root/doc/xml/pwm_8cpp.xml @ 216

Revision 187, 73.5 kB (checked in by smidl, 16 years ago)

doc

Line 
1<?xml version='1.0' encoding='UTF-8' standalone='no'?>
2<doxygen xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="compound.xsd" version="1.5.6">
3  <compounddef id="pwm_8cpp" kind="file">
4    <compoundname>pwm.cpp</compoundname>
5    <includes local="no">math.h</includes>
6    <includes local="no">stdlib.h</includes>
7    <includes refid="pwm_8h" local="yes">pwm.h</includes>
8    <incdepgraph>
9      <node id="775">
10        <label>pwm.h</label>
11        <link refid="pwm_8h-source"/>
12      </node>
13      <node id="774">
14        <label>stdlib.h</label>
15      </node>
16      <node id="772">
17        <label>work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp</label>
18        <link refid="pwm.cpp"/>
19        <childnode refid="773" relation="include">
20        </childnode>
21        <childnode refid="774" relation="include">
22        </childnode>
23        <childnode refid="775" relation="include">
24        </childnode>
25      </node>
26      <node id="773">
27        <label>math.h</label>
28      </node>
29    </incdepgraph>
30      <sectiondef kind="define">
31      <memberdef kind="define" id="pwm_8cpp_1525335710b53cb064ca56b936120431e" prot="public" static="no">
32        <name>_USE_MATH_DEFINES</name>
33        <briefdescription>
34        </briefdescription>
35        <detaileddescription>
36        </detaileddescription>
37        <inbodydescription>
38        </inbodydescription>
39        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="12" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="12" bodyend="-1"/>
40      </memberdef>
41      </sectiondef>
42      <sectiondef kind="var">
43      <memberdef kind="variable" id="pwm_8cpp_1daf2100f703a9431b674c5210eeb65a3" prot="public" static="yes" mutable="no">
44        <type>double</type>
45        <definition>double up</definition>
46        <argsstring></argsstring>
47        <name>up</name>
48        <briefdescription>
49        </briefdescription>
50        <detaileddescription>
51        </detaileddescription>
52        <inbodydescription>
53        </inbodydescription>
54        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="29" bodyend="-1"/>
55      </memberdef>
56      <memberdef kind="variable" id="pwm_8cpp_12f875ebe908810d9666a2dcb4a28bd8e" prot="public" static="yes" mutable="no">
57        <type>double</type>
58        <definition>double up2</definition>
59        <argsstring></argsstring>
60        <name>up2</name>
61        <briefdescription>
62        </briefdescription>
63        <detaileddescription>
64        </detaileddescription>
65        <inbodydescription>
66        </inbodydescription>
67        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="29" bodyend="-1"/>
68      </memberdef>
69      <memberdef kind="variable" id="pwm_8cpp_13d0e10d2a152c348be161be18c1deb5a" prot="public" static="yes" mutable="no">
70        <type>double</type>
71        <definition>double dup</definition>
72        <argsstring></argsstring>
73        <name>dup</name>
74        <briefdescription>
75        </briefdescription>
76        <detaileddescription>
77        </detaileddescription>
78        <inbodydescription>
79        </inbodydescription>
80        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="29" bodyend="-1"/>
81      </memberdef>
82      <memberdef kind="variable" id="pwm_8cpp_1a25c32c8e1605293535ff9baa435b758" prot="public" static="yes" mutable="no">
83        <type>int</type>
84        <definition>int smer</definition>
85        <argsstring></argsstring>
86        <name>smer</name>
87        <briefdescription>
88        </briefdescription>
89        <detaileddescription>
90        </detaileddescription>
91        <inbodydescription>
92        </inbodydescription>
93        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="30" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="30" bodyend="-1"/>
94      </memberdef>
95      <memberdef kind="variable" id="pwm_8cpp_1e2040e9b4693cfc54938a3b2d062591c" prot="public" static="yes" mutable="no">
96        <type>int</type>
97        <definition>int smer2</definition>
98        <argsstring></argsstring>
99        <name>smer2</name>
100        <briefdescription>
101        </briefdescription>
102        <detaileddescription>
103        </detaileddescription>
104        <inbodydescription>
105        </inbodydescription>
106        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="30" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="30" bodyend="-1"/>
107      </memberdef>
108      <memberdef kind="variable" id="pwm_8cpp_1911020f0c2ee7248d3575189b06398c2" prot="public" static="yes" mutable="no">
109        <type>int</type>
110        <definition>int citac</definition>
111        <argsstring></argsstring>
112        <name>citac</name>
113        <briefdescription>
114        </briefdescription>
115        <detaileddescription>
116        </detaileddescription>
117        <inbodydescription>
118        </inbodydescription>
119        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="32" bodyend="-1"/>
120      </memberdef>
121      <memberdef kind="variable" id="pwm_8cpp_1abf693f6b07594a20f4aa8d02a875399" prot="public" static="yes" mutable="no">
122        <type>int</type>
123        <definition>int citac2</definition>
124        <argsstring></argsstring>
125        <name>citac2</name>
126        <briefdescription>
127        </briefdescription>
128        <detaileddescription>
129        </detaileddescription>
130        <inbodydescription>
131        </inbodydescription>
132        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="32" bodyend="-1"/>
133      </memberdef>
134      <memberdef kind="variable" id="pwm_8cpp_1278b61cc75f0dcbf7685ad230b12b1a4" prot="public" static="yes" mutable="no">
135        <type>int</type>
136        <definition>int citac_PR</definition>
137        <argsstring></argsstring>
138        <name>citac_PR</name>
139        <briefdescription>
140        </briefdescription>
141        <detaileddescription>
142        </detaileddescription>
143        <inbodydescription>
144        </inbodydescription>
145        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="32" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="32" bodyend="-1"/>
146      </memberdef>
147      <memberdef kind="variable" id="pwm_8cpp_17a680e4d7a5e9346e499145d368b3425" prot="public" static="no" mutable="no">
148        <type>double</type>
149        <definition>double ladeni_pila</definition>
150        <argsstring></argsstring>
151        <name>ladeni_pila</name>
152        <briefdescription>
153        </briefdescription>
154        <detaileddescription>
155        </detaileddescription>
156        <inbodydescription>
157        </inbodydescription>
158        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="34" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="34" bodyend="-1"/>
159      </memberdef>
160      <memberdef kind="variable" id="pwm_8cpp_10395b9b0cf279728c73762ea8b38752d" prot="public" static="no" mutable="no">
161        <type>double</type>
162        <definition>double ladeni_ur</definition>
163        <argsstring></argsstring>
164        <name>ladeni_ur</name>
165        <briefdescription>
