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365        <inbodydescription>
366        </inbodydescription>
367        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="45" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="45" bodyend="-1"/>
368      </memberdef>
369      <memberdef kind="variable" id="regulace_8cpp_18bf8016d7dc5deb088c84616ca363fbc" prot="public" static="no" mutable="no">
370        <type>double</type>
371        <definition>double Treg</definition>
372        <argsstring></argsstring>
373        <name>Treg</name>
374        <briefdescription>
375        </briefdescription>
376        <detaileddescription>
377        </detaileddescription>
378        <inbodydescription>
379        </inbodydescription>
380        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="47" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="47" bodyend="-1"/>
381      </memberdef>
382      </sectiondef>
383      <sectiondef kind="func">
384      <memberdef kind="function" id="regulace_8cpp_1f1ab9d3fe7fb20fb6b2e7585725e72ea" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
385        <type>void</type>
386        <definition>void init_regulace</definition>
387        <argsstring>(double Ls, double Fpm, double kp, double p, double TV)</argsstring>
388        <name>init_regulace</name>
389        <param>
390          <type>double</type>
391          <declname>Ls</declname>
392        </param>
393        <param>
394          <type>double</type>
395          <declname>Fpm</declname>
396        </param>
397        <param>
398          <type>double</type>
399          <declname>kp</declname>
400        </param>
401        <param>
402          <type>double</type>
403          <declname>p</declname>
404        </param>
405        <param>
406          <type>double</type>
407          <declname>TV</declname>
408        </param>
409        <briefdescription>
410        </briefdescription>
411        <detaileddescription>
412        </detaileddescription>
413        <inbodydescription>
414        </inbodydescription>
415        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="20"/>
416      </memberdef>
417      <memberdef kind="function" id="regulace_8cpp_171d09500b31dfce56234053b946cbf34" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
418        <type>void</type>
419        <definition>void vektor_regulace</definition>
420        <argsstring>(double Idw, double Iqw, double Urm_max, double Ww, double *u, double Isx, double Isy, double theta, double rychlost, double Ucn_2, double Uc, double Ucn, unsigned int rezim)</argsstring>
421        <name>vektor_regulace</name>
422        <param>
423          <type>double</type>
424          <declname>Idw</declname>
425        </param>
426        <param>
427          <type>double</type>
428          <declname>Iqw</declname>
429        </param>
430        <param>
431          <type>double</type>
432          <declname>Urm_max</declname>
433        </param>
434        <param>
435          <type>double</type>
436          <declname>Ww</declname>
437        </param>
438        <param>
439          <type>double *</type>
440          <declname>u</declname>
441        </param>
442        <param>
443          <type>double</type>
444          <declname>Isx</declname>
445        </param>
446        <param>
447          <type>double</type>
448          <declname>Isy</declname>
449        </param>
450        <param>
451          <type>double</type>
452          <declname>theta</declname>
453        </param>
454        <param>
455          <type>double</type>
456          <declname>rychlost</declname>
457        </param>
458        <param>
459          <type>double</type>
460          <declname>Ucn_2</declname>
461        </param>
462        <param>
463          <type>double</type>
464          <declname>Uc</declname>
465        </param>
466        <param>
467          <type>double</type>
468          <declname>Ucn</declname>
469        </param>
470        <param>
471          <type>unsigned int</type>
472          <declname>rezim</declname>
473        </param>
474        <briefdescription>
475        </briefdescription>
476        <detaileddescription>
477        </detaileddescription>
478        <inbodydescription>
479        </inbodydescription>
480        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="21"/>
481      </memberdef>
482      <memberdef kind="function" id="regulace_8cpp_1154c64d72d9a6e1e1d5621c6561372eb" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
483        <type>double</type>
484        <definition>double pi_reg</definition>
485        <argsstring>(double epsilon, double Kpf, double Kif, double MAX, double MIN, double *S)</argsstring>
486        <name>pi_reg</name>
487        <param>
488          <type>double</type>
