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| 365 | <argsstring></argsstring> |
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| 378 | <argsstring></argsstring> |
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| 391 | <argsstring></argsstring> |
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| 399 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="46" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="46" bodyend="-1"/> |
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| 412 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="49" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="49" bodyend="-1"/> |
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| 415 | <type>double</type> |
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| 417 | <argsstring></argsstring> |
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| 418 | <name>dIsx1</name> |
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| 425 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="49" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="49" bodyend="-1"/> |
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| 428 | <type>double</type> |
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| 429 | <definition>double dIsx2</definition> |
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| 430 | <argsstring></argsstring> |
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| 431 | <name>dIsx2</name> |
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| 432 | <briefdescription> |
---|
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| 436 | <inbodydescription> |
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| 438 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="49" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="49" bodyend="-1"/> |
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| 441 | <type>double</type> |
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| 443 | <argsstring></argsstring> |
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| 444 | <name>dIsx3</name> |
---|
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| 451 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="49" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="49" bodyend="-1"/> |
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| 454 | <type>double</type> |
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| 455 | <definition>double dIsy</definition> |
---|
| 456 | <argsstring></argsstring> |
---|
| 457 | <name>dIsy</name> |
---|
| 458 | <briefdescription> |
---|
| 459 | </briefdescription> |
---|
| 460 | <detaileddescription> |
---|
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| 462 | <inbodydescription> |
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---|
| 464 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="49" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="49" bodyend="-1"/> |
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| 467 | <type>double</type> |
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| 468 | <definition>double dIsy1</definition> |
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| 469 | <argsstring></argsstring> |
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| 470 | <name>dIsy1</name> |
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| 471 | <briefdescription> |
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| 477 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="49" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="49" bodyend="-1"/> |
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| 480 | <type>double</type> |
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| 482 | <argsstring></argsstring> |
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| 483 | <name>dIsy2</name> |
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| 490 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="49" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="49" bodyend="-1"/> |
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| 493 | <type>double</type> |
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| 495 | <argsstring></argsstring> |
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| 503 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="49" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="49" bodyend="-1"/> |
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| 506 | <type>double</type> |
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| 508 | <argsstring></argsstring> |
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| 516 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="50" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="50" bodyend="-1"/> |
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| 519 | <type>double</type> |
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| 521 | <argsstring></argsstring> |
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| 529 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="50" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="50" bodyend="-1"/> |
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| 532 | <type>double</type> |
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| 534 | <argsstring></argsstring> |
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| 535 | <name>dTheta2</name> |
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| 542 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="50" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="50" bodyend="-1"/> |
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| 545 | <type>double</type> |
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| 568 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="51" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="51" bodyend="-1"/> |
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| 689 | <memberdef kind="variable" id="simulator_8cpp_1d132091f393ab3d814ed8b94dba7e921" prot="public" static="yes" mutable="no"> |
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| 690 | <type>double</type> |
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| 691 | <definition>double usx_av</definition> |
---|
| 692 | <argsstring></argsstring> |
---|
| 693 | <name>usx_av</name> |
---|
| 694 | <initializer>0.</initializer> |
---|
| 695 | <briefdescription> |
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| 696 | </briefdescription> |
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| 698 | </detaileddescription> |
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| 700 | </inbodydescription> |
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| 701 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="61" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="61" bodyend="-1"/> |
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| 702 | </memberdef> |
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| 703 | <memberdef kind="variable" id="simulator_8cpp_1b5064e50303296c6b7087b68cb5cfce1" prot="public" static="yes" mutable="no"> |
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| 704 | <type>double</type> |
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| 705 | <definition>double usy_av</definition> |
---|
| 706 | <argsstring></argsstring> |
---|
| 707 | <name>usy_av</name> |
---|
| 708 | <initializer>0.</initializer> |
---|
| 709 | <briefdescription> |
---|
| 710 | </briefdescription> |
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| 711 | <detaileddescription> |
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| 712 | </detaileddescription> |
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| 713 | <inbodydescription> |
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| 714 | </inbodydescription> |
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| 715 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="61" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="61" bodyend="-1"/> |
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| 717 | <memberdef kind="variable" id="simulator_8cpp_141a02f7232181f728dab2eed888f7640" prot="public" static="yes" mutable="no"> |
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| 718 | <type>double</type> |
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| 719 | <definition>double sum_usx_av</definition> |
---|
| 720 | <argsstring></argsstring> |
---|
| 721 | <name>sum_usx_av</name> |
---|
| 722 | <initializer>0.</initializer> |
---|
| 723 | <briefdescription> |
---|
| 724 | </briefdescription> |
---|
| 725 | <detaileddescription> |
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| 726 | </detaileddescription> |
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| 727 | <inbodydescription> |
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| 728 | </inbodydescription> |