166        </briefdescription>
167        <detaileddescription>
168        </detaileddescription>
169        <inbodydescription>
170        </inbodydescription>
171        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="34" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="34" bodyend="-1"/>
172      </memberdef>
173      </sectiondef>
174      <sectiondef kind="func">
175      <memberdef kind="function" id="pwm_8cpp_17513b869bbedd804e88eacb29ce7ce65" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
176        <type>void</type>
177        <definition>void pwm_full_init</definition>
178        <argsstring>(double Ucn, double fc, double DT)</argsstring>
179        <name>pwm_full_init</name>
180        <param>
181          <type>double</type>
182          <declname>Ucn</declname>
183        </param>
184        <param>
185          <type>double</type>
186          <declname>fc</declname>
187        </param>
188        <param>
189          <type>double</type>
190          <declname>DT</declname>
191        </param>
192        <briefdescription>
193        </briefdescription>
194        <detaileddescription>
195        </detaileddescription>
196        <inbodydescription>
197        </inbodydescription>
198        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="17" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="36" bodyend="48"/>
199      </memberdef>
200      <memberdef kind="function" id="pwm_8cpp_11f94887ac28aad48fbc0a58158d1bfc9" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
201        <type>void</type>
202        <definition>void pwm_full</definition>
203        <argsstring>(double *us, double *u, double *Iz, double Ucn, double Uc, double *i, double fc, double *va_char, unsigned int pocet, double h)</argsstring>
204        <name>pwm_full</name>
205        <param>
206          <type>double *</type>
207          <declname>us</declname>
208        </param>
209        <param>
210          <type>double *</type>
211          <declname>u</declname>
212        </param>
213        <param>
214          <type>double *</type>
215          <declname>Iz</declname>
216        </param>
217        <param>
218          <type>double</type>
219          <declname>Ucn</declname>
220        </param>
221        <param>
222          <type>double</type>
223          <declname>Uc</declname>
224        </param>
225        <param>
226          <type>double *</type>
227          <declname>i</declname>
228        </param>
229        <param>
230          <type>double</type>
231          <declname>fc</declname>
232        </param>
233        <param>
234          <type>double *</type>
235          <declname>va_char</declname>
236        </param>
237        <param>
238          <type>unsigned int</type>
239          <declname>pocet</declname>
240        </param>
241        <param>
242          <type>double</type>
243          <declname>h</declname>
244        </param>
245        <briefdescription>
246        </briefdescription>
247        <detaileddescription>
248        </detaileddescription>
249        <inbodydescription>
250        </inbodydescription>
251        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="18" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="50" bodyend="127"/>
252      </memberdef>
253      <memberdef kind="function" id="pwm_8cpp_1e1c2432789266f899d9b76a1116671ab" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
254        <type>void</type>
255        <definition>void pwm_full_new_init</definition>
256        <argsstring>(double h, double fc, double DT, int citac_init, int D_smer, int D_smer2)</argsstring>
257        <name>pwm_full_new_init</name>
258        <param>
259          <type>double</type>
260          <declname>h</declname>
261        </param>
262        <param>
263          <type>double</type>
264          <declname>fc</declname>
265        </param>
266        <param>
267          <type>double</type>
268          <declname>DT</declname>
269        </param>
270        <param>
271          <type>int</type>
272          <declname>citac_init</declname>
273        </param>
274        <param>
275          <type>int</type>
276          <declname>D_smer</declname>
277        </param>
278        <param>
279          <type>int</type>
280          <declname>D_smer2</declname>
281        </param>
282        <briefdescription>
283        </briefdescription>
284        <detaileddescription>
285        </detaileddescription>
286        <inbodydescription>
287        </inbodydescription>
288        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="20" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="217" bodyend="230"/>
289      </memberdef>
290      <memberdef kind="function" id="pwm_8cpp_1c56bd9c40bf614797dcf24aaa772cb13" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
291        <type>void</type>
292        <definition>void pwm_full_new</definition>
293        <argsstring>(double *us, double *u, double *Iz, double Ucn, double Uc, double *is, double *va_char, unsigned int pocet)</argsstring>
294        <name>pwm_full_new</name>
295        <param>
296          <type>double *</type>
297          <declname>us</declname>
298        </param>
299        <param>
300          <type>double *</type>
301          <declname>u</declname>
302        </param>
303        <param>
304          <type>double *</type>
305          <declname>Iz</declname>
306        </param>
307        <param>
308          <type>double</type>
309          <declname>Ucn</declname>
310        </param>
311        <param>
312          <type>double</type>
313          <declname>Uc</declname>
314        </param>
315        <param>
316          <type>double *</type>
317          <declname>is</declname>
318        </param>
319        <param>
320          <type>double *</type>
321          <declname>va_char</declname>
322        </param>
323        <param>
324          <type>unsigned int</type>
325          <declname>pocet</declname>
326        </param>
327        <briefdescription>
328        </briefdescription>
329        <detaileddescription>
330        </detaileddescription>
331        <inbodydescription>
332        </inbodydescription>
333        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="21" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="150" bodyend="215"/>
334      </memberdef>
335      <memberdef kind="function" id="pwm_8cpp_190a472aec25336c72743a4b078251e3d" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
336        <type>void</type>
337        <definition>void pwm_full_new_init_3h</definition>
338        <argsstring>(double h, double fc, double DT, int citac_init, int D_smer, int D_smer2)</argsstring>
339        <name>pwm_full_new_init_3h</name>
340        <param>
341          <type>double</type>
342          <declname>h</declname>
343        </param>
344        <param>
345          <type>double</type>
346          <declname>fc</declname>
347        </param>
348        <param>
349          <type>double</type>
350          <declname>DT</declname>
351        </param>
352        <param>
353          <type>int</type>
354          <declname>citac_init</declname>
355        </param>
356        <param>
357          <type>int</type>
358          <declname>D_smer</declname>
359        </param>
360        <param>
361          <type>int</type>