489          <declname>epsilon</declname>
490        </param>
491        <param>
492          <type>double</type>
493          <declname>Kpf</declname>
494        </param>
495        <param>
496          <type>double</type>
497          <declname>Kif</declname>
498        </param>
499        <param>
500          <type>double</type>
501          <declname>MAX</declname>
502        </param>
503        <param>
504          <type>double</type>
505          <declname>MIN</declname>
506        </param>
507        <param>
508          <type>double *</type>
509          <declname>S</declname>
510        </param>
511        <briefdescription>
512        </briefdescription>
513        <detaileddescription>
514        </detaileddescription>
515        <inbodydescription>
516        </inbodydescription>
517        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="67" bodyend="78"/>
518      </memberdef>
519      <memberdef kind="function" id="regulace_8cpp_1d52cd3d5f2f7c2561b9d318c3d9e66a8" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
520        <type>double</type>
521        <definition>double uhel</definition>
522        <argsstring>(double x, double y)</argsstring>
523        <name>uhel</name>
524        <param>
525          <type>double</type>
526          <declname>x</declname>
527        </param>
528        <param>
529          <type>double</type>
530          <declname>y</declname>
531        </param>
532        <briefdescription>
533        </briefdescription>
534        <detaileddescription>
535        </detaileddescription>
536        <inbodydescription>
537        </inbodydescription>
538        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="50" bodyend="64"/>
539      </memberdef>
540      <memberdef kind="function" id="regulace_8cpp_1355f57120e187949afdadc570d5c5bd6" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual">
541        <type>void</type>
542        <definition>void filtr</definition>
543        <argsstring>(double U, double *Uf, double kt)</argsstring>
544        <name>filtr</name>
545        <param>
546          <type>double</type>
547          <declname>U</declname>
548        </param>
549        <param>
550          <type>double *</type>
551          <declname>Uf</declname>
552        </param>
553        <param>
554          <type>double</type>
555          <declname>kt</declname>
556        </param>
557        <briefdescription>
558        </briefdescription>
559        <detaileddescription>
560        </detaileddescription>
561        <inbodydescription>
562        </inbodydescription>
563        <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" line="25" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp" bodystart="80" bodyend="86"/>
564      </memberdef>
565      </sectiondef>
566    <briefdescription>
567    </briefdescription>
568    <detaileddescription>
569    </detaileddescription>
570    <programlisting>
571<codeline lineno="1"><highlight class="comment">/********************************************</highlight></codeline>
572<codeline lineno="2"><highlight class="comment"></highlight></codeline>
573<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Vector<sp/>control<sp/>of<sp/>PMSM<sp/>Drive</highlight></codeline>
574<codeline lineno="4"><highlight class="comment"></highlight></codeline>
575<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Control<sp/>-<sp/>floating<sp/>point</highlight></codeline>
576<codeline lineno="6"><highlight class="comment"></highlight></codeline>
577<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
578<codeline lineno="8"><highlight class="comment"></highlight></codeline>
579<codeline lineno="9"><highlight class="comment">Rev.<sp/>16.3.2008</highlight></codeline>
580<codeline lineno="10"><highlight class="comment"></highlight></codeline>
581<codeline lineno="11"><highlight class="comment">*********************************************/</highlight><highlight class="normal"></highlight></codeline>
582<codeline lineno="12"><highlight class="normal"></highlight></codeline>
583<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>_USE_MATH_DEFINES</highlight></codeline>
584<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
585<codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&lt;math.h&gt;</highlight><highlight class="normal"></highlight></codeline>
586<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;nastaveni_regulatoru_float.h&quot;</highlight><highlight class="normal"></highlight></codeline>
587<codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;regulace.h&quot;</highlight><highlight class="normal"></highlight></codeline>
588<codeline lineno="18"><highlight class="normal"></highlight></codeline>
589<codeline lineno="19"><highlight class="normal"></highlight></codeline>