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| 729 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="61" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="61" bodyend="-1"/> |
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| 730 | </memberdef> |
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| 731 | <memberdef kind="variable" id="simulator_8cpp_11aef87946db23810c7fb902e36e6f22a" prot="public" static="yes" mutable="no"> |
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| 732 | <type>double</type> |
---|
| 733 | <definition>double sum_usy_av</definition> |
---|
| 734 | <argsstring></argsstring> |
---|
| 735 | <name>sum_usy_av</name> |
---|
| 736 | <initializer>0.</initializer> |
---|
| 737 | <briefdescription> |
---|
| 738 | </briefdescription> |
---|
| 739 | <detaileddescription> |
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| 740 | </detaileddescription> |
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| 741 | <inbodydescription> |
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| 742 | </inbodydescription> |
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| 743 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="61" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="61" bodyend="-1"/> |
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| 744 | </memberdef> |
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| 745 | <memberdef kind="variable" id="simulator_8cpp_1b7248c815b06c1b19e3921414a82592d" prot="public" static="yes" mutable="no"> |
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| 746 | <type>double</type> |
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| 747 | <definition>double isx_av</definition> |
---|
| 748 | <argsstring></argsstring> |
---|
| 749 | <name>isx_av</name> |
---|
| 750 | <initializer>0.</initializer> |
---|
| 751 | <briefdescription> |
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| 752 | </briefdescription> |
---|
| 753 | <detaileddescription> |
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| 754 | </detaileddescription> |
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| 755 | <inbodydescription> |
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| 756 | </inbodydescription> |
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| 757 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="64" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="64" bodyend="-1"/> |
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| 758 | </memberdef> |
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| 759 | <memberdef kind="variable" id="simulator_8cpp_15589570ff775e91e676c3bdb5b187e51" prot="public" static="yes" mutable="no"> |
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| 760 | <type>double</type> |
---|
| 761 | <definition>double isy_av</definition> |
---|
| 762 | <argsstring></argsstring> |
---|
| 763 | <name>isy_av</name> |
---|
| 764 | <initializer>0.</initializer> |
---|
| 765 | <briefdescription> |
---|
| 766 | </briefdescription> |
---|
| 767 | <detaileddescription> |
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| 768 | </detaileddescription> |
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| 769 | <inbodydescription> |
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| 770 | </inbodydescription> |
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| 771 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="64" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="64" bodyend="-1"/> |
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| 772 | </memberdef> |
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| 773 | <memberdef kind="variable" id="simulator_8cpp_1f0c349de71b4e8d699c2ea80a98e27fa" prot="public" static="yes" mutable="no"> |
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| 774 | <type>double</type> |
---|
| 775 | <definition>double sum_isx_av</definition> |
---|
| 776 | <argsstring></argsstring> |
---|
| 777 | <name>sum_isx_av</name> |
---|
| 778 | <initializer>0.</initializer> |
---|
| 779 | <briefdescription> |
---|
| 780 | </briefdescription> |
---|
| 781 | <detaileddescription> |
---|
| 782 | </detaileddescription> |
---|
| 783 | <inbodydescription> |
---|
| 784 | </inbodydescription> |
---|
| 785 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="64" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="64" bodyend="-1"/> |
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| 786 | </memberdef> |
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| 787 | <memberdef kind="variable" id="simulator_8cpp_17b8d05f9d878c78971b9c092913a064c" prot="public" static="yes" mutable="no"> |
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| 788 | <type>double</type> |
---|
| 789 | <definition>double sum_isy_av</definition> |
---|
| 790 | <argsstring></argsstring> |
---|
| 791 | <name>sum_isy_av</name> |
---|
| 792 | <initializer>0.</initializer> |
---|
| 793 | <briefdescription> |
---|
| 794 | </briefdescription> |
---|
| 795 | <detaileddescription> |
---|
| 796 | </detaileddescription> |
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| 797 | <inbodydescription> |
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| 798 | </inbodydescription> |
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| 799 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="64" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="64" bodyend="-1"/> |
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| 800 | </memberdef> |
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| 801 | <memberdef kind="variable" id="simulator_8cpp_1f7ca1db3100387a968d88ab528b26d41" prot="public" static="yes" mutable="no"> |
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| 802 | <type>double</type> |
---|
| 803 | <definition>double usxf</definition> |
---|
| 804 | <argsstring></argsstring> |
---|
| 805 | <name>usxf</name> |
---|
| 806 | <initializer>0.</initializer> |
---|
| 807 | <briefdescription> |
---|
| 808 | </briefdescription> |
---|
| 809 | <detaileddescription> |
---|
| 810 | </detaileddescription> |
---|
| 811 | <inbodydescription> |
---|
| 812 | </inbodydescription> |
---|
| 813 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="67" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="67" bodyend="-1"/> |
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| 814 | </memberdef> |
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| 815 | <memberdef kind="variable" id="simulator_8cpp_15d42c8ca4bd3e9d84730c1dd6a73dc6e" prot="public" static="yes" mutable="no"> |
---|
| 816 | <type>double</type> |
---|
| 817 | <definition>double usyf</definition> |
---|
| 818 | <argsstring></argsstring> |
---|
| 819 | <name>usyf</name> |
---|
| 820 | <initializer>0.</initializer> |
---|
| 821 | <briefdescription> |
---|
| 822 | </briefdescription> |
---|
| 823 | <detaileddescription> |
---|
| 824 | </detaileddescription> |
---|
| 825 | <inbodydescription> |
---|
| 826 | </inbodydescription> |
---|
| 827 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="67" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="67" bodyend="-1"/> |
---|
| 828 | </memberdef> |
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| 829 | <memberdef kind="variable" id="simulator_8cpp_1172eca7b7637b2316126df7e9466d633" prot="public" static="yes" mutable="no"> |
---|
| 830 | <type>double</type> |
---|
| 831 | <definition>double Tf</definition> |
---|
| 832 | <argsstring></argsstring> |
---|
| 833 | <name>Tf</name> |
---|
| 834 | <initializer>0.01</initializer> |
---|
| 835 | <briefdescription> |
---|
| 836 | </briefdescription> |
---|
| 837 | <detaileddescription> |
---|
| 838 | </detaileddescription> |
---|
| 839 | <inbodydescription> |
---|
| 840 | </inbodydescription> |
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| 841 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="67" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="67" bodyend="-1"/> |
---|
| 842 | </memberdef> |
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| 843 | <memberdef kind="variable" id="simulator_8cpp_1c38dc66e76a12774fe9acb5502e7a469" prot="public" static="yes" mutable="no"> |
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| 844 | <type>unsigned int</type> |
---|
| 845 | <definition>unsigned int start_filter</definition> |
---|
| 846 | <argsstring></argsstring> |
---|
| 847 | <name>start_filter</name> |
---|
| 848 | <initializer>1</initializer> |
---|
| 849 | <briefdescription> |
---|
| 850 | </briefdescription> |
---|
| 851 | <detaileddescription> |
---|
| 852 | </detaileddescription> |
---|
| 853 | <inbodydescription> |
---|
| 854 | </inbodydescription> |
---|
| 855 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="68" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="68" bodyend="-1"/> |
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| 856 | </memberdef> |
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| 857 | <memberdef kind="variable" id="simulator_8cpp_1f053457859f34ead8e8aee6e370743ac" prot="public" static="no" mutable="no"> |