362          <declname>D_smer2</declname>
363        </param>
364        <briefdescription>
365        </briefdescription>
366        <detaileddescription>
367        </detaileddescription>
368        <inbodydescription>
369        </inbodydescription>
370        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="233" bodyend="246"/>
371      </memberdef>
372      <memberdef kind="function" id="pwm_8cpp_18dd985080259d21d1c0505551e3d187e" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
373        <type>void</type>
374        <definition>void pwm_full_new_3h</definition>
375        <argsstring>(double *us, double *u, double *Iz, double Ucn, double Uc, double *is, double *va_char, unsigned int pocet, unsigned int mod)</argsstring>
376        <name>pwm_full_new_3h</name>
377        <param>
378          <type>double *</type>
379          <declname>us</declname>
380        </param>
381        <param>
382          <type>double *</type>
383          <declname>u</declname>
384        </param>
385        <param>
386          <type>double *</type>
387          <declname>Iz</declname>
388        </param>
389        <param>
390          <type>double</type>
391          <declname>Ucn</declname>
392        </param>
393        <param>
394          <type>double</type>
395          <declname>Uc</declname>
396        </param>
397        <param>
398          <type>double *</type>
399          <declname>is</declname>
400        </param>
401        <param>
402          <type>double *</type>
403          <declname>va_char</declname>
404        </param>
405        <param>
406          <type>unsigned int</type>
407          <declname>pocet</declname>
408        </param>
409        <param>
410          <type>unsigned int</type>
411          <declname>mod</declname>
412        </param>
413        <briefdescription>
414        </briefdescription>
415        <detaileddescription>
416        </detaileddescription>
417        <inbodydescription>
418        </inbodydescription>
419        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="25" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="249" bodyend="341"/>
420      </memberdef>
421      <memberdef kind="function" id="pwm_8cpp_1868d0eed8fe05ebbce87ae4297619983" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
422        <type>double</type>
423        <definition>static double ubytek</definition>
424        <argsstring>(double *va_char, double I, unsigned int pocet)</argsstring>
425        <name>ubytek</name>
426        <param>
427          <type>double *</type>
428          <declname>va_char</declname>
429        </param>
430        <param>
431          <type>double</type>
432          <declname>I</declname>
433        </param>
434        <param>
435          <type>unsigned int</type>
436          <declname>pocet</declname>
437        </param>
438        <briefdescription>
439        </briefdescription>
440        <detaileddescription>
441        </detaileddescription>
442        <inbodydescription>
443        </inbodydescription>
444        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" line="27" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp" bodystart="129" bodyend="147"/>
445      </memberdef>
446      </sectiondef>
447    <briefdescription>
448    </briefdescription>
449    <detaileddescription>
450    </detaileddescription>
451    <programlisting>
452<codeline lineno="1"><highlight class="comment">/*<sp/>modul<sp/>PWM<sp/>modulace</highlight></codeline>
453<codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/>ubytky<sp/>a<sp/>mrtve<sp/>casy</highlight></codeline>
454<codeline lineno="3"><highlight class="comment"></highlight></codeline>
455<codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/>shodna<sp/>verze<sp/>s<sp/>PWM_FULL_LC</highlight></codeline>
456<codeline lineno="5"><highlight class="comment"></highlight></codeline>
457<codeline lineno="6"><highlight class="comment"><sp/><sp/><sp/>31.5.<sp/>2007</highlight></codeline>
458<codeline lineno="7"><highlight class="comment"></highlight></codeline>
459<codeline lineno="8"><highlight class="comment"><sp/><sp/><sp/>VER.<sp/>zmenena<sp/>metoda<sp/>vypoctu<sp/>pily<sp/>(nove<sp/>funkce)</highlight></codeline>
460<codeline lineno="9"><highlight class="comment"><sp/><sp/><sp/>31.5.2007<sp/><sp/><sp/><sp/>Doplnena<sp/>PWM<sp/>se<sp/>treti<sp/>harmonickou<sp/>-<sp/>fce<sp/>pwm_full_new_3h(...)<sp/>-<sp/>prepinani<sp/>mezi<sp/>sinusovou<sp/>PWM<sp/>a<sp/>3.<sp/>harmonickou<sp/>pomoci<sp/>priznaku<sp/>mod!</highlight></codeline>
461<codeline lineno="10"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
462<codeline lineno="11"><highlight class="normal"></highlight></codeline>
463<codeline lineno="12"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>_USE_MATH_DEFINES</highlight></codeline>
464<codeline lineno="13"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#include<sp/>&lt;math.h&gt;</highlight><highlight class="normal"></highlight></codeline>
465<codeline lineno="14"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;stdlib.h&gt;</highlight><highlight class="normal"></highlight></codeline>
466<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pwm.h&quot;</highlight><highlight class="normal"></highlight></codeline>
467<codeline lineno="16"><highlight class="normal"></highlight></codeline>
468<codeline lineno="17"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_init(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT);</highlight></codeline>
469<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*i,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h);</highlight></codeline>
470<codeline lineno="19"><highlight class="normal"></highlight></codeline>
471<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_init(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>citac_init,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer2);</highlight></codeline>
472<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*is,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet);</highlight></codeline>
473<codeline lineno="22"><highlight class="normal"></highlight></codeline>
474<codeline lineno="23"><highlight class="normal"></highlight><highlight class="comment">//<sp/>PWM<sp/>se<sp/>treti<sp/>harmonickou</highlight><highlight class="normal"></highlight></codeline>
475<codeline lineno="24"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_init_3h(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>citac_init,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer2);</highlight></codeline>
476<codeline lineno="25"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_3h(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*is,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod);</highlight></codeline>
477<codeline lineno="26"><highlight class="normal"></highlight></codeline>
478<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/>ubytek(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>I,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet);</highlight></codeline>
479<codeline lineno="28"><highlight class="normal"></highlight></codeline>
480<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/>up,<sp/>up2,<sp/>dup;</highlight></codeline>
481<codeline lineno="30"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>smer,<sp/>smer2;</highlight></codeline>