590<codeline lineno="20"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fpm,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>TV);</highlight></codeline>
591<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>vektor_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Iqw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Urm_max,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>theta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>rychlost,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn_2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rezim);</highlight></codeline>
592<codeline lineno="22"><highlight class="normal"></highlight></codeline>
593<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/>pi_reg(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>epsilon,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kpf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kif,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MAX,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MIN,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*S);</highlight></codeline>
594<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/>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>
595<codeline lineno="25"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>filtr(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Uf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kt);</highlight></codeline>
596<codeline lineno="26"><highlight class="normal"></highlight></codeline>
597<codeline lineno="27"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulatory<sp/>proudu</highlight><highlight class="normal"></highlight></codeline>
598<codeline lineno="28"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ud,<sp/>uq,<sp/>alfa,<sp/>beta;</highlight></codeline>
599<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/>Sid,<sp/>Siq,<sp/>Surm;</highlight></codeline>
600<codeline lineno="30"><highlight class="normal"></highlight></codeline>
601<codeline lineno="31"><highlight class="normal"></highlight><highlight class="comment">//<sp/>omezeni<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
602<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/>Iqwmax,<sp/>Iqw_reg;</highlight></codeline>
603<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/>Idw_urm;</highlight></codeline>
604<codeline lineno="34"><highlight class="normal"></highlight></codeline>
605<codeline lineno="35"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
606<codeline lineno="36"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Sw;</highlight></codeline>
607<codeline lineno="37"><highlight class="normal"></highlight></codeline>
608<codeline lineno="38"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U;</highlight></codeline>
609<codeline lineno="39"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Um,<sp/>Urmf;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>velikost<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
610<codeline lineno="40"><highlight class="normal"></highlight></codeline>
611<codeline lineno="41"><highlight class="normal"></highlight><highlight class="comment">//<sp/>odvazbovaci<sp/>obvod<sp/>-<sp/>blok<sp/>vypocet<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
612<codeline lineno="42"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kodv_ud,<sp/>Kodv_uind;</highlight></codeline>
613<codeline lineno="43"><highlight class="normal"></highlight></codeline>
614<codeline lineno="44"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isd,<sp/>Isq,<sp/>Fs,<sp/>Fmag,<sp/>moment,<sp/>K_Fs,<sp/>K_moment;</highlight></codeline>
615<codeline lineno="45"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ismaxf2,<sp/>tmp_omezeni;</highlight></codeline>
616<codeline lineno="46"><highlight class="normal"></highlight></codeline>
617<codeline lineno="47"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Treg;</highlight></codeline>
618<codeline lineno="48"><highlight class="normal"></highlight></codeline>
619<codeline lineno="50"><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>
620<codeline lineno="51"><highlight class="normal">{</highlight></codeline>
621<codeline lineno="52"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>th;</highlight></codeline>
622<codeline lineno="53"><highlight class="normal"></highlight></codeline>
623<codeline lineno="54"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x==0)</highlight></codeline>
624<codeline lineno="55"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(y==0)<sp/>th=0.;</highlight></codeline>
625<codeline lineno="56"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(y&gt;0)<sp/>th=M_PI/2.;</highlight></codeline>
626<codeline lineno="57"><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>