---|
| 858 | <type>double</type> |
---|
| 859 | <definition>double KalmanObs[10]</definition> |
---|
| 860 | <argsstring>[10]</argsstring> |
---|
| 861 | <name>KalmanObs</name> |
---|
| 862 | <initializer>{0.,0.,0.,0.,0.,0.,0.,0.,0.,0.}</initializer> |
---|
| 863 | <briefdescription> |
---|
| 864 | </briefdescription> |
---|
| 865 | <detaileddescription> |
---|
| 866 | </detaileddescription> |
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| 867 | <inbodydescription> |
---|
| 868 | </inbodydescription> |
---|
| 869 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="71" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="71" bodyend="-1"/> |
---|
| 870 | </memberdef> |
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| 871 | <memberdef kind="variable" id="simulator_8cpp_187accd1af8e0aff4b818d891374f7cec" prot="public" static="no" mutable="no"> |
---|
| 872 | <type>double</type> |
---|
| 873 | <definition>double t</definition> |
---|
| 874 | <argsstring></argsstring> |
---|
| 875 | <name>t</name> |
---|
| 876 | <initializer>0.</initializer> |
---|
| 877 | <briefdescription> |
---|
| 878 | </briefdescription> |
---|
| 879 | <detaileddescription> |
---|
| 880 | </detaileddescription> |
---|
| 881 | <inbodydescription> |
---|
| 882 | </inbodydescription> |
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| 883 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="74" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="74" bodyend="-1"/> |
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| 884 | </memberdef> |
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| 885 | <memberdef kind="variable" id="simulator_8cpp_19c8dd5461ff8757d329fffab02f6d574" prot="public" static="yes" mutable="no"> |
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| 886 | <type>double</type> |
---|
| 887 | <definition>double ualfa</definition> |
---|
| 888 | <argsstring></argsstring> |
---|
| 889 | <name>ualfa</name> |
---|
| 890 | <initializer>0.</initializer> |
---|
| 891 | <briefdescription> |
---|
| 892 | </briefdescription> |
---|
| 893 | <detaileddescription> |
---|
| 894 | </detaileddescription> |
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| 895 | <inbodydescription> |
---|
| 896 | </inbodydescription> |
---|
| 897 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="77" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="77" bodyend="-1"/> |
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| 898 | </memberdef> |
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| 899 | <memberdef kind="variable" id="simulator_8cpp_1f353c8491ed6feeb8e214a7c90a85c94" prot="public" static="yes" mutable="no"> |
---|
| 900 | <type>double</type> |
---|
| 901 | <definition>double ubeta</definition> |
---|
| 902 | <argsstring></argsstring> |
---|
| 903 | <name>ubeta</name> |
---|
| 904 | <initializer>0.</initializer> |
---|
| 905 | <briefdescription> |
---|
| 906 | </briefdescription> |
---|
| 907 | <detaileddescription> |
---|
| 908 | </detaileddescription> |
---|
| 909 | <inbodydescription> |
---|
| 910 | </inbodydescription> |
---|
| 911 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="77" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="77" bodyend="-1"/> |
---|
| 912 | </memberdef> |
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| 913 | </sectiondef> |
---|
| 914 | <sectiondef kind="func"> |
---|
| 915 | <memberdef kind="function" id="simulator_8cpp_148bbddff535c313ce90ca6350372f6d4" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual"> |
---|
| 916 | <type>void</type> |
---|
| 917 | <definition>void pmsmsim_set_parameters</definition> |
---|
| 918 | <argsstring>(double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0)</argsstring> |
---|
| 919 | <name>pmsmsim_set_parameters</name> |
---|
| 920 | <param> |
---|
| 921 | <type>double</type> |
---|
| 922 | <declname>Rs0</declname> |
---|
| 923 | </param> |
---|
| 924 | <param> |
---|
| 925 | <type>double</type> |
---|
| 926 | <declname>Ls0</declname> |
---|
| 927 | </param> |
---|
| 928 | <param> |
---|
| 929 | <type>double</type> |
---|
| 930 | <declname>Fmag0</declname> |
---|
| 931 | </param> |
---|
| 932 | <param> |
---|
| 933 | <type>double</type> |
---|
| 934 | <declname>Bf0</declname> |
---|
| 935 | </param> |
---|
| 936 | <param> |
---|
| 937 | <type>double</type> |
---|
| 938 | <declname>p0</declname> |
---|
| 939 | </param> |
---|
| 940 | <param> |
---|
| 941 | <type>double</type> |
---|
| 942 | <declname>kp0</declname> |
---|
| 943 | </param> |
---|
| 944 | <param> |
---|
| 945 | <type>double</type> |
---|
| 946 | <declname>J0</declname> |
---|
| 947 | </param> |
---|
| 948 | <param> |
---|
| 949 | <type>double</type> |
---|
| 950 | <declname>Uc0</declname> |
---|
| 951 | </param> |
---|
| 952 | <param> |
---|
| 953 | <type>double</type> |
---|
| 954 | <declname>DT0</declname> |
---|
| 955 | </param> |
---|
| 956 | <param> |
---|
| 957 | <type>double</type> |
---|
| 958 | <declname>dt0</declname> |
---|
| 959 | </param> |
---|
| 960 | <briefdescription> |
---|
| 961 | </briefdescription> |
---|
| 962 | <detaileddescription> |
---|
| 963 | </detaileddescription> |
---|
| 964 | <inbodydescription> |
---|
| 965 | </inbodydescription> |
---|
| 966 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="23" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="79" bodyend="136"/> |
---|
| 967 | </memberdef> |
---|
| 968 | <memberdef kind="function" id="simulator_8cpp_1cdadda61be3f910910ac31cf4a3c1785" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual"> |
---|
| 969 | <type>void</type> |
---|
| 970 | <definition>void pmsmsim_step</definition> |
---|
| 971 | <argsstring>(double Ww)</argsstring> |
---|
| 972 | <name>pmsmsim_step</name> |
---|
| 973 | <param> |
---|
| 974 | <type>double</type> |
---|
| 975 | <declname>Ww</declname> |
---|
| 976 | </param> |
---|
| 977 | <briefdescription> |
---|
| 978 | </briefdescription> |
---|
| 979 | <detaileddescription> |
---|
| 980 | </detaileddescription> |
---|
| 981 | <inbodydescription> |
---|
| 982 | </inbodydescription> |
---|
| 983 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="24" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="311" bodyend="366"/> |
---|
| 984 | </memberdef> |
---|
| 985 | <memberdef kind="function" id="simulator_8cpp_1d3b8a39e009e28d49610e94fbc943721" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual"> |
---|
| 986 | <type>void</type> |
---|
| 987 | <definition>static void pwm</definition> |
---|
| 988 | <argsstring>(unsigned int mod)</argsstring> |
---|
| 989 | <name>pwm</name> |
---|
| 990 | <param> |
---|
| 991 | <type>unsigned int</type> |
---|
| 992 | <declname>mod</declname> |
---|
| 993 | </param> |
---|
| 994 | <briefdescription> |
---|
| 995 | </briefdescription> |
---|
| 996 | <detaileddescription> |
---|
| 997 | </detaileddescription> |
---|
| 998 | <inbodydescription> |
---|
| 999 | </inbodydescription> |
---|
| 1000 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="27" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="139" bodyend="235"/> |
---|
| 1001 | </memberdef> |
---|
| 1002 | <memberdef kind="function" id="simulator_8cpp_1ee66e8081eeedb7bc836be175478bc42" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual"> |
---|
| 1003 | <type>double</type> |
---|
| 1004 | <definition>static double ubytek</definition> |
---|
| 1005 | <argsstring>(double I)</argsstring> |
---|
| 1006 | <name>ubytek</name> |
---|
| 1007 | <param> |
---|
| 1008 | <type>double</type> |
---|
| 1009 | <declname>I</declname> |
---|
| 1010 | </param> |
---|
| 1011 | <briefdescription> |
---|
| 1012 | </briefdescription> |
---|
| 1013 | <detaileddescription> |
---|
| 1014 | </detaileddescription> |
---|
| 1015 | <inbodydescription> |
---|
| 1016 | </inbodydescription> |
---|
| 1017 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="28" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="237" bodyend="255"/> |
---|
| 1018 | </memberdef> |
---|
| 1019 | <memberdef kind="function" id="simulator_8cpp_1e6c1e8a2485b12c9991afcf2213dcae8" prot="public" static="yes" const="no" explicit="no" inline="no" virt="non-virtual"> |
---|
| 1020 | <type>void</type> |
---|
| 1021 | <definition>static void pmsm_model</definition> |
---|
| 1022 | <argsstring>(unsigned int mod)</argsstring> |
---|
| 1023 | <name>pmsm_model</name> |
---|
| 1024 | <param> |
---|
| 1025 | <type>unsigned int</type> |
---|
| 1026 | <declname>mod</declname> |
---|
| 1027 | </param> |
---|
| 1028 | <briefdescription> |
---|
| 1029 | </briefdescription> |
---|
| 1030 | <detaileddescription> |
---|
| 1031 | </detaileddescription> |
---|
| 1032 | <inbodydescription> |
---|
| 1033 | </inbodydescription> |
---|
| 1034 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" line="29" bodyfile="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp" bodystart="258" bodyend="308"/> |