482<codeline lineno="31"><highlight class="normal"></highlight></codeline>
483<codeline lineno="32"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>citac,<sp/>citac2,<sp/>citac_PR;</highlight></codeline>
484<codeline lineno="33"><highlight class="normal"></highlight></codeline>
485<codeline lineno="34"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ladeni_pila,<sp/>ladeni_ur;</highlight></codeline>
486<codeline lineno="35"><highlight class="normal"></highlight></codeline>
487<codeline lineno="36"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_init(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT)</highlight></codeline>
488<codeline lineno="37"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
489<codeline lineno="38"><highlight class="comment">Ucn<sp/>...<sp/>jmenovite<sp/>napeti<sp/>kondenzatoru<sp/>v<sp/>ss<sp/>obvodu</highlight></codeline>
490<codeline lineno="39"><highlight class="comment">fc<sp/><sp/>...<sp/>spinaci<sp/>frekvence</highlight></codeline>
491<codeline lineno="40"><highlight class="comment">h<sp/><sp/><sp/>...<sp/>krok<sp/>simulace</highlight></codeline>
492<codeline lineno="41"><highlight class="comment">DT<sp/><sp/>...<sp/>velikost<sp/>mrtveho<sp/>casu</highlight></codeline>
493<codeline lineno="42"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
494<codeline lineno="43"><highlight class="normal">{</highlight></codeline>
495<codeline lineno="44"><highlight class="normal"><sp/><sp/>smer=-1;<sp/>smer2=1;</highlight></codeline>
496<codeline lineno="45"><highlight class="normal"><sp/><sp/>up=Ucn/2;</highlight></codeline>
497<codeline lineno="46"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>up=0.;</highlight><highlight class="normal"></highlight></codeline>
498<codeline lineno="47"><highlight class="normal"><sp/><sp/>up2=up-2*Ucn*fc*DT;</highlight></codeline>
499<codeline lineno="48"><highlight class="normal">}</highlight></codeline>
500<codeline lineno="49"><highlight class="normal"></highlight></codeline>
501<codeline lineno="50"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*is,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h)</highlight></codeline>
502<codeline lineno="51"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
503<codeline lineno="52"><highlight class="comment">u<sp/><sp/><sp/><sp/>...<sp/>pozadovane<sp/>napeti</highlight></codeline>
504<codeline lineno="53"><highlight class="comment">us<sp/><sp/><sp/>...<sp/>[usx,<sp/>usy]...vystupni<sp/>napeti<sp/>stridace<sp/>v<sp/>(x,y)</highlight></codeline>
505<codeline lineno="54"><highlight class="comment">Iz<sp/><sp/><sp/>...<sp/>proud<sp/>v<sp/>ss<sp/>obvodu</highlight></codeline>
506<codeline lineno="55"><highlight class="comment">Ucn<sp/><sp/>...<sp/>jmenovite<sp/>nap.<sp/>v<sp/>ss<sp/>obvodu</highlight></codeline>
507<codeline lineno="56"><highlight class="comment">Uc<sp/><sp/><sp/>...<sp/>skutecne<sp/>napeti<sp/>na<sp/>C</highlight></codeline>
508<codeline lineno="57"><highlight class="comment">is<sp/><sp/><sp/>...<sp/>[isx,<sp/>isy]...proud<sp/>motorem</highlight></codeline>
509<codeline lineno="58"><highlight class="comment">va_char<sp/>...<sp/>VA-char<sp/>vykonovych<sp/>spinacu</highlight></codeline>
510<codeline lineno="59"><highlight class="comment">pocet<sp/><sp/><sp/>...<sp/>pocet<sp/>bodu<sp/>VA-charky</highlight></codeline>
511<codeline lineno="60"><highlight class="comment">h<sp/><sp/><sp/><sp/>...<sp/>krok<sp/>simulace</highlight></codeline>
512<codeline lineno="61"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
513<codeline lineno="62"><highlight class="normal">{</highlight></codeline>
514<codeline lineno="63"><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>
515<codeline lineno="64"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>iabc[3],<sp/>ur[3],ustr[3],ua,ub,uc;</highlight></codeline>
516<codeline lineno="65"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dtr[3],dd[3];<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ubytky<sp/>na<sp/>polovodicich</highlight><highlight class="normal"></highlight></codeline>
517<codeline lineno="66"><highlight class="normal"></highlight></codeline>
518<codeline lineno="67"><highlight class="normal"><sp/><sp/>ladeni_pila=up;</highlight></codeline>
519<codeline lineno="68"><highlight class="normal"></highlight></codeline>
520<codeline lineno="69"><highlight class="normal"><sp/><sp/>iabc[0]=*is;</highlight></codeline>
521<codeline lineno="70"><highlight class="normal"><sp/><sp/>iabc[1]=(-*is+sqrt(3.)**(is+1))/2.;</highlight></codeline>
522<codeline lineno="71"><highlight class="normal"><sp/><sp/>iabc[2]=(-*is-sqrt(3.)**(is+1))/2.;</highlight></codeline>
523<codeline lineno="72"><highlight class="normal"></highlight></codeline>
524<codeline lineno="73"><highlight class="normal"><sp/><sp/>ur[0]=*u;</highlight></codeline>
525<codeline lineno="74"><highlight class="normal"><sp/><sp/>ur[1]=(-*u+sqrt(3.)**(u+1))/2.;</highlight></codeline>
526<codeline lineno="75"><highlight class="normal"><sp/><sp/>ur[2]=(-*u-sqrt(3.)**(u+1))/2.;</highlight></codeline>
527<codeline lineno="76"><highlight class="normal"></highlight></codeline>
528<codeline lineno="77"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
529<codeline lineno="78"><highlight class="normal"><sp/><sp/>{<sp/>dtr[i]=ubytek(va_char,fabs(iabc[i]),pocet);</highlight></codeline>
530<codeline lineno="79"><highlight class="normal"><sp/><sp/><sp/><sp/>dd[i]=dtr[i]*.73;</highlight></codeline>
531<codeline lineno="80"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
532<codeline lineno="81"><highlight class="normal"></highlight></codeline>
533<codeline lineno="82"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementace<sp/>ubytku<sp/>a<sp/>mrtvych<sp/>casu</highlight><highlight class="normal"></highlight></codeline>
534<codeline lineno="83"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
535<codeline lineno="84"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(iabc[i]&gt;=0)</highlight></codeline>
536<codeline lineno="85"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&gt;up)<sp/>&amp;&amp;<sp/>(ur[i]&gt;up2))</highlight></codeline>
537<codeline lineno="86"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2-dtr[i];</highlight></codeline>
538<codeline lineno="87"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
539<codeline lineno="88"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2+dd[i]);</highlight></codeline>
540<codeline lineno="89"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
541<codeline lineno="90"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&lt;up)<sp/>&amp;&amp;<sp/>(ur[i]&lt;up2))</highlight></codeline>
542<codeline lineno="91"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2-dtr[i]);</highlight></codeline>
543<codeline lineno="92"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
544<codeline lineno="93"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2+dd[i];</highlight></codeline>
545<codeline lineno="94"><highlight class="normal"></highlight></codeline>
546<codeline lineno="95"><highlight class="normal"></highlight><highlight class="comment">//<sp/>fazova<sp/>napeti<sp/>zateze</highlight><highlight class="normal"></highlight></codeline>
547<codeline lineno="96"><highlight class="normal"><sp/><sp/>ua=(2*ustr[0]-ustr[1]-ustr[2])/3;</highlight></codeline>
