codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>"pmsm_mod.h"</highlight><highlight class="normal"></highlight></codeline> |
---|
| 727 | <codeline lineno="14"><highlight class="normal"></highlight></codeline> |
---|
| 728 | <codeline lineno="15"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x[10];<sp/></highlight><highlight class="comment">//<sp/>(isx,isy,wme,theta_e,M,Fsd,Isd,Isq,Mz,beta)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>...<sp/>beta<sp/>=<sp/>zatezny<sp/>uhel</highlight><highlight class="normal"></highlight></codeline> |
---|
| 729 | <codeline lineno="16"><highlight class="normal"></highlight></codeline> |
---|
| 730 | <codeline lineno="17"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_pmsm(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*REL);</highlight></codeline> |
---|
| 731 | <codeline lineno="18"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsm_double(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>vypocet);</highlight></codeline> |
---|
| 732 | <codeline lineno="19"><highlight class="normal"></highlight></codeline> |
---|
| 733 | <codeline lineno="20"><highlight class="normal"></highlight><highlight class="comment">//<sp/>pomocne<sp/>funkce</highlight><highlight class="normal"></highlight></codeline> |
---|
| 734 | <codeline lineno="21"><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> |
---|
| 735 | <codeline lineno="22"><highlight class="normal"></highlight></codeline> |
---|
| 736 | <codeline lineno="23"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,Isy,wme,Mz,M,Fs,Isd,Isq;</highlight></codeline> |
---|
| 737 | <codeline lineno="24"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs,Ls,Fmag,Bfric,p,kp,J;</highlight></codeline> |
---|
| 738 | <codeline lineno="25"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Rs=odpor<sp/>stator;<sp/>Ls=statorova<sp/>indukcnost<sp/>(synchronni<sp/>reaktance)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 739 | <codeline lineno="26"><highlight class="normal"></highlight><highlight class="comment">//<sp/>p=pocet<sp/>polparu,<sp/>kp=konst.<sp/>Parkovy<sp/>transf.,</highlight><highlight class="normal"></highlight></codeline> |
---|
| 740 | <codeline lineno="27"><highlight class="normal"></highlight><highlight class="comment">//<sp/>J=moment<sp/>setrvacnosti<sp/>(J<0<sp/>...<sp/>nekonecny)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 741 | <codeline lineno="28"><highlight class="normal"></highlight></codeline> |
---|
| 742 | <codeline lineno="29"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uref,<sp/>Iref,<sp/>Wref,<sp/>Mref,<sp/>Fref,<sp/>Thetaref;<sp/></highlight><highlight class="comment">//<sp/>referencni<sp/>hodnoty</highlight><highlight class="normal"></highlight></codeline> |
---|
| 743 | <codeline lineno="30"><highlight class="normal"></highlight></codeline> |
---|
| 744 | <codeline lineno="31"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dIsx,dIsx1,dIsx2,dIsx3,dIsy,dIsy1,dIsy2,dIsy3;</highlight></codeline> |
---|
| 745 | <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/>dTheta,dTheta1,dTheta2,dTheta3;</highlight></codeline> |
---|
| 746 | <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/>dw,dw1,dw2,dw3;</highlight></codeline> |
---|
| 747 | <codeline lineno="34"><highlight class="normal"></highlight></codeline> |
---|
| 748 | <codeline lineno="35"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>A,B,C,D,E,F,G;</highlight></codeline> |
---|
| 749 | <codeline lineno="36"><highlight class="normal"></highlight></codeline> |
---|
| 750 | <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/>Fsq;</highlight></codeline> |
---|
| 751 | <codeline lineno="38"><highlight class="normal"></highlight></codeline> |
---|
| 752 | <codeline lineno="39"><highlight class="normal"></highlight></codeline> |
---|
| 753 | <codeline lineno="41"><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> |
---|
| 754 | <codeline lineno="42"><highlight class="normal">{</highlight></codeline> |
---|
| 755 | <codeline lineno="43"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>th;</highlight></codeline> |
---|
| 756 | <codeline lineno="44"><highlight class="normal"></highlight></codeline> |
---|
| 757 | <codeline lineno="45"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x==0)</highlight></codeline> |
---|
| 758 | <codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(y==0)<sp/>th=0.;</highlight></codeline> |
---|
| 759 | <codeline lineno="47"><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>0)<sp/>th=M_PI/2.;</highlight></codeline> |
---|