---|
| 1035 | </memberdef> |
---|
| 1036 | </sectiondef> |
---|
| 1037 | <briefdescription> |
---|
| 1038 | </briefdescription> |
---|
| 1039 | <detaileddescription> |
---|
| 1040 | </detaileddescription> |
---|
| 1041 | <programlisting> |
---|
| 1042 | <codeline lineno="1"><highlight class="comment">/*</highlight></codeline> |
---|
| 1043 | <codeline lineno="2"><highlight class="comment"><sp/><sp/><sp/>Simulator<sp/>of<sp/>Vector<sp/>Controlled<sp/>PMSM<sp/>Drive</highlight></codeline> |
---|
| 1044 | <codeline lineno="3"><highlight class="comment"></highlight></codeline> |
---|
| 1045 | <codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/>This<sp/>module<sp/>is<sp/>background<sp/>for<sp/>PMSM<sp/>drive<sp/>object<sp/>design<sp/>and</highlight></codeline> |
---|
| 1046 | <codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/>introduces<sp/>basic<sp/>functions<sp/>...<sp/>set_parameters()<sp/>and<sp/>eval().</highlight></codeline> |
---|
| 1047 | <codeline lineno="6"><highlight class="comment"></highlight></codeline> |
---|
| 1048 | <codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline> |
---|
| 1049 | <codeline lineno="8"><highlight class="comment"></highlight></codeline> |
---|
| 1050 | <codeline lineno="9"><highlight class="comment">Rev.<sp/>16.3.2008</highlight></codeline> |
---|
| 1051 | <codeline lineno="10"><highlight class="comment"></highlight></codeline> |
---|
| 1052 | <codeline lineno="11"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1053 | <codeline lineno="12"><highlight class="normal"></highlight></codeline> |
---|
| 1054 | <codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>_USE_MATH_DEFINES</highlight></codeline> |
---|
| 1055 | <codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline> |
---|
| 1056 | <codeline lineno="15"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/><math.h></highlight><highlight class="normal"></highlight></codeline> |
---|
| 1057 | <codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/><stdlib.h></highlight><highlight class="normal"><sp/></highlight><highlight class="comment">//na<sp/>linuxu<sp/>je<sp/>abs<sp/>v<sp/>stdlib</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1058 | <codeline lineno="17"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>"regulace.h"</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1059 | <codeline lineno="18"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>"simulator.h"</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1060 | <codeline lineno="19"><highlight class="normal"></highlight></codeline> |
---|
| 1061 | <codeline lineno="20"><highlight class="normal"></highlight></codeline> |
---|
| 1062 | <codeline lineno="21"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>REZIM_REGULACE<sp/><sp/>1<sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>0...reg.<sp/>momentu,<sp/>1...reg.rychlosti,<sp/>2...<sp/>Isqw=sqrt(Imax^2-Id^2)<sp/>-<sp/>max.<sp/>moment</highlight></codeline> |
---|
| 1063 | <codeline lineno="22"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline> |
---|
| 1064 | <codeline lineno="23"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsmsim_set_parameters(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fmag0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Bf0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>J0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dt0);</highlight></codeline> |
---|
| 1065 | <codeline lineno="24"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsmsim_step(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww);</highlight></codeline> |
---|
| 1066 | <codeline lineno="25"><highlight class="normal"></highlight></codeline> |
---|
| 1067 | <codeline lineno="26"><highlight class="normal"></highlight><highlight class="comment">//<sp/>local<sp/>functions</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1068 | <codeline lineno="27"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm(</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod);</highlight></codeline> |
---|
| 1069 | <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/>ubytek(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>I);</highlight></codeline> |
---|
| 1070 | <codeline lineno="29"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsm_model(</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod);</highlight></codeline> |
---|
| 1071 | <codeline lineno="30"><highlight class="normal"></highlight></codeline> |
---|
| 1072 | <codeline lineno="31"><highlight class="normal"></highlight></codeline> |
---|
| 1073 | <codeline lineno="32"><highlight class="normal"></highlight><highlight class="comment">//<sp/>simulator<sp/>properties<sp/>///////////////////////</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1074 | <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/>Rs,Ls,Fmag,Bf,p,kp,J;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>parameters<sp/>of<sp/>PMSM<sp/>model</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1075 | <codeline lineno="34"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ucn,Uc,DT,U_modulace;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>dc-link<sp/>voltage<sp/>and<sp/>dead-time</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1076 | <codeline lineno="35"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Urm_max;<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/>field<sp/>weakening</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1077 | <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/>h,h_reg,h_reg_real;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>simulation<sp/>step<sp/>and<sp/>sampling<sp/>of<sp/>employed<sp/>loops</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1078 | <codeline lineno="37"><highlight class="normal"></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>h_reg_counter,h_reg_counter_mez;<sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>DSP<sp/>operation</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1079 | <codeline lineno="38"><highlight class="normal"></highlight></codeline> |
---|
| 1080 | <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/>va_char[16]={0,10,50,100,200,300,500,1000,<sp/>0,1,1.8,2.4,3.2,3.8,4.8,6.8};<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ubytky</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1081 | <codeline lineno="40"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>pocet=8;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>velikost<sp/>VA-charky</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1082 | <codeline lineno="41"><highlight class="normal"></highlight></codeline> |
---|
| 1083 | <codeline lineno="42"><highlight class="normal"></highlight><highlight class="comment">//<sp/>system<sp/>state</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1084 | <codeline lineno="43"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x[9];<sp/></highlight><highlight class="comment">//<sp/>(isx,isy,wme,theta_e,M,Fsd,Isd,Isq,Mz)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1085 | <codeline lineno="44"><highlight class="normal"></highlight></codeline> |
---|
| 1086 | <codeline lineno="45"><highlight class="normal"></highlight><highlight class="comment">//<sp/>internal<sp/>variables<sp/>of<sp/>PWM<sp/>module</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1087 | <codeline lineno="46"><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,<sp/>citac,<sp/>citac2,<sp/>citac_PR,<sp/>modulace;</highlight></codeline> |
---|
| 1088 | <codeline lineno="47"><highlight class="normal"></highlight></codeline> |
---|
| 1089 | <codeline lineno="48"><highlight class="normal"></highlight><highlight class="comment">//<sp/>internal<sp/>variables<sp/>of<sp/>PMSM<sp/>model</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1090 | <codeline lineno="49"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dIsx,dIsx1,dIsx2,dIsx3,dIsy,dIsy1,dIsy2,dIsy3;</highlight></codeline> |
---|
| 1091 | <codeline lineno="50"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dTheta,dTheta1,dTheta2,dTheta3;</highlight></codeline> |
---|
| 1092 | <codeline lineno="51"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dw,dw1,dw2,dw3;</highlight></codeline> |
---|
| 1093 | <codeline lineno="52"><highlight class="normal"></highlight></codeline> |
---|
| 1094 | <codeline lineno="53"><highlight class="normal"></highlight><highlight class="comment">//<sp/>system<sp/>measures</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1095 | <codeline lineno="54"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,<sp/>Isy,<sp/>theta,<sp/>speed;</highlight></codeline> |
---|
| 1096 | <codeline lineno="55"><highlight class="normal"></highlight></codeline> |
---|