548<codeline lineno="97"><highlight class="normal"><sp/><sp/>ub=(2*ustr[1]-ustr[0]-ustr[2])/3;</highlight></codeline>
549<codeline lineno="98"><highlight class="normal"><sp/><sp/>uc=(2*ustr[2]-ustr[0]-ustr[1])/3;</highlight></codeline>
550<codeline lineno="99"><highlight class="normal"></highlight></codeline>
551<codeline lineno="100"><highlight class="normal"></highlight><highlight class="comment">//<sp/>vystupni<sp/>napeti<sp/>stridace<sp/>v<sp/>(x,y)</highlight><highlight class="normal"></highlight></codeline>
552<codeline lineno="101"><highlight class="normal"><sp/><sp/>*us=(2.*ua-ub-uc)/3.;</highlight></codeline>
553<codeline lineno="102"><highlight class="normal"><sp/><sp/>*(us+1)=(ub-uc)/sqrt(3.);</highlight></codeline>
554<codeline lineno="103"><highlight class="normal"></highlight></codeline>
555<codeline lineno="104"><highlight class="normal"></highlight><highlight class="comment">//<sp/>vypocet<sp/>pily<sp/>pro<sp/>PWM<sp/>a<sp/>pily<sp/>pro<sp/>mrtve<sp/>casy</highlight><highlight class="normal"></highlight></codeline>
556<codeline lineno="105"><highlight class="normal"><sp/><sp/>dup=2.*Ucn*fc*h;</highlight></codeline>
557<codeline lineno="106"><highlight class="normal"><sp/><sp/>up+=smer*dup;</highlight></codeline>
558<codeline lineno="107"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(up&gt;Ucn/2)</highlight></codeline>
559<codeline lineno="108"><highlight class="normal"><sp/><sp/>{<sp/>up-=2*dup;</highlight></codeline>
560<codeline lineno="109"><highlight class="normal"><sp/><sp/><sp/><sp/>smer=-1;</highlight></codeline>
561<codeline lineno="110"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
562<codeline lineno="111"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(up&lt;-Ucn/2)</highlight></codeline>
563<codeline lineno="112"><highlight class="normal"><sp/><sp/>{<sp/>up+=2.*dup;</highlight></codeline>
564<codeline lineno="113"><highlight class="normal"><sp/><sp/><sp/><sp/>smer=1;</highlight></codeline>
565<codeline lineno="114"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
566<codeline lineno="115"><highlight class="normal"></highlight></codeline>
567<codeline lineno="116"><highlight class="normal"><sp/><sp/>up2+=smer2*dup;</highlight></codeline>
568<codeline lineno="117"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(up2&gt;Ucn/2)</highlight></codeline>
569<codeline lineno="118"><highlight class="normal"><sp/><sp/>{<sp/>up2-=2.*dup;</highlight></codeline>
570<codeline lineno="119"><highlight class="normal"><sp/><sp/><sp/><sp/>smer2=-1;</highlight></codeline>
571<codeline lineno="120"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
572<codeline lineno="121"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(up2&lt;-Ucn/2)</highlight></codeline>
573<codeline lineno="122"><highlight class="normal"><sp/><sp/>{<sp/>up2+=2.*dup;</highlight></codeline>
574<codeline lineno="123"><highlight class="normal"><sp/><sp/><sp/><sp/>smer2=1;</highlight></codeline>
575<codeline lineno="124"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
576<codeline lineno="125"><highlight class="normal"></highlight></codeline>
577<codeline lineno="126"><highlight class="normal"><sp/><sp/>*Iz=(ustr[0]&gt;0)*iabc[0]+(ustr[1]&gt;0)*iabc[1]+(ustr[2]&gt;0)*iabc[2];</highlight></codeline>
578<codeline lineno="127"><highlight class="normal">}</highlight></codeline>
579<codeline lineno="128"><highlight class="normal"></highlight></codeline>
580<codeline lineno="129"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ubytek(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>I,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet)</highlight></codeline>
581<codeline lineno="130"><highlight class="normal">{</highlight></codeline>
582<codeline lineno="131"><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/>ii;</highlight></codeline>
583<codeline lineno="132"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>delta_u;</highlight></codeline>
584<codeline lineno="133"><highlight class="normal"></highlight></codeline>
585<codeline lineno="134"><highlight class="normal"><sp/><sp/>ii=0;</highlight></codeline>
586<codeline lineno="135"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">while</highlight><highlight class="normal"><sp/>((*(va_char+ii)&lt;I)<sp/>&amp;&amp;<sp/>(ii&lt;(pocet-1)))</highlight></codeline>
587<codeline lineno="136"><highlight class="normal"><sp/><sp/><sp/><sp/>ii++;</highlight></codeline>
588<codeline lineno="137"><highlight class="normal"></highlight></codeline>
589<codeline lineno="138"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ii==(pocet-1))<sp/><sp/></highlight><highlight class="comment">//<sp/>konec<sp/>va_char<sp/>-<sp/>predpoklad<sp/>nasyceni<sp/>charky</highlight><highlight class="normal"></highlight></codeline>
590<codeline lineno="139"><highlight class="normal"><sp/><sp/><sp/><sp/>delta_u=*(va_char+ii+pocet);</highlight></codeline>
591<codeline lineno="140"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
592<codeline lineno="141"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ii==0)</highlight></codeline>
593<codeline lineno="142"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>delta_u=0;</highlight></codeline>
594<codeline lineno="143"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
595<codeline lineno="144"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>delta_u=*(va_char+ii-1+pocet)+(I-*(va_char+ii-1))/(*(va_char+ii)-*(va_char+ii-1))*(*(va_char+ii+pocet)-*(va_char+ii-1+pocet));</highlight></codeline>
596<codeline lineno="145"><highlight class="normal"></highlight></codeline>
597<codeline lineno="146"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>delta_u;</highlight></codeline>
598<codeline lineno="147"><highlight class="normal">}</highlight></codeline>
599<codeline lineno="148"><highlight class="normal"></highlight></codeline>
600<codeline lineno="149"><highlight class="normal"></highlight></codeline>
601<codeline lineno="150"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*is,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet)</highlight></codeline>
602<codeline lineno="151"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
603<codeline lineno="152"><highlight class="comment">u<sp/><sp/><sp/><sp/>...<sp/>pozadovane<sp/>napeti</highlight></codeline>
604<codeline lineno="153"><highlight class="comment">us<sp/><sp/><sp/>...<sp/>[usx,<sp/>usy]...vystupni<sp/>napeti<sp/>stridace<sp/>v<sp/>(x,y)</highlight></codeline>
605<codeline lineno="154"><highlight class="comment">Iz<sp/><sp/><sp/>...<sp/>proud<sp/>v<sp/>ss<sp/>obvodu</highlight></codeline>
606<codeline lineno="155"><highlight class="comment">Ucn<sp/><sp/>...<sp/>jmenovite<sp/>nap.<sp/>v<sp/>ss<sp/>obvodu</highlight></codeline>
607<codeline lineno="156"><highlight class="comment">Uc<sp/><sp/><sp/>...<sp/>skutecne<sp/>napeti<sp/>na<sp/>C</highlight></codeline>
608<codeline lineno="157"><highlight class="comment">is<sp/><sp/><sp/>...<sp/>[isx,<sp/>isy]...proud<sp/>motorem</highlight></codeline>
609<codeline lineno="158"><highlight class="comment">va_char<sp/>...<sp/>VA-char<sp/>vykonovych<sp/>spinacu</highlight></codeline>
610<codeline lineno="159"><highlight class="comment">pocet<sp/><sp/><sp/>...<sp/>pocet<sp/>bodu<sp/>VA-charky</highlight></codeline>
611<codeline lineno="160"><highlight class="comment">t<sp/><sp/><sp/><sp/>...<sp/>aktualni<sp/>cas<sp/>simulace</highlight></codeline>