| 760 | <codeline lineno="48"><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> |
---|
| 761 | <codeline lineno="49"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline> |
---|
| 762 | <codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/>th=atan(y/x);</highlight></codeline> |
---|
| 763 | <codeline lineno="51"><highlight class="normal"></highlight></codeline> |
---|
| 764 | <codeline lineno="52"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x<0)<sp/>th+=M_PI;</highlight></codeline> |
---|
| 765 | <codeline lineno="53"><highlight class="normal"></highlight></codeline> |
---|
| 766 | <codeline lineno="54"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>th;</highlight></codeline> |
---|
| 767 | <codeline lineno="55"><highlight class="normal">}</highlight></codeline> |
---|
| 768 | <codeline lineno="56"><highlight class="normal"></highlight></codeline> |
---|
| 769 | <codeline lineno="57"><highlight class="normal"></highlight></codeline> |
---|
| 770 | <codeline lineno="58"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_pmsm(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*REL)</highlight></codeline> |
---|
| 771 | <codeline lineno="59"><highlight class="normal">{</highlight></codeline> |
---|
| 772 | <codeline lineno="60"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>i;</highlight></codeline> |
---|
| 773 | <codeline lineno="61"><highlight class="normal"></highlight></codeline> |
---|
| 774 | <codeline lineno="62"><highlight class="normal"><sp/><sp/>Rs=*(param);</highlight></codeline> |
---|
| 775 | <codeline lineno="63"><highlight class="normal"><sp/><sp/>Ls=*(param+1);</highlight></codeline> |
---|
| 776 | <codeline lineno="64"><highlight class="normal"><sp/><sp/>Fmag=*(param+2);</highlight></codeline> |
---|
| 777 | <codeline lineno="65"><highlight class="normal"><sp/><sp/>Bfric=*(param+3);</highlight></codeline> |
---|
| 778 | <codeline lineno="66"><highlight class="normal"></highlight></codeline> |
---|
| 779 | <codeline lineno="67"><highlight class="normal"><sp/><sp/>p=*(param+4);</highlight></codeline> |
---|
| 780 | <codeline lineno="68"><highlight class="normal"><sp/><sp/>kp=*(param+5);</highlight></codeline> |
---|
| 781 | <codeline lineno="69"><highlight class="normal"><sp/><sp/>J=*(param+6);</highlight></codeline> |
---|
| 782 | <codeline lineno="70"><highlight class="normal"></highlight></codeline> |
---|
| 783 | <codeline lineno="71"><highlight class="normal"><sp/><sp/>Uref=*REL;</highlight></codeline> |
---|
| 784 | <codeline lineno="72"><highlight class="normal"><sp/><sp/>Iref=*(REL+1);</highlight></codeline> |
---|
| 785 | <codeline lineno="73"><highlight class="normal"><sp/><sp/>Wref=*(REL+2);</highlight></codeline> |
---|
| 786 | <codeline lineno="74"><highlight class="normal"><sp/><sp/>Thetaref=*(REL+3);</highlight></codeline> |
---|
| 787 | <codeline lineno="75"><highlight class="normal"><sp/><sp/>Mref=*(REL+4);</highlight></codeline> |
---|
| 788 | <codeline lineno="76"><highlight class="normal"><sp/><sp/>Fref=*(REL+5);</highlight></codeline> |
---|
| 789 | <codeline lineno="77"><highlight class="normal"></highlight></codeline> |
---|
| 790 | <codeline lineno="78"><highlight class="normal"></highlight><highlight class="comment">//<sp/>definice<sp/>konstant<sp/>modelu</highlight><highlight class="normal"></highlight></codeline> |
---|
| 791 | <codeline lineno="79"><highlight class="normal"><sp/><sp/>A=Rs/Ls;</highlight></codeline> |
---|
| 792 | <codeline lineno="80"><highlight class="normal"><sp/><sp/>B=Fmag/Ls*Wref/Iref;</highlight></codeline> |
---|
| 793 | <codeline lineno="81"><highlight class="normal"><sp/><sp/>C=Uref/Iref/Ls;</highlight></codeline> |
---|
| 794 | <codeline lineno="82"><highlight class="normal"><sp/><sp/>D=Bfric/J;</highlight></codeline> |
---|
| 795 | <codeline lineno="83"><highlight class="normal"><sp/><sp/>E=kp*p*p*Fmag/J*Iref/Wref;</highlight></codeline> |
---|
| 796 | <codeline lineno="84"><highlight class="normal"><sp/><sp/>F=p/J*Mref/Wref;</highlight></codeline> |
---|
| 797 | <codeline lineno="85"><highlight class="normal"><sp/><sp/>G=Wref/Thetaref;</highlight></codeline> |
---|
| 798 | <codeline lineno="86"><highlight class="normal"></highlight></codeline> |
---|
| 799 | <codeline lineno="87"><highlight class="normal"></highlight><highlight class="comment">//<sp/>definice<sp/>pocatecnich<sp/>hodnot</highlight><highlight class="normal"></highlight></codeline> |
---|
| 800 | <codeline lineno="88"><highlight class="normal"><sp/><sp/>dIsx=0;dIsx1=0;dIsx2=0;dIsx3=0;dIsy=0;dIsy1=0;dIsy2=0;dIsy3=0;</highlight></codeline> |
---|