| 1097 | <codeline lineno="56"><highlight class="normal"></highlight><highlight class="comment">//<sp/>control</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1098 | <codeline lineno="57"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>u[2]={0.,0.};<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>format<sp/>u={Um,<sp/>beta}</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1099 | <codeline lineno="58"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>us[2]={0.,0.};<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>format<sp/>us={us_alfa,<sp/>us_beta}</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1100 | <codeline lineno="59"><highlight class="normal"></highlight></codeline> |
---|
| 1101 | <codeline lineno="60"><highlight class="normal"></highlight><highlight class="comment">//<sp/>variables<sp/>for<sp/>calculation<sp/>of<sp/>mean<sp/>values<sp/>of<sp/>stator<sp/>voltage<sp/>components</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1102 | <codeline lineno="61"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usx_av=0.,<sp/>usy_av=0.,sum_usx_av=0.,sum_usy_av=0.;</highlight></codeline> |
---|
| 1103 | <codeline lineno="62"><highlight class="normal"></highlight></codeline> |
---|
| 1104 | <codeline lineno="63"><highlight class="normal"></highlight><highlight class="comment">//<sp/>variables<sp/>for<sp/>calculation<sp/>of<sp/>mean<sp/>values<sp/>of<sp/>stator<sp/>current<sp/>components<sp/>-<sp/>(alfa,<sp/>beta)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1105 | <codeline lineno="64"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>isx_av=0.,<sp/>isy_av=0.,sum_isx_av=0.,sum_isy_av=0.;</highlight></codeline> |
---|
| 1106 | <codeline lineno="65"><highlight class="normal"></highlight></codeline> |
---|
| 1107 | <codeline lineno="66"><highlight class="normal"></highlight><highlight class="comment">//<sp/>stator<sp/>voltage<sp/>components<sp/>filtering</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1108 | <codeline lineno="67"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usxf=0.,usyf=0.,Tf=0.01;</highlight></codeline> |
---|
| 1109 | <codeline lineno="68"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>start_filter=1;</highlight></codeline> |
---|
| 1110 | <codeline lineno="69"><highlight class="normal"></highlight></codeline> |
---|
| 1111 | <codeline lineno="70"><highlight class="normal"></highlight><highlight class="comment">//<sp/>output<sp/>for<sp/>EKF<sp/>(voltages<sp/>and<sp/>measured<sp/>currents,<sp/>which<sp/>are<sp/>fed<sp/>to<sp/>KalmanObs)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1112 | <codeline lineno="71"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>KalmanObs[10]={0.,0.,0.,0.,0.,0.,0.,0.,0.,0.};<sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>usx,<sp/>usy,<sp/>Isx,<sp/>Isy,<sp/>usx_av,<sp/>usy_av</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1113 | <codeline lineno="72"><highlight class="normal"></highlight></codeline> |
---|
| 1114 | <codeline lineno="73"><highlight class="normal"></highlight><highlight class="comment">//<sp/>real-time</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1115 | <codeline lineno="74"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>t=0.;<sp/></highlight><highlight class="comment">//VS<sp/>removed<sp/>static<sp/>due<sp/>to<sp/>clash<sp/>with<sp/>export<sp/>in<sp/>.h</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1116 | <codeline lineno="75"><highlight class="normal"></highlight></codeline> |
---|
| 1117 | <codeline lineno="76"><highlight class="normal"></highlight><highlight class="comment">//<sp/>stator<sp/>voltage<sp/>components<sp/>in<sp/>alfa<sp/>beta<sp/>(inluding<sp/>impact<sp/>of<sp/>the<sp/>real<sp/>dc-link<sp/>voltage)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1118 | <codeline lineno="77"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>ualfa=0.,<sp/>ubeta=0.;</highlight></codeline> |
---|
| 1119 | <codeline lineno="78"><highlight class="normal"></highlight></codeline> |
---|
| 1120 | <codeline lineno="79"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsmsim_set_parameters(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Rs0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ls0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fmag0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Bf0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>p0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>kp0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>J0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uc0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>DT0,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dt0)</highlight></codeline> |
---|
| 1121 | <codeline lineno="80"><highlight class="normal">{</highlight></codeline> |
---|
| 1122 | <codeline lineno="81"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>tmp_i;</highlight></codeline> |
---|
| 1123 | <codeline lineno="82"><highlight class="normal"></highlight></codeline> |
---|
| 1124 | <codeline lineno="83"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>simulator<sp/>parameters<sp/>setup</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1125 | <codeline lineno="84"><highlight class="normal"><sp/><sp/>Rs=Rs0;</highlight></codeline> |
---|
| 1126 | <codeline lineno="85"><highlight class="normal"><sp/><sp/>Ls=Ls0;</highlight></codeline> |
---|
| 1127 | <codeline lineno="86"><highlight class="normal"><sp/><sp/>Fmag=Fmag0;</highlight></codeline> |
---|
| 1128 | <codeline lineno="87"><highlight class="normal"><sp/><sp/>Bf=Bf0;</highlight></codeline> |
---|
| 1129 | <codeline lineno="88"><highlight class="normal"><sp/><sp/>p=p0;</highlight></codeline> |
---|
| 1130 | <codeline lineno="89"><highlight class="normal"><sp/><sp/>kp=kp0;</highlight></codeline> |
---|
| 1131 | <codeline lineno="90"><highlight class="normal"><sp/><sp/>J=J0;</highlight></codeline> |
---|
| 1132 | <codeline lineno="91"><highlight class="normal"><sp/><sp/>Ucn=600.;</highlight></codeline> |
---|
| 1133 | <codeline lineno="92"><highlight class="normal"><sp/><sp/>Uc=Uc0;</highlight></codeline> |
---|
| 1134 | <codeline lineno="93"><highlight class="normal"><sp/><sp/>DT=DT0;</highlight></codeline> |
---|
| 1135 | <codeline lineno="94"><highlight class="normal"></highlight></codeline> |
---|
| 1136 | <codeline lineno="95"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>control<sp/>setup</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1137 | <codeline lineno="96"><highlight class="normal"><sp/><sp/>Urm_max=0.95;</highlight></codeline> |
---|
| 1138 | <codeline lineno="97"><highlight class="normal"></highlight></codeline> |
---|
| 1139 | <codeline lineno="98"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>simulator<sp/>sampling<sp/>-<sp/>fixed<sp/>setup</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1140 | <codeline lineno="99"><highlight class="normal"><sp/><sp/>h=dt0;</highlight></codeline> |
---|
| 1141 | <codeline lineno="100"><highlight class="normal"><sp/><sp/>h_reg=125e-6;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>fpwm<sp/>=<sp/>4kHz</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1142 | <codeline lineno="101"><highlight class="normal"><sp/><sp/>h_reg_counter_mez=(int)(h_reg/h);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>operation<sp/>of<sp/>DSP<sp/>timer</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1143 | <codeline lineno="102"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//h_reg_counter=h_reg_counter_mez;</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1144 | <codeline lineno="103"><highlight class="normal"><sp/><sp/>h_reg_counter=1;</highlight></codeline> |
---|
| 1145 | <codeline lineno="104"><highlight class="normal"><sp/><sp/>h_reg_real=h_reg_counter_mez*h;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>real<sp/>sampling<sp/>period</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1146 | <codeline lineno="105"><highlight class="normal"></highlight></codeline> |
---|
| 1147 | <codeline lineno="106"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>reset<sp/>of<sp/>the<sp/>system<sp/>state<sp/>variables</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1148 | <codeline lineno="107"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(tmp_i=0;tmp_i<9;tmp_i++)</highlight></codeline> |
---|
| 1149 | <codeline lineno="108"><highlight class="normal"><sp/><sp/><sp/><sp/>x[tmp_i]=0.;</highlight></codeline> |
---|
| 1150 | <codeline lineno="109"><highlight class="normal"></highlight></codeline> |
---|
| 1151 | <codeline lineno="110"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>the<sp/>first<sp/>measure</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1152 | <codeline lineno="111"><highlight class="normal"><sp/><sp/>Isx=0.;Isy=0.;theta=x[3];speed=x[2];</highlight></codeline> |
---|
| 1153 | <codeline lineno="112"><highlight class="normal"></highlight></codeline> |
---|