612<codeline lineno="161"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
613<codeline lineno="162"><highlight class="normal">{</highlight></codeline>
614<codeline lineno="163"><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>
615<codeline lineno="164"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>iabc[3],<sp/>ur[3],ustr[3],ua,ub,uc;</highlight></codeline>
616<codeline lineno="165"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dtr[3],dd[3];<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ubytky<sp/>na<sp/>polovodicich</highlight><highlight class="normal"></highlight></codeline>
617<codeline lineno="166"><highlight class="normal"></highlight></codeline>
618<codeline lineno="167"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>pily</highlight><highlight class="normal"></highlight></codeline>
619<codeline lineno="168"><highlight class="normal"><sp/><sp/>up=(double)citac/citac_PR*Ucn/2.;</highlight></codeline>
620<codeline lineno="169"><highlight class="normal"><sp/><sp/>up2=(double)citac2/citac_PR*Ucn/2.;</highlight></codeline>
621<codeline lineno="170"><highlight class="normal"></highlight></codeline>
622<codeline lineno="171"><highlight class="normal"><sp/><sp/>ladeni_pila=up;</highlight></codeline>
623<codeline lineno="172"><highlight class="normal"></highlight></codeline>
624<codeline lineno="173"><highlight class="normal"><sp/><sp/>iabc[0]=*is;</highlight></codeline>
625<codeline lineno="174"><highlight class="normal"><sp/><sp/>iabc[1]=(-*is+sqrt(3.)**(is+1))/2.;</highlight></codeline>
626<codeline lineno="175"><highlight class="normal"><sp/><sp/>iabc[2]=(-*is-sqrt(3.)**(is+1))/2.;</highlight></codeline>
627<codeline lineno="176"><highlight class="normal"></highlight></codeline>
628<codeline lineno="177"><highlight class="normal"><sp/><sp/>ur[0]=*u;</highlight></codeline>
629<codeline lineno="178"><highlight class="normal"><sp/><sp/>ur[1]=(-*u+sqrt(3.)**(u+1))/2.;</highlight></codeline>
630<codeline lineno="179"><highlight class="normal"><sp/><sp/>ur[2]=(-*u-sqrt(3.)**(u+1))/2.;</highlight></codeline>
631<codeline lineno="180"><highlight class="normal"></highlight></codeline>
632<codeline lineno="181"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
633<codeline lineno="182"><highlight class="normal"><sp/><sp/>{<sp/>dtr[i]=ubytek(va_char,fabs(iabc[i]),pocet);</highlight></codeline>
634<codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/>dd[i]=dtr[i]*.73;</highlight></codeline>
635<codeline lineno="184"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
636<codeline lineno="185"><highlight class="normal"></highlight></codeline>
637<codeline lineno="186"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementace<sp/>ubytku<sp/>a<sp/>mrtvych<sp/>casu</highlight><highlight class="normal"></highlight></codeline>
638<codeline lineno="187"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
639<codeline lineno="188"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(iabc[i]&gt;=0)</highlight></codeline>
640<codeline lineno="189"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&gt;up)<sp/>&amp;&amp;<sp/>(ur[i]&gt;up2))</highlight></codeline>
641<codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2-dtr[i];</highlight></codeline>
642<codeline lineno="191"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
643<codeline lineno="192"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2+dd[i]);</highlight></codeline>
644<codeline lineno="193"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
645<codeline lineno="194"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&lt;up)<sp/>&amp;&amp;<sp/>(ur[i]&lt;up2))</highlight></codeline>
646<codeline lineno="195"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2-dtr[i]);</highlight></codeline>
647<codeline lineno="196"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
648<codeline lineno="197"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2+dd[i];</highlight></codeline>
649<codeline lineno="198"><highlight class="normal"></highlight></codeline>
650<codeline lineno="199"><highlight class="normal"></highlight><highlight class="comment">//<sp/>fazova<sp/>napeti<sp/>zateze</highlight><highlight class="normal"></highlight></codeline>
651<codeline lineno="200"><highlight class="normal"><sp/><sp/>ua=(2*ustr[0]-ustr[1]-ustr[2])/3;</highlight></codeline>
652<codeline lineno="201"><highlight class="normal"><sp/><sp/>ub=(2*ustr[1]-ustr[0]-ustr[2])/3;</highlight></codeline>
653<codeline lineno="202"><highlight class="normal"><sp/><sp/>uc=(2*ustr[2]-ustr[0]-ustr[1])/3;</highlight></codeline>
654<codeline lineno="203"><highlight class="normal"></highlight></codeline>
655<codeline lineno="204"><highlight class="normal"></highlight><highlight class="comment">//<sp/>vystupni<sp/>napeti<sp/>stridace<sp/>v<sp/>(x,y)</highlight><highlight class="normal"></highlight></codeline>
656<codeline lineno="205"><highlight class="normal"><sp/><sp/>*us=(2.*ua-ub-uc)/3.;</highlight></codeline>
657<codeline lineno="206"><highlight class="normal"><sp/><sp/>*(us+1)=(ub-uc)/sqrt(3.);</highlight></codeline>
658<codeline lineno="207"><highlight class="normal"></highlight></codeline>
659<codeline lineno="208"><highlight class="normal"><sp/><sp/>*Iz=(ustr[0]&gt;0)*iabc[0]+(ustr[1]&gt;0)*iabc[1]+(ustr[2]&gt;0)*iabc[2];</highlight></codeline>
660<codeline lineno="209"><highlight class="normal"></highlight></codeline>
661<codeline lineno="210"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>posun<sp/>pily<sp/>...<sp/>inkrement<sp/>citacu</highlight><highlight class="normal"></highlight></codeline>
662<codeline lineno="211"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((citac==citac_PR)||(citac==-citac_PR))<sp/>smer*=-1;</highlight></codeline>
663<codeline lineno="212"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((citac2==citac_PR)||(citac2==-citac_PR))<sp/>smer2*=-1;</highlight></codeline>
664<codeline lineno="213"><highlight class="normal"><sp/><sp/>citac+=smer;</highlight></codeline>
665<codeline lineno="214"><highlight class="normal"><sp/><sp/>citac2+=smer2;</highlight></codeline>
666<codeline lineno="215"><highlight class="normal">}</highlight></codeline>
667<codeline lineno="216"><highlight class="normal"></highlight></codeline>
668<codeline lineno="217"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_init(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>citac_init,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer2)</highlight></codeline>
669<codeline lineno="218"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
670<codeline lineno="219"><highlight class="comment">fc<sp/><sp/>...<sp/>spinaci<sp/>frekvence</highlight></codeline>
671<codeline lineno="220"><highlight class="comment">h<sp/><sp/><sp/>...<sp/>krok<sp/>simulace</highlight></codeline>
672<codeline lineno="221"><highlight class="comment">DT<sp/><sp/>...<sp/>velikost<sp/>mrtveho<sp/>casu</highlight></codeline>
673<codeline lineno="222"><highlight class="comment">citac_init<sp/>...<sp/>pocatecni<sp/>nastaveni<sp/>citace</highlight></codeline>
674<codeline lineno="223"><highlight class="comment">D_smer,<sp/>D_smer1<sp/>...<sp/>pocatecni<sp/>nastaveni<sp/>smeru<sp/>citani</highlight></codeline>
675<codeline lineno="224"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