| 801 | <codeline lineno="89"><highlight class="normal"><sp/><sp/>dTheta=0;dTheta1=0;dTheta2=0;dTheta3=0;</highlight></codeline> |
---|
| 802 | <codeline lineno="90"><highlight class="normal"><sp/><sp/>dw=0;dw1=0;dw2=0;dw3=0;</highlight></codeline> |
---|
| 803 | <codeline lineno="91"><highlight class="normal">}</highlight></codeline> |
---|
| 804 | <codeline lineno="92"><highlight class="normal"></highlight></codeline> |
---|
| 805 | <codeline lineno="93"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsm_double(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>vypocet)</highlight></codeline> |
---|
| 806 | <codeline lineno="94"><highlight class="normal"></highlight><highlight class="comment">//<sp/>vypocet<5...Euler,<sp/>vypocet>4<sp/>...<sp/>Adams<sp/>4.radu</highlight><highlight class="normal"></highlight></codeline> |
---|
| 807 | <codeline lineno="95"><highlight class="normal">{</highlight></codeline> |
---|
| 808 | <codeline lineno="96"><highlight class="normal"></highlight><highlight class="comment">//<sp/>(isx,isy,wme,theta_e,M,Fs,Mz)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 809 | <codeline lineno="97"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocty<sp/>diferenci</highlight><highlight class="normal"></highlight></codeline> |
---|
| 810 | <codeline lineno="98"><highlight class="normal"><sp/><sp/>dIsx=-A*x[0]+B*x[2]*sin(x[3]*Thetaref)+C*usx;</highlight></codeline> |
---|
| 811 | <codeline lineno="99"><highlight class="normal"><sp/><sp/>dIsy=-A*x[1]-B*x[2]*cos(x[3]*Thetaref)+C*usy;</highlight></codeline> |
---|
| 812 | <codeline lineno="100"><highlight class="normal"><sp/><sp/>dTheta=G*x[2];</highlight></codeline> |
---|
| 813 | <codeline lineno="101"><highlight class="normal"></highlight></codeline> |
---|
| 814 | <codeline lineno="102"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(J>0)</highlight></codeline> |
---|
| 815 | <codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/>dw=E*(x[1]*cos(x[3]*Thetaref)-x[0]*sin(x[3]*Thetaref))-D*x[2]-F*x[8];</highlight></codeline> |
---|
| 816 | <codeline lineno="104"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline> |
---|
| 817 | <codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/>dw=0;</highlight></codeline> |
---|
| 818 | <codeline lineno="106"><highlight class="normal"></highlight></codeline> |
---|
| 819 | <codeline lineno="107"><highlight class="normal"></highlight><highlight class="comment">//<sp/>integrace</highlight><highlight class="normal"></highlight></codeline> |
---|
| 820 | <codeline lineno="108"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(vypocet<5)<sp/><sp/></highlight><highlight class="comment">//<sp/>Euler</highlight><highlight class="normal"></highlight></codeline> |
---|
| 821 | <codeline lineno="109"><highlight class="normal"><sp/><sp/>{<sp/>x[0]+=dIsx*h;</highlight></codeline> |
---|
| 822 | <codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/>x[1]+=dIsy*h;</highlight></codeline> |
---|
| 823 | <codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/>x[2]+=dw*h;</highlight></codeline> |
---|
| 824 | <codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/>x[3]+=dTheta*h;</highlight></codeline> |
---|
| 825 | <codeline lineno="113"><highlight class="normal"><sp/><sp/>}</highlight></codeline> |
---|
| 826 | <codeline lineno="114"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Adams<sp/>4.radu</highlight><highlight class="normal"></highlight></codeline> |
---|
| 827 | <codeline lineno="115"><highlight class="normal"><sp/><sp/>{<sp/>x[0]+=h/24*(55*dIsx-59*dIsx1+37*dIsx2-9*dIsx3);</highlight></codeline> |
---|
| 828 | <codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/>x[1]+=h/24*(55*dIsy-59*dIsy1+37*dIsy2-9*dIsy3);</highlight></codeline> |
---|
| 829 | <codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/>x[2]+=h/24*(55*dw-59*dw1+37*dw2-9*dw3);</highlight></codeline> |
---|
| 830 | <codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/>x[3]+=h/24*(55*dTheta-59*dTheta1+37*dTheta2-9*dTheta3);</highlight></codeline> |
---|
| 831 | <codeline lineno="119"><highlight class="normal"><sp/><sp/>}</highlight></codeline> |
---|
| 832 | <codeline lineno="120"><highlight class="normal"></highlight></codeline> |
---|
| 833 | <codeline lineno="121"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>uprava<sp/>theta<sp/>tak,<sp/>aby<sp/>bylo<sp/>stale<sp/>v<sp/>rozmezi<sp/>(-pi,pi)</highlight><highlight class="normal"></highlight></codeline> |
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| 834 | <codeline lineno="122"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x[3]>M_PI/Thetaref)<sp/>x[3]-=(2*M_PI/Thetaref);</highlight></codeline> |