| 1154 | <codeline lineno="113"><highlight class="normal"></highlight><highlight class="comment">//<sp/>===<sp/>init<sp/>of<sp/>particular<sp/>modules<sp/>of<sp/>simulator<sp/>===</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1155 | <codeline lineno="114"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>PWM<sp/>init</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1156 | <codeline lineno="115"><highlight class="normal"><sp/><sp/>smer=-1;<sp/>smer2=-1;</highlight></codeline> |
---|
| 1157 | <codeline lineno="116"><highlight class="normal"><sp/><sp/>citac=0;</highlight></codeline> |
---|
| 1158 | <codeline lineno="117"><highlight class="normal"><sp/><sp/>citac2=abs(0-(</highlight><highlight class="keywordtype">int</highlight><highlight class="normal">)(DT/h));<sp/></highlight><highlight class="comment">//VS:<sp/>oprava,<sp/>je<sp/>to<sp/>spravne?</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1159 | <codeline lineno="118"><highlight class="normal"><sp/><sp/>citac_PR=h_reg_counter_mez;</highlight></codeline> |
---|
| 1160 | <codeline lineno="119"><highlight class="normal"></highlight></codeline> |
---|
| 1161 | <codeline lineno="120"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>first<sp/>interrupt<sp/>occur<sp/>after<sp/>first<sp/>period<sp/>match<sp/>=><sp/>add<sp/>1<sp/>to<sp/>both<sp/>counter<sp/>registers</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1162 | <codeline lineno="121"><highlight class="normal"><sp/><sp/>citac++;smer=1;</highlight></codeline> |
---|
| 1163 | <codeline lineno="122"><highlight class="normal"><sp/><sp/>citac2--;</highlight></codeline> |
---|
| 1164 | <codeline lineno="123"><highlight class="normal"></highlight></codeline> |
---|
| 1165 | <codeline lineno="124"><highlight class="normal"><sp/><sp/>modulace=1;<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>THIPWM</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1166 | <codeline lineno="125"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(modulace==1)</highlight></codeline> |
---|
| 1167 | <codeline lineno="126"><highlight class="normal"><sp/><sp/><sp/><sp/>U_modulace=Ucn/sqrt(3.);</highlight></codeline> |
---|
| 1168 | <codeline lineno="127"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1169 | <codeline lineno="128"><highlight class="normal"><sp/><sp/><sp/><sp/>U_modulace=Ucn/2.;</highlight></codeline> |
---|
| 1170 | <codeline lineno="129"><highlight class="normal"></highlight></codeline> |
---|
| 1171 | <codeline lineno="130"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>PMSM<sp/>model<sp/>init</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1172 | <codeline lineno="131"><highlight class="normal"><sp/><sp/>dIsx=0;dIsx1=0;dIsx2=0;dIsx3=0;dIsy=0;dIsy1=0;dIsy2=0;dIsy3=0;</highlight></codeline> |
---|
| 1173 | <codeline lineno="132"><highlight class="normal"><sp/><sp/>dTheta=0;dTheta1=0;dTheta2=0;dTheta3=0;</highlight></codeline> |
---|
| 1174 | <codeline lineno="133"><highlight class="normal"><sp/><sp/>dw=0;dw1=0;dw2=0;dw3=0;</highlight></codeline> |
---|
| 1175 | <codeline lineno="134"><highlight class="normal"></highlight></codeline> |
---|
| 1176 | <codeline lineno="135"><highlight class="normal"><sp/><sp/>init_regulace(Ls,Fmag,kp,p,h_reg_real);</highlight></codeline> |
---|
| 1177 | <codeline lineno="136"><highlight class="normal">}</highlight></codeline> |
---|
| 1178 | <codeline lineno="137"><highlight class="normal"></highlight></codeline> |
---|
| 1179 | <codeline lineno="138"><highlight class="normal"></highlight></codeline> |
---|
| 1180 | <codeline lineno="139"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pwm(</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod)</highlight></codeline> |
---|
| 1181 | <codeline lineno="140"><highlight class="normal"></highlight><highlight class="comment">//<sp/>mod<sp/>...<sp/>mod=0<sp/>-<sp/>sinusoidal<sp/>PWM;<sp/>mod=1<sp/>-<sp/>PWM<sp/>with<sp/>injected<sp/>3rd<sp/>harmonic</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1182 | <codeline lineno="141"><highlight class="normal">{</highlight></codeline> |
---|
| 1183 | <codeline lineno="142"><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> |
---|
| 1184 | <codeline lineno="143"><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> |
---|
| 1185 | <codeline lineno="144"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>dtr[3],dd[3];</highlight></codeline> |
---|
| 1186 | <codeline lineno="145"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Um,<sp/>beta;</highlight></codeline> |
---|
| 1187 | <codeline lineno="146"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>U3;</highlight></codeline> |
---|
| 1188 | <codeline lineno="147"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>up,<sp/>up2;</highlight></codeline> |
---|
| 1189 | <codeline lineno="148"><highlight class="normal"></highlight></codeline> |
---|
| 1190 | <codeline lineno="149"><highlight class="normal"><sp/><sp/>Um=*u;</highlight></codeline> |
---|
| 1191 | <codeline lineno="150"><highlight class="normal"><sp/><sp/>beta=*(u+1);</highlight></codeline> |
---|
| 1192 | <codeline lineno="151"><highlight class="normal"></highlight></codeline> |
---|
| 1193 | <codeline lineno="152"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>carrier<sp/>-<sp/>timer</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1194 | <codeline lineno="153"><highlight class="normal"><sp/><sp/>up=((double)citac/citac_PR-0.5)*Ucn;</highlight></codeline> |
---|
| 1195 | <codeline lineno="154"><highlight class="normal"><sp/><sp/>up2=((double)citac2/citac_PR-0.5)*Ucn;</highlight></codeline> |
---|
| 1196 | <codeline lineno="155"><highlight class="normal"></highlight></codeline> |
---|
| 1197 | <codeline lineno="156"><highlight class="normal"><sp/><sp/>iabc[0]=*x;</highlight></codeline> |
---|
| 1198 | <codeline lineno="157"><highlight class="normal"><sp/><sp/>iabc[1]=(-*x+sqrt(3.)**(x+1))/2.;</highlight></codeline> |
---|
| 1199 | <codeline lineno="158"><highlight class="normal"><sp/><sp/>iabc[2]=(-*x-sqrt(3.)**(x+1))/2.;</highlight></codeline> |
---|
| 1200 | <codeline lineno="159"><highlight class="normal"></highlight></codeline> |
---|
| 1201 | <codeline lineno="160"><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/>sin.<sp/>PWM</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1202 | <codeline lineno="161"><highlight class="normal"><sp/><sp/>{</highlight></codeline> |
---|
| 1203 | <codeline lineno="162"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[0]=Um*cos(beta);</highlight></codeline> |
---|
| 1204 | <codeline lineno="163"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[1]=Um*cos(beta-2./3.*M_PI);</highlight></codeline> |
---|
| 1205 | <codeline lineno="164"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[2]=Um*cos(beta+2./3.*M_PI);</highlight></codeline> |
---|
| 1206 | <codeline lineno="165"><highlight class="normal"><sp/><sp/>}</highlight></codeline> |
---|
| 1207 | <codeline lineno="166"><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/>with<sp/>injected<sp/>3rd<sp/>harmonic</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1208 | <codeline lineno="167"><highlight class="normal"><sp/><sp/>{</highlight></codeline> |
---|
| 1209 | <codeline lineno="168"><highlight class="normal"><sp/><sp/><sp/><sp/>U3=0.17*cos(3.*beta);</highlight></codeline> |
---|
| 1210 | <codeline lineno="169"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[0]=Um*(cos(beta)-U3);</highlight></codeline> |
---|
| 1211 | <codeline lineno="170"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[1]=Um*(cos(beta-2./3.*M_PI)-U3);</highlight></codeline> |
---|
| 1212 | <codeline lineno="171"><highlight class="normal"><sp/><sp/><sp/><sp/>ur[2]=Um*(cos(beta+2./3.*M_PI)-U3);</highlight></codeline> |
---|
| 1213 | <codeline lineno="172"><highlight class="normal"><sp/><sp/>}</highlight></codeline> |
---|
| 1214 | <codeline lineno="173"><highlight class="normal"></highlight></codeline> |
---|
| 1215 | <codeline lineno="174"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i<3;i++)</highlight></codeline> |
---|
| 1216 | <codeline lineno="175"><highlight class="normal"><sp/><sp/>{<sp/>dtr[i]=ubytek(fabs(iabc[i]))*0.;</highlight></codeline> |
---|
| 1217 | <codeline lineno="176"><highlight class="normal"><sp/><sp/><sp/><sp/>dd[i]=dtr[i]*.73;</highlight></codeline> |
---|
| 1218 | <codeline lineno="177"><highlight class="normal"><sp/><sp/>}</highlight></codeline> |
---|
| 1219 | <codeline lineno="178"><highlight class="normal"></highlight></codeline> |
---|
| 1220 | <codeline lineno="179"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>implementation<sp/>of<sp/>voltage<sp/>drops<sp/>and<sp/>dead-times</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1221 | <codeline lineno="180"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">for</highlight><highlight class="normal"><sp/>(i=0;i<3;i++)</highlight></codeline> |
---|