676<codeline lineno="225"><highlight class="normal">{</highlight></codeline>
677<codeline lineno="226"><highlight class="normal"><sp/><sp/>smer=D_smer;<sp/>smer2=D_smer2;</highlight></codeline>
678<codeline lineno="227"><highlight class="normal"><sp/><sp/>citac=citac_init;</highlight></codeline>
679<codeline lineno="228"><highlight class="normal"><sp/><sp/>citac2=citac_init-(int)(DT/h);</highlight></codeline>
680<codeline lineno="229"><highlight class="normal"><sp/><sp/>citac_PR=(int)(1./4./fc/h);</highlight></codeline>
681<codeline lineno="230"><highlight class="normal">}</highlight></codeline>
682<codeline lineno="231"><highlight class="normal"></highlight></codeline>
683<codeline lineno="232"><highlight class="normal"></highlight></codeline>
684<codeline lineno="233"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_init_3h(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>fc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>citac_init,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer,<sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>D_smer2)</highlight></codeline>
685<codeline lineno="234"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
686<codeline lineno="235"><highlight class="comment">fc<sp/><sp/>...<sp/>spinaci<sp/>frekvence</highlight></codeline>
687<codeline lineno="236"><highlight class="comment">h<sp/><sp/><sp/>...<sp/>krok<sp/>simulace</highlight></codeline>
688<codeline lineno="237"><highlight class="comment">DT<sp/><sp/>...<sp/>velikost<sp/>mrtveho<sp/>casu</highlight></codeline>
689<codeline lineno="238"><highlight class="comment">citac_init<sp/>...<sp/>pocatecni<sp/>nastaveni<sp/>citace</highlight></codeline>
690<codeline lineno="239"><highlight class="comment">D_smer,<sp/>D_smer1<sp/>...<sp/>pocatecni<sp/>nastaveni<sp/>smeru<sp/>citani</highlight></codeline>
691<codeline lineno="240"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
692<codeline lineno="241"><highlight class="normal">{</highlight></codeline>
693<codeline lineno="242"><highlight class="normal"><sp/><sp/>smer=D_smer;<sp/>smer2=D_smer2;</highlight></codeline>
694<codeline lineno="243"><highlight class="normal"><sp/><sp/>citac=citac_init;</highlight></codeline>
695<codeline lineno="244"><highlight class="normal"><sp/><sp/>citac2=abs(citac_init-(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal">)(DT/h));</highlight></codeline>
696<codeline lineno="245"><highlight class="normal"><sp/><sp/>citac_PR=(int)(1./2./fc/h);</highlight></codeline>
697<codeline lineno="246"><highlight class="normal">}</highlight></codeline>
698<codeline lineno="247"><highlight class="normal"></highlight></codeline>
699<codeline lineno="248"><highlight class="normal"></highlight></codeline>
700<codeline lineno="249"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm_full_new_3h(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*us,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Iz,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*is,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*va_char,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod)</highlight></codeline>
701<codeline lineno="250"><highlight class="normal"></highlight><highlight class="comment">/*</highlight></codeline>
702<codeline lineno="251"><highlight class="comment">u<sp/><sp/><sp/><sp/>...<sp/>pozadovane<sp/>napeti<sp/>ve<sp/>formatu<sp/>u={Um,<sp/>beta}</highlight></codeline>
703<codeline lineno="252"><highlight class="comment">us<sp/><sp/><sp/>...<sp/>[usx,<sp/>usy]...vystupni<sp/>napeti<sp/>stridace<sp/>v<sp/>(x,y)</highlight></codeline>
704<codeline lineno="253"><highlight class="comment">Iz<sp/><sp/><sp/>...<sp/>proud<sp/>v<sp/>ss<sp/>obvodu</highlight></codeline>
705<codeline lineno="254"><highlight class="comment">Ucn<sp/><sp/>...<sp/>jmenovite<sp/>nap.<sp/>v<sp/>ss<sp/>obvodu</highlight></codeline>
706<codeline lineno="255"><highlight class="comment">Uc<sp/><sp/><sp/>...<sp/>skutecne<sp/>napeti<sp/>na<sp/>C</highlight></codeline>
707<codeline lineno="256"><highlight class="comment">is<sp/><sp/><sp/>...<sp/>[isx,<sp/>isy]...proud<sp/>motorem</highlight></codeline>
708<codeline lineno="257"><highlight class="comment">va_char<sp/>...<sp/>VA-char<sp/>vykonovych<sp/>spinacu</highlight></codeline>
709<codeline lineno="258"><highlight class="comment">pocet<sp/><sp/><sp/>...<sp/>pocet<sp/>bodu<sp/>VA-charky</highlight></codeline>
710<codeline lineno="259"><highlight class="comment">t<sp/><sp/><sp/><sp/>...<sp/>aktualni<sp/>cas<sp/>simulace</highlight></codeline>
711<codeline lineno="260"><highlight class="comment">mod<sp/>...<sp/>mod=<sp/>-<sp/>sinusova<sp/>PWM;<sp/>mod=1<sp/>-<sp/>PWM<sp/>se<sp/>3.<sp/>harmonickou</highlight></codeline>
712<codeline lineno="261"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
713<codeline lineno="262"><highlight class="normal">{</highlight></codeline>
714<codeline lineno="263"><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>
715<codeline lineno="264"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>iabc[3],<sp/>ur[3],ustr[3],ua,ub,uc;</highlight></codeline>
716<codeline lineno="265"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dtr[3],dd[3];<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ubytky<sp/>na<sp/>polovodicich</highlight><highlight class="normal"></highlight></codeline>
717<codeline lineno="266"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Um,<sp/>beta;</highlight></codeline>
718<codeline lineno="267"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U3;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>korekce<sp/>3.<sp/>harmonickou</highlight><highlight class="normal"></highlight></codeline>
719<codeline lineno="268"><highlight class="normal"></highlight></codeline>
720<codeline lineno="269"><highlight class="normal"></highlight></codeline>
721<codeline lineno="270"><highlight class="normal"><sp/><sp/>Um=*u;</highlight></codeline>
722<codeline lineno="271"><highlight class="normal"><sp/><sp/>beta=*(u+1);</highlight></codeline>
723<codeline lineno="272"><highlight class="normal"></highlight></codeline>
724<codeline lineno="273"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>pily</highlight><highlight class="normal"></highlight></codeline>
725<codeline lineno="274"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>up=(double)citac/citac_PR*Ucn/2.;</highlight><highlight class="normal"></highlight></codeline>
726<codeline lineno="275"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>up2=(double)citac2/citac_PR*Ucn/2.;</highlight><highlight class="normal"></highlight></codeline>
727<codeline lineno="276"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>pily<sp/>presne<sp/>jako<sp/>v<sp/>procesoru</highlight><highlight class="normal"></highlight></codeline>
728<codeline lineno="277"><highlight class="normal"><sp/><sp/>up=((double)citac/citac_PR-0.5)*Ucn;</highlight></codeline>
729<codeline lineno="278"><highlight class="normal"><sp/><sp/>up2=((double)citac2/citac_PR-0.5)*Ucn;</highlight></codeline>
730<codeline lineno="279"><highlight class="normal"></highlight></codeline>
731<codeline lineno="280"><highlight class="normal"><sp/><sp/>ladeni_pila=up;</highlight></codeline>
732<codeline lineno="281"><highlight class="normal"></highlight></codeline>
733<codeline lineno="282"><highlight class="normal"><sp/><sp/>iabc[0]=*is;</highlight></codeline>