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| 835 | <codeline lineno="123"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x[3]<-M_PI/Thetaref)<sp/>x[3]+=(2*M_PI/Thetaref);</highlight></codeline> |
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| 836 | <codeline lineno="124"><highlight class="normal"></highlight></codeline> |
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| 837 | <codeline lineno="125"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>zamena<sp/>diferenci</highlight><highlight class="normal"></highlight></codeline> |
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| 838 | <codeline lineno="126"><highlight class="normal"><sp/><sp/>dIsx3=dIsx2;dIsx2=dIsx1;dIsx1=dIsx;</highlight></codeline> |
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| 839 | <codeline lineno="127"><highlight class="normal"><sp/><sp/>dIsy3=dIsy2;dIsy2=dIsy1;dIsy1=dIsy;</highlight></codeline> |
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| 840 | <codeline lineno="128"><highlight class="normal"><sp/><sp/>dTheta3=dTheta2;dTheta2=dTheta1;dTheta1=dTheta;</highlight></codeline> |
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| 841 | <codeline lineno="129"><highlight class="normal"><sp/><sp/>dw3=dw2;dw2=dw1;dw1=dw;</highlight></codeline> |
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| 842 | <codeline lineno="130"><highlight class="normal"></highlight></codeline> |
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| 843 | <codeline lineno="131"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>Isd,<sp/>Isq</highlight><highlight class="normal"></highlight></codeline> |
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| 844 | <codeline lineno="132"><highlight class="normal"><sp/><sp/>x[6]=x[0]*cos(x[3]*Thetaref)+x[1]*sin(x[3]*Thetaref);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Isd</highlight><highlight class="normal"></highlight></codeline> |
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| 845 | <codeline lineno="133"><highlight class="normal"><sp/><sp/>x[7]=x[1]*cos(x[3]*Thetaref)-x[0]*sin(x[3]*Thetaref);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Isq</highlight><highlight class="normal"></highlight></codeline> |
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| 846 | <codeline lineno="134"><highlight class="normal"></highlight></codeline> |
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| 847 | <codeline lineno="135"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>toku<sp/>statoru<sp/>Fsd<sp/>-<sp/>neni<sp/>normovany!!</highlight><highlight class="normal"></highlight></codeline> |
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| 848 | <codeline lineno="136"><highlight class="normal"><sp/><sp/>x[5]=Ls*x[6]*Iref+Fmag;</highlight></codeline> |
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| 849 | <codeline lineno="137"><highlight class="normal"></highlight></codeline> |
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| 850 | <codeline lineno="138"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Vypocet<sp/>momentu</highlight><highlight class="normal"></highlight></codeline> |
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| 851 | <codeline lineno="139"><highlight class="normal"><sp/><sp/>x[4]=kp*p*Fmag*Iref/Mref*(x[1]*cos(x[3]*Thetaref)-x[0]*sin(x[3]*Thetaref));</highlight></codeline> |
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| 852 | <codeline lineno="140"><highlight class="normal"></highlight></codeline> |
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| 853 | <codeline lineno="141"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>zatezneho<sp/>uhlu</highlight><highlight class="normal"></highlight></codeline> |
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| 854 | <codeline lineno="142"><highlight class="normal"><sp/><sp/>Fsq=Ls*x[7]*Iref;</highlight></codeline> |
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| 855 | <codeline lineno="143"><highlight class="normal"><sp/><sp/>x[10]=uhel(x[5],Fsq);</highlight></codeline> |
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| 856 | <codeline lineno="144"><highlight class="normal">}</highlight></codeline> |
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| 857 | </programlisting> |
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| 858 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp"/> |
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| 859 | </compounddef> |
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| 860 | </doxygen> |
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