| 1222 | <codeline lineno="181"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(iabc[i]>=0)</highlight></codeline> |
---|
| 1223 | <codeline lineno="182"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]>up)<sp/>&&<sp/>(ur[i]>up2))</highlight></codeline> |
---|
| 1224 | <codeline lineno="183"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2-dtr[i];</highlight></codeline> |
---|
| 1225 | <codeline lineno="184"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1226 | <codeline lineno="185"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2+dd[i]);</highlight></codeline> |
---|
| 1227 | <codeline lineno="186"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1228 | <codeline lineno="187"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((ur[i]<up)<sp/>&&<sp/>(ur[i]<up2))</highlight></codeline> |
---|
| 1229 | <codeline lineno="188"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=-(Uc/2-dtr[i]);</highlight></codeline> |
---|
| 1230 | <codeline lineno="189"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1231 | <codeline lineno="190"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>ustr[i]=Uc/2+dd[i];</highlight></codeline> |
---|
| 1232 | <codeline lineno="191"><highlight class="normal"></highlight></codeline> |
---|
| 1233 | <codeline lineno="192"><highlight class="normal"></highlight><highlight class="comment">//<sp/>phase<sp/>voltages</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1234 | <codeline lineno="193"><highlight class="normal"><sp/><sp/>ua=(2.*ustr[0]-ustr[1]-ustr[2])/3.;</highlight></codeline> |
---|
| 1235 | <codeline lineno="194"><highlight class="normal"><sp/><sp/>ub=(2.*ustr[1]-ustr[0]-ustr[2])/3.;</highlight></codeline> |
---|
| 1236 | <codeline lineno="195"><highlight class="normal"><sp/><sp/>uc=(2.*ustr[2]-ustr[0]-ustr[1])/3.;</highlight></codeline> |
---|
| 1237 | <codeline lineno="196"><highlight class="normal"></highlight></codeline> |
---|
| 1238 | <codeline lineno="197"><highlight class="normal"></highlight><highlight class="comment">//<sp/>voltage<sp/>vector<sp/>in<sp/>stationary<sp/>reference<sp/>frame<sp/>(x,y)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1239 | <codeline lineno="198"><highlight class="normal"><sp/><sp/>*us=(2.*ua-ub-uc)/3.;</highlight></codeline> |
---|
| 1240 | <codeline lineno="199"><highlight class="normal"><sp/><sp/>*(us+1)=(ub-uc)/sqrt(3.);</highlight></codeline> |
---|
| 1241 | <codeline lineno="200"><highlight class="normal"></highlight></codeline> |
---|
| 1242 | <codeline lineno="201"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>DSP<sp/>timers</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1243 | <codeline lineno="202"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>((citac==citac_PR)||(citac==0))</highlight></codeline> |
---|
| 1244 | <codeline lineno="203"><highlight class="normal"><sp/><sp/>{</highlight></codeline> |
---|
| 1245 | <codeline lineno="204"><highlight class="normal"><sp/><sp/><sp/><sp/>smer*=-1;</highlight></codeline> |
---|
| 1246 | <codeline lineno="205"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>calculation<sp/>of<sp/>stator<sp/>voltage<sp/>components<sp/>mean<sp/>values</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1247 | <codeline lineno="206"><highlight class="normal"><sp/><sp/><sp/><sp/>usx_av=h/h_reg*sum_usx_av;</highlight></codeline> |
---|
| 1248 | <codeline lineno="207"><highlight class="normal"><sp/><sp/><sp/><sp/>usy_av=h/h_reg*sum_usy_av;</highlight></codeline> |
---|
| 1249 | <codeline lineno="208"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>reset<sp/>of<sp/>sum<sp/>accumulators</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1250 | <codeline lineno="209"><highlight class="normal"><sp/><sp/><sp/><sp/>sum_usx_av=0.;</highlight></codeline> |
---|
| 1251 | <codeline lineno="210"><highlight class="normal"><sp/><sp/><sp/><sp/>sum_usy_av=0.;</highlight></codeline> |
---|
| 1252 | <codeline lineno="211"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight></codeline> |
---|
| 1253 | <codeline lineno="212"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>stator<sp/>current<sp/>components<sp/>mean<sp/>values<sp/>-<sp/>reference<sp/>frame<sp/>(alfa,<sp/>beta)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1254 | <codeline lineno="213"><highlight class="normal"><sp/><sp/><sp/><sp/>isx_av=h/h_reg*sum_isx_av;</highlight></codeline> |
---|
| 1255 | <codeline lineno="214"><highlight class="normal"><sp/><sp/><sp/><sp/>isy_av=h/h_reg*sum_isy_av;</highlight></codeline> |
---|
| 1256 | <codeline lineno="215"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>reset<sp/>of<sp/>sum<sp/>accumulators</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1257 | <codeline lineno="216"><highlight class="normal"><sp/><sp/><sp/><sp/>sum_isx_av=0.;</highlight></codeline> |
---|
| 1258 | <codeline lineno="217"><highlight class="normal"><sp/><sp/><sp/><sp/>sum_isy_av=0.;</highlight></codeline> |
---|
| 1259 | <codeline lineno="218"><highlight class="normal"><sp/><sp/>}</highlight></codeline> |
---|
| 1260 | <codeline lineno="219"><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> |
---|
| 1261 | <codeline lineno="220"><highlight class="normal"><sp/><sp/>citac+=smer;</highlight></codeline> |
---|
| 1262 | <codeline lineno="221"><highlight class="normal"><sp/><sp/>citac2+=smer2;</highlight></codeline> |
---|
| 1263 | <codeline lineno="222"><highlight class="normal"><sp/><sp/></highlight></codeline> |
---|
| 1264 | <codeline lineno="223"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>calculation<sp/>of<sp/>stator<sp/>voltage<sp/>components<sp/>mean<sp/>values<sp/>-<sp/>sum</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1265 | <codeline lineno="224"><highlight class="normal"><sp/><sp/>sum_usx_av+=*us;</highlight></codeline> |
---|
| 1266 | <codeline lineno="225"><highlight class="normal"><sp/><sp/>sum_usy_av+=*(us+1);</highlight></codeline> |
---|
| 1267 | <codeline lineno="226"><highlight class="normal"><sp/><sp/></highlight></codeline> |
---|
| 1268 | <codeline lineno="227"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>stator<sp/>voltage<sp/>components<sp/>filtering</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1269 | <codeline lineno="228"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//if<sp/>(start_filter==1)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1270 | <codeline lineno="229"><highlight class="normal"><sp/><sp/>usxf+=(*us-usxf)*h/h_reg;</highlight></codeline> |
---|
| 1271 | <codeline lineno="230"><highlight class="normal"><sp/><sp/>usyf+=(*(us+1)-usyf)*h/h_reg;</highlight></codeline> |
---|
| 1272 | <codeline lineno="231"><highlight class="normal"><sp/><sp/></highlight></codeline> |
---|
| 1273 | <codeline lineno="232"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>stator<sp/>current<sp/>components<sp/>mean<sp/>values<sp/>-<sp/>reference<sp/>frame<sp/>(alfa,<sp/>beta)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1274 | <codeline lineno="233"><highlight class="normal"><sp/><sp/>sum_isx_av+=*x;</highlight></codeline> |
---|
| 1275 | <codeline lineno="234"><highlight class="normal"><sp/><sp/>sum_isy_av+=*(x+1);</highlight></codeline> |
---|
| 1276 | <codeline lineno="235"><highlight class="normal">}</highlight></codeline> |
---|
| 1277 | <codeline lineno="236"><highlight class="normal"></highlight></codeline> |
---|
| 1278 | <codeline lineno="237"><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/>I)</highlight></codeline> |
---|
| 1279 | <codeline lineno="238"><highlight class="normal">{</highlight></codeline> |
---|
| 1280 | <codeline lineno="239"><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> |
---|
| 1281 | <codeline lineno="240"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>delta_u;</highlight></codeline> |
---|
| 1282 | <codeline lineno="241"><highlight class="normal"></highlight></codeline> |
---|
| 1283 | <codeline lineno="242"><highlight class="normal"><sp/><sp/>ii=0;</highlight></codeline> |
---|
| 1284 | <codeline lineno="243"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">while</highlight><highlight class="normal"><sp/>((*(va_char+ii)<I)<sp/>&&<sp/>(ii<(pocet-1)))</highlight></codeline> |
---|
| 1285 | <codeline lineno="244"><highlight class="normal"><sp/><sp/><sp/><sp/>ii++;</highlight></codeline> |
---|
| 1286 | <codeline lineno="245"><highlight class="normal"></highlight></codeline> |
---|
| 1287 | <codeline lineno="246"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ii==(pocet-1))</highlight></codeline> |
---|
| 1288 | <codeline lineno="247"><highlight class="normal"><sp/><sp/><sp/><sp/>delta_u=*(va_char+ii+pocet);</highlight></codeline> |
---|
| 1289 | <codeline lineno="248"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1290 | <codeline lineno="249"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(ii==0)</highlight></codeline> |
---|