734<codeline lineno="283"><highlight class="normal"><sp/><sp/>iabc[1]=(-*is+sqrt(3.)**(is+1))/2.;</highlight></codeline>
735<codeline lineno="284"><highlight class="normal"><sp/><sp/>iabc[2]=(-*is-sqrt(3.)**(is+1))/2.;</highlight></codeline>
736<codeline lineno="285"><highlight class="normal"></highlight></codeline>
737<codeline lineno="286"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(mod==0)<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>sinusova<sp/>PWM</highlight><highlight class="normal"></highlight></codeline>
738<codeline lineno="287"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
739<codeline lineno="288"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[0]=Um*cos(beta);</highlight></codeline>
740<codeline lineno="289"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[1]=Um*cos(beta-2./3.*M_PI);</highlight></codeline>
741<codeline lineno="290"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[2]=Um*cos(beta+2./3.*M_PI);</highlight></codeline>
742<codeline lineno="291"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
743<codeline lineno="292"><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/>PWM<sp/>se<sp/>3.<sp/>harmonickou</highlight><highlight class="normal"></highlight></codeline>
744<codeline lineno="293"><highlight class="normal"><sp/><sp/>{</highlight></codeline>
745<codeline lineno="294"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>dle<sp/>Karla</highlight><highlight class="normal"></highlight></codeline>
746<codeline lineno="295"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/>U3=0.13*cos(3.*beta);</highlight><highlight class="normal"></highlight></codeline>
747<codeline lineno="296"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>moje</highlight><highlight class="normal"></highlight></codeline>
748<codeline lineno="297"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>U3=0.17*cos(3.*beta);</highlight></codeline>
749<codeline lineno="298"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[0]=Um*(cos(beta)-U3);</highlight></codeline>
750<codeline lineno="299"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[1]=Um*(cos(beta-2./3.*M_PI)-U3);</highlight></codeline>
751<codeline lineno="300"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[2]=Um*(cos(beta+2./3.*M_PI)-U3);</highlight></codeline>
752<codeline lineno="301"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
753<codeline lineno="302"><highlight class="normal"></highlight></codeline>
754<codeline lineno="303"><highlight class="normal"><sp/><sp/>ladeni_ur=ur[0];</highlight></codeline>
755<codeline lineno="304"><highlight class="normal"></highlight></codeline>
756<codeline lineno="305"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
757<codeline lineno="306"><highlight class="normal"><sp/><sp/>{<sp/>dtr[i]=ubytek(va_char,fabs(iabc[i]),pocet);</highlight></codeline>
758<codeline lineno="307"><highlight class="normal"><sp/><sp/><sp/><sp/>dd[i]=dtr[i]*.73;</highlight></codeline>
759<codeline lineno="308"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
760<codeline lineno="309"><highlight class="normal"></highlight></codeline>
761<codeline lineno="310"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementace<sp/>ubytku<sp/>a<sp/>mrtvych<sp/>casu</highlight><highlight class="normal"></highlight></codeline>
762<codeline lineno="311"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i&lt;3;i++)</highlight></codeline>
763<codeline lineno="312"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(iabc[i]&gt;=0)</highlight></codeline>
764<codeline lineno="313"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&gt;up)<sp/>&amp;&amp;<sp/>(ur[i]&gt;up2))</highlight></codeline>
765<codeline lineno="314"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2-dtr[i];</highlight></codeline>
766<codeline lineno="315"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
767<codeline lineno="316"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2+dd[i]);</highlight></codeline>
768<codeline lineno="317"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
769<codeline lineno="318"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]&lt;up)<sp/>&amp;&amp;<sp/>(ur[i]&lt;up2))</highlight></codeline>
770<codeline lineno="319"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2-dtr[i]);</highlight></codeline>
771<codeline lineno="320"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
772<codeline lineno="321"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2+dd[i];</highlight></codeline>
773<codeline lineno="322"><highlight class="normal"></highlight></codeline>
774<codeline lineno="323"><highlight class="normal"></highlight><highlight class="comment">//<sp/>fazova<sp/>napeti<sp/>zateze</highlight><highlight class="normal"></highlight></codeline>
775<codeline lineno="324"><highlight class="normal"><sp/><sp/>ua=(2.*ustr[0]-ustr[1]-ustr[2])/3.;</highlight></codeline>
776<codeline lineno="325"><highlight class="normal"><sp/><sp/>ub=(2.*ustr[1]-ustr[0]-ustr[2])/3.;</highlight></codeline>
777<codeline lineno="326"><highlight class="normal"><sp/><sp/>uc=(2.*ustr[2]-ustr[0]-ustr[1])/3.;</highlight></codeline>
778<codeline lineno="327"><highlight class="normal"></highlight></codeline>
779<codeline lineno="328"><highlight class="normal"></highlight><highlight class="comment">//<sp/>vystupni<sp/>napeti<sp/>stridace<sp/>v<sp/>(x,y)</highlight><highlight class="normal"></highlight></codeline>
780<codeline lineno="329"><highlight class="normal"><sp/><sp/>*us=(2.*ua-ub-uc)/3.;</highlight></codeline>
781<codeline lineno="330"><highlight class="normal"><sp/><sp/>*(us+1)=(ub-uc)/sqrt(3.);</highlight></codeline>
782<codeline lineno="331"><highlight class="normal"></highlight></codeline>
783<codeline lineno="332"><highlight class="normal"><sp/><sp/>*Iz=(ustr[0]&gt;0)*iabc[0]+(ustr[1]&gt;0)*iabc[1]+(ustr[2]&gt;0)*iabc[2];</highlight></codeline>
784<codeline lineno="333"><highlight class="normal"></highlight></codeline>
785<codeline lineno="334"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>posun<sp/>pily<sp/>...<sp/>inkrement<sp/>citacu</highlight><highlight class="normal"></highlight></codeline>
786<codeline lineno="335"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>if<sp/>((citac==citac_PR)||(citac==-citac_PR))<sp/>smer*=-1;</highlight><highlight class="normal"></highlight></codeline>
787<codeline lineno="336"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>if<sp/>((citac2==citac_PR)||(citac2==-citac_PR))<sp/>smer2*=-1;</highlight><highlight class="normal"></highlight></codeline>
788<codeline lineno="337"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((citac==citac_PR)||(citac==0))<sp/>smer*=-1;</highlight></codeline>
789<codeline lineno="338"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((citac2==citac_PR)||(citac2==0))<sp/>smer2*=-1;</highlight></codeline>
790<codeline lineno="339"><highlight class="normal"><sp/><sp/>citac+=smer;</highlight></codeline>
791<codeline lineno="340"><highlight class="normal"><sp/><sp/>citac2+=smer2;</highlight></codeline>
792<codeline lineno="341"><highlight class="normal">}</highlight></codeline>
793    </programlisting>
794    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pwm.cpp"/>
795  </compounddef>
796</doxygen>
Note: See TracBrowser for help on using the browser.