627<codeline lineno="58"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
628<codeline lineno="59"><highlight class="normal"><sp/><sp/><sp/><sp/>th=atan(y/x);</highlight></codeline>
629<codeline lineno="60"><highlight class="normal"></highlight></codeline>
630<codeline lineno="61"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x&lt;0)<sp/>th+=M_PI;</highlight></codeline>
631<codeline lineno="62"><highlight class="normal"></highlight></codeline>
632<codeline lineno="63"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>th;</highlight></codeline>
633<codeline lineno="64"><highlight class="normal">}</highlight></codeline>
634<codeline lineno="65"><highlight class="normal"></highlight></codeline>
635<codeline lineno="66"><highlight class="normal"></highlight></codeline>
636<codeline lineno="67"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>pi_reg(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>epsilon,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kpf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kif,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MAX,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>MIN,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*S)</highlight></codeline>
637<codeline lineno="68"><highlight class="normal">{</highlight></codeline>
638<codeline lineno="69"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>out;</highlight></codeline>
639<codeline lineno="70"><highlight class="normal"></highlight></codeline>
640<codeline lineno="71"><highlight class="normal"><sp/><sp/>out=Kpf*epsilon+*S;</highlight></codeline>
641<codeline lineno="72"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(out&gt;MAX)<sp/>out=MAX;</highlight></codeline>
642<codeline lineno="73"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(out&lt;MIN)<sp/>out=MIN;</highlight></codeline>
643<codeline lineno="74"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
644<codeline lineno="75"><highlight class="normal"><sp/><sp/><sp/><sp/>*S+=Kif*epsilon;</highlight></codeline>
645<codeline lineno="76"><highlight class="normal"></highlight></codeline>
646<codeline lineno="77"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>out;</highlight></codeline>
647<codeline lineno="78"><highlight class="normal">}</highlight></codeline>
648<codeline lineno="79"><highlight class="normal"></highlight></codeline>
649<codeline lineno="80"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>filtr(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*Uf,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kt)</highlight></codeline>
650<codeline lineno="81"><highlight class="normal">{</highlight></codeline>
651<codeline lineno="82"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ufpom;</highlight></codeline>
652<codeline lineno="83"><highlight class="normal"></highlight></codeline>
653<codeline lineno="84"><highlight class="normal"><sp/><sp/>Ufpom=*Uf;</highlight></codeline>
654<codeline lineno="85"><highlight class="normal"><sp/><sp/>*Uf=Ufpom+kt*(U-*Uf);</highlight></codeline>
655<codeline lineno="86"><highlight class="normal">}</highlight></codeline>
656<codeline lineno="87"><highlight class="normal"></highlight></codeline>
657<codeline lineno="89"><highlight class="normal"></highlight></codeline>
658<codeline lineno="90"><highlight class="normal"></highlight></codeline>
659<codeline lineno="91"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fpm,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>TV)</highlight></codeline>
660<codeline lineno="92"><highlight class="normal">{</highlight></codeline>
661<codeline lineno="93"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Kpd;<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>pomocna<sp/>velicina</highlight><highlight class="normal"></highlight></codeline>
662<codeline lineno="94"><highlight class="normal"></highlight></codeline>
663<codeline lineno="95"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>parametry<sp/>pro<sp/>odvazbeni</highlight><highlight class="normal"></highlight></codeline>
664<codeline lineno="96"><highlight class="normal"><sp/><sp/>Fmag=Fpm;</highlight></codeline>
665<codeline lineno="97"><highlight class="normal"></highlight></codeline>
666<codeline lineno="98"><highlight class="normal"><sp/><sp/>Sid=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>nulovani<sp/>integracni<sp/>slozky</highlight><highlight class="normal"></highlight></codeline>
667<codeline lineno="99"><highlight class="normal"><sp/><sp/>Siq=0;</highlight></codeline>
668<codeline lineno="100"><highlight class="normal"></highlight></codeline>
669<codeline lineno="101"><highlight class="normal"><sp/><sp/>Surm=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>nulovani<sp/>integracni<sp/>slozky</highlight><highlight class="normal"></highlight></codeline>
670<codeline lineno="102"><highlight class="normal"><sp/><sp/>Urmf=0;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>filtrovane<sp/>napeti<sp/>Urm</highlight><highlight class="normal"></highlight></codeline>
671<codeline lineno="103"><highlight class="normal"></highlight></codeline>
672<codeline lineno="104"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>momentu<sp/>kvuli<sp/>momentu<sp/>zvratu<sp/>-<sp/>omezeni<sp/>pomoci<sp/>frmax</highlight><highlight class="normal"></highlight></codeline>
673<codeline lineno="105"><highlight class="normal"><sp/><sp/>Ismaxf2=Ismax*Ismax;</highlight></codeline>
674<codeline lineno="106"><highlight class="normal"></highlight></codeline>
675<codeline lineno="107"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>blok<sp/>VYPOCET<sp/>NAPETI</highlight><highlight class="normal"></highlight></codeline>
676<codeline lineno="108"><highlight class="normal"><sp/><sp/>Kodv_ud=Ls;</highlight></codeline>
677<codeline lineno="109"><highlight class="normal"><sp/><sp/>Kodv_uind=Fmag;</highlight></codeline>
678<codeline lineno="110"><highlight class="normal"></highlight></codeline>
679<codeline lineno="111"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulator<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
680<codeline lineno="112"><highlight class="normal"><sp/><sp/>Sw=0;</highlight></codeline>
681<codeline lineno="113"><highlight class="normal"></highlight></codeline>
682<codeline lineno="114"><highlight class="normal"><sp/><sp/>Treg=TV;</highlight></codeline>
683<codeline lineno="115"><highlight class="normal">}</highlight></codeline>
684<codeline lineno="116"><highlight class="normal"></highlight></codeline>
685<codeline lineno="117"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>vektor_regulace(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Idw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Iqw,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Urm_max,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*u,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>theta,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>rychlost,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn_2,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>rezim)</highlight></codeline>
686<codeline lineno="118"><highlight class="normal">{</highlight></codeline>
687<codeline lineno="119"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>Isd,<sp/>Isq</highlight><highlight class="normal"></highlight></codeline>
688<codeline lineno="120"><highlight class="normal"><sp/><sp/>Isd=Isx*cos(theta)+Isy*sin(theta);</highlight></codeline>
689<codeline lineno="121"><highlight class="normal"><sp/><sp/>Isq=Isy*cos(theta)-Isx*sin(theta);</highlight></codeline>
690<codeline lineno="122"><highlight class="normal"></highlight></codeline>
691<codeline lineno="123"><highlight class="normal"><sp/><sp/>Iqw_reg=pi_reg(Ww-rychlost,Kpw,Kpw*Treg/Tiw,MAXw,-MAXw,&amp;Sw);</highlight></codeline>
692<codeline lineno="124"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rezim==0)</highlight></codeline>
693<codeline lineno="125"><highlight class="normal"><sp/><sp/><sp/><sp/>Iqw_reg=Iqw;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>vyrazeni<sp/>reg.<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
694<codeline lineno="126"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(rezim==2)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>zkouska<sp/>max.<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
695<codeline lineno="127"><highlight class="normal"><sp/><sp/><sp/><sp/>Iqw_reg=Iqwmax;<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Iqw<sp/>=<sp/>sqrt(Imax^2-Idw^2)</highlight><highlight class="normal"></highlight></codeline>
696<codeline lineno="128"><highlight class="normal"></highlight></codeline>
697<codeline lineno="129"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Regulator<sp/>odbuzovani</highlight><highlight class="normal"></highlight></codeline>
698<codeline lineno="130"><highlight class="normal"><sp/><sp/>Idw_urm=pi_reg(Urm_max-Urmf,Kpurm,Kpurm*Treg/Tiurm,0.,MINurm,&amp;Surm);</highlight></codeline>
699<codeline lineno="131"><highlight class="normal"></highlight></codeline>
700<codeline lineno="132"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>regulace<sp/>proudu<sp/>Id,<sp/>Iq</highlight><highlight class="normal"></highlight></codeline>
701<codeline lineno="133"><highlight class="normal"><sp/><sp/>ud=pi_reg(Idw_urm-Isd,Kpi,Kpi*Treg/Tii,MAXi,-MAXi,&amp;Sid);</highlight></codeline>
702<codeline lineno="134"><highlight class="normal"></highlight></codeline>
703<codeline lineno="135"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>max.<sp/>momentu<sp/>(resp.<sp/>max.<sp/>Iqw)<sp/>s<sp/>ohledem<sp/>na<sp/>max.<sp/>proud</highlight><highlight class="normal"></highlight></codeline>
704<codeline lineno="136"><highlight class="normal"><sp/><sp/>tmp_omezeni=Ismaxf2-Idw_urm*Idw_urm;</highlight></codeline>
705<codeline lineno="137"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(tmp_omezeni&lt;0)<sp/>Iqwmax=0;</highlight></codeline>
706<codeline lineno="138"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>Iqwmax=sqrt(tmp_omezeni);</highlight></codeline>
707<codeline lineno="139"><highlight class="normal"></highlight></codeline>
708<codeline lineno="140"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Iqw_reg&gt;Iqwmax)<sp/>Iqw_reg=Iqwmax;</highlight></codeline>
709<codeline lineno="141"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Iqw_reg&lt;-Iqwmax)<sp/>Iqw_reg=-Iqwmax;</highlight></codeline>
710<codeline lineno="142"><highlight class="normal"><sp/><sp/>uq=pi_reg(Iqw_reg-Isq,Kpi,Kpi*Treg/Tii,MAXi,-MAXi,&amp;Siq);</highlight></codeline>
711<codeline lineno="143"><highlight class="normal"></highlight></codeline>
712<codeline lineno="145"><highlight class="normal"><sp/><sp/>ud-=Kodv_ud*rychlost*Iqw_reg;</highlight></codeline>
713<codeline lineno="146"><highlight class="normal"><sp/><sp/>uq+=Kodv_ud*rychlost*Idw_urm+Kodv_uind*rychlost;</highlight></codeline>
714<codeline lineno="147"><highlight class="normal"></highlight></codeline>
715<codeline lineno="148"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>omezeni<sp/>-<sp/>saturace<sp/>napeti<sp/>-<sp/>stejne<sp/>omezeni<sp/>jako<sp/>u<sp/>reg.<sp/>proudu</highlight><highlight class="normal"></highlight></codeline>
716<codeline lineno="149"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ud&gt;MAXi)<sp/>ud=MAXi;</highlight></codeline>
717<codeline lineno="150"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ud&lt;-MAXi)<sp/>ud=-MAXi;</highlight></codeline>
718<codeline lineno="151"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(uq&gt;MAXi)<sp/>uq=MAXi;</highlight></codeline>
719<codeline lineno="152"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(uq&lt;-MAXi)<sp/>uq=-MAXi;</highlight></codeline>
720<codeline lineno="153"><highlight class="normal"></highlight></codeline>
721<codeline lineno="155"><highlight class="normal"></highlight></codeline>
722<codeline lineno="156"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>velikost<sp/>a<sp/>poloha<sp/>vektoru<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
723<codeline lineno="157"><highlight class="normal"><sp/><sp/>Um=sqrt(ud*ud+uq*uq);</highlight></codeline>
724<codeline lineno="158"><highlight class="normal"><sp/><sp/>alfa=uhel(ud,uq);</highlight></codeline>
725<codeline lineno="159"><highlight class="normal"></highlight></codeline>
726<codeline lineno="160"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>polohy<sp/>vektoru<sp/>napeti<sp/>ve<sp/>stojicim<sp/>souradnem<sp/>systemu</highlight><highlight class="normal"></highlight></codeline>
727<codeline lineno="161"><highlight class="normal"><sp/><sp/>beta=alfa+theta;</highlight></codeline>
728<codeline lineno="162"><highlight class="normal"></highlight></codeline>
729<codeline lineno="163"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>Urmf<sp/>pro<sp/>dalsi<sp/>periodu<sp/>vzorkovani</highlight><highlight class="normal"></highlight></codeline>
730<codeline lineno="164"><highlight class="normal"><sp/><sp/>filtr(Um/Ucn_2,&amp;Urmf,Treg/Tfurm);</highlight></codeline>
731<codeline lineno="165"><highlight class="normal"></highlight></codeline>
732<codeline lineno="166"><highlight class="normal"></highlight><highlight class="comment">//<sp/>saturation<sp/>of<sp/>modulation<sp/>depth<sp/>going<sp/>to<sp/>PWM</highlight><highlight class="normal"></highlight></codeline>
733<codeline lineno="167"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(Um&gt;Ucn_2*Urm_max)<sp/>Um=Ucn_2*Urm_max;<sp/><sp/></highlight><highlight class="comment">//<sp/>linear<sp/>modulation<sp/>area<sp/>only<sp/>-<sp/>ensure<sp/>max.<sp/>modulation<sp/>depth</highlight><highlight class="normal"></highlight></codeline>
734<codeline lineno="168"><highlight class="normal"></highlight></codeline>
735<codeline lineno="170"><highlight class="normal"><sp/><sp/>*u=Um;</highlight></codeline>
736<codeline lineno="171"><highlight class="normal"><sp/><sp/>*(u+1)=beta;</highlight></codeline>
737<codeline lineno="172"><highlight class="normal"></highlight></codeline>
738<codeline lineno="173"><highlight class="normal">}</highlight></codeline>
739<codeline lineno="174"><highlight class="normal"></highlight></codeline>
740    </programlisting>
741    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/regulace.cpp"/>
742  </compounddef>
743</doxygen>
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