| 1291 | <codeline lineno="250"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>delta_u=0;</highlight></codeline> |
---|
| 1292 | <codeline lineno="251"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1293 | <codeline lineno="252"><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> |
---|
| 1294 | <codeline lineno="253"><highlight class="normal"></highlight></codeline> |
---|
| 1295 | <codeline lineno="254"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>delta_u;</highlight></codeline> |
---|
| 1296 | <codeline lineno="255"><highlight class="normal">}</highlight></codeline> |
---|
| 1297 | <codeline lineno="256"><highlight class="normal"></highlight></codeline> |
---|
| 1298 | <codeline lineno="257"><highlight class="normal"></highlight></codeline> |
---|
| 1299 | <codeline lineno="258"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsm_model(</highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>mod)</highlight></codeline> |
---|
| 1300 | <codeline lineno="259"><highlight class="normal"></highlight><highlight class="comment">//<sp/>mod<5...Euler,<sp/>mod>4<sp/>...<sp/>Adams<sp/>of<sp/>4th<sp/>order</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1301 | <codeline lineno="260"><highlight class="normal">{</highlight></codeline> |
---|
| 1302 | <codeline lineno="261"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usx,<sp/>usy;</highlight></codeline> |
---|
| 1303 | <codeline lineno="262"><highlight class="normal"></highlight></codeline> |
---|
| 1304 | <codeline lineno="263"><highlight class="normal"><sp/><sp/>usx=*us;</highlight></codeline> |
---|
| 1305 | <codeline lineno="264"><highlight class="normal"><sp/><sp/>usy=*(us+1);</highlight></codeline> |
---|
| 1306 | <codeline lineno="265"><highlight class="normal"></highlight></codeline> |
---|
| 1307 | <codeline lineno="266"><highlight class="normal"><sp/><sp/>dIsx=-Rs/Ls*x[0]+Fmag/Ls*x[2]*sin(x[3])+usx/Ls;</highlight></codeline> |
---|
| 1308 | <codeline lineno="267"><highlight class="normal"><sp/><sp/>dIsy=-Rs/Ls*x[1]-Fmag/Ls*x[2]*cos(x[3])+usy/Ls;</highlight></codeline> |
---|
| 1309 | <codeline lineno="268"><highlight class="normal"><sp/><sp/>dTheta=x[2];</highlight></codeline> |
---|
| 1310 | <codeline lineno="269"><highlight class="normal"></highlight></codeline> |
---|
| 1311 | <codeline lineno="270"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(J>0)</highlight></codeline> |
---|
| 1312 | <codeline lineno="271"><highlight class="normal"><sp/><sp/><sp/><sp/>dw=kp*p*p*Fmag/J*(x[1]*cos(x[3])-x[0]*sin(x[3]))-Bf/J*x[2]-p/J*x[8];</highlight></codeline> |
---|
| 1313 | <codeline lineno="272"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1314 | <codeline lineno="273"><highlight class="normal"><sp/><sp/><sp/><sp/>dw=0;</highlight></codeline> |
---|
| 1315 | <codeline lineno="274"><highlight class="normal"></highlight></codeline> |
---|
| 1316 | <codeline lineno="275"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>integration</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1317 | <codeline lineno="276"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(mod<5)<sp/><sp/></highlight><highlight class="comment">//<sp/>Euler</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1318 | <codeline lineno="277"><highlight class="normal"><sp/><sp/>{<sp/>x[0]+=dIsx*h;</highlight></codeline> |
---|
| 1319 | <codeline lineno="278"><highlight class="normal"><sp/><sp/><sp/><sp/>x[1]+=dIsy*h;</highlight></codeline> |
---|
| 1320 | <codeline lineno="279"><highlight class="normal"><sp/><sp/><sp/><sp/>x[2]+=dw*h;</highlight></codeline> |
---|
| 1321 | <codeline lineno="280"><highlight class="normal"><sp/><sp/><sp/><sp/>x[3]+=dTheta*h;</highlight></codeline> |
---|
| 1322 | <codeline lineno="281"><highlight class="normal"><sp/><sp/>}</highlight></codeline> |
---|
| 1323 | <codeline lineno="282"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Adams<sp/>(4th<sp/>order)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1324 | <codeline lineno="283"><highlight class="normal"><sp/><sp/>{<sp/>x[0]+=h/24.*(55.*dIsx-59.*dIsx1+37.*dIsx2-9.*dIsx3);</highlight></codeline> |
---|
| 1325 | <codeline lineno="284"><highlight class="normal"><sp/><sp/><sp/><sp/>x[1]+=h/24.*(55.*dIsy-59.*dIsy1+37.*dIsy2-9.*dIsy3);</highlight></codeline> |
---|
| 1326 | <codeline lineno="285"><highlight class="normal"><sp/><sp/><sp/><sp/>x[2]+=h/24.*(55.*dw-59.*dw1+37.*dw2-9.*dw3);</highlight></codeline> |
---|
| 1327 | <codeline lineno="286"><highlight class="normal"><sp/><sp/><sp/><sp/>x[3]+=h/24.*(55.*dTheta-59.*dTheta1+37.*dTheta2-9.*dTheta3);</highlight></codeline> |
---|
| 1328 | <codeline lineno="287"><highlight class="normal"><sp/><sp/>}</highlight></codeline> |
---|
| 1329 | <codeline lineno="288"><highlight class="normal"></highlight></codeline> |
---|
| 1330 | <codeline lineno="289"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>saturation<sp/>of<sp/>theta<sp/>to<sp/>(-pi,pi)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1331 | <codeline lineno="290"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x[3]>M_PI)<sp/>x[3]-=(2*M_PI);</highlight></codeline> |
---|
| 1332 | <codeline lineno="291"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x[3]<-M_PI)<sp/>x[3]+=(2*M_PI);</highlight></codeline> |
---|
| 1333 | <codeline lineno="292"><highlight class="normal"></highlight></codeline> |
---|
| 1334 | <codeline lineno="293"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>diff.<sp/>shift<sp/>-<sp/>Adams</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1335 | <codeline lineno="294"><highlight class="normal"><sp/><sp/>dIsx3=dIsx2;dIsx2=dIsx1;dIsx1=dIsx;</highlight></codeline> |
---|
| 1336 | <codeline lineno="295"><highlight class="normal"><sp/><sp/>dIsy3=dIsy2;dIsy2=dIsy1;dIsy1=dIsy;</highlight></codeline> |
---|
| 1337 | <codeline lineno="296"><highlight class="normal"><sp/><sp/>dTheta3=dTheta2;dTheta2=dTheta1;dTheta1=dTheta;</highlight></codeline> |
---|
| 1338 | <codeline lineno="297"><highlight class="normal"><sp/><sp/>dw3=dw2;dw2=dw1;dw1=dw;</highlight></codeline> |
---|
| 1339 | <codeline lineno="298"><highlight class="normal"></highlight></codeline> |
---|
| 1340 | <codeline lineno="299"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>calculation<sp/>of<sp/>Isd,<sp/>Isq</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1341 | <codeline lineno="300"><highlight class="normal"><sp/><sp/>x[6]=x[0]*cos(x[3])+x[1]*sin(x[3]);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Isd</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1342 | <codeline lineno="301"><highlight class="normal"><sp/><sp/>x[7]=x[1]*cos(x[3])-x[0]*sin(x[3]);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Isq</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1343 | <codeline lineno="302"><highlight class="normal"></highlight></codeline> |
---|
| 1344 | <codeline lineno="303"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Fsd<sp/>...<sp/>d-component<sp/>of<sp/>stator<sp/>flux</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1345 | <codeline lineno="304"><highlight class="normal"><sp/><sp/>x[5]=Ls*x[6]+Fmag;</highlight></codeline> |
---|
| 1346 | <codeline lineno="305"><highlight class="normal"></highlight></codeline> |
---|
| 1347 | <codeline lineno="306"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Torque</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1348 | <codeline lineno="307"><highlight class="normal"><sp/><sp/>x[4]=kp*p*Fmag*(x[1]*cos(x[3])-x[0]*sin(x[3]));</highlight></codeline> |
---|
| 1349 | <codeline lineno="308"><highlight class="normal">}</highlight></codeline> |
---|
| 1350 | <codeline lineno="309"><highlight class="normal"></highlight></codeline> |
---|
| 1351 | <codeline lineno="311"><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsmsim_step(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Ww)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>you<sp/>must<sp/>link<sp/>array<sp/>KalmanObs[]<sp/>to<sp/>EKF<sp/>modul</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1352 | <codeline lineno="312"><highlight class="normal">{</highlight></codeline> |
---|
| 1353 | <codeline lineno="313"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Umk,<sp/>ub,<sp/>uc;</highlight></codeline> |
---|
| 1354 | <codeline lineno="314"><highlight class="normal"></highlight></codeline> |
---|
| 1355 | <codeline lineno="315"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/>while<sp/>(t<=t_end)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1356 | <codeline lineno="316"><highlight class="normal"><sp/><sp/>{</highlight></codeline> |
---|
| 1357 | <codeline lineno="317"><highlight class="normal"><sp/><sp/><sp/><sp/>pwm(modulace);</highlight></codeline> |
---|
| 1358 | <codeline lineno="318"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/>*us=KalmanObs[0];<sp/>*(us+1)=KalmanObs[1];</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1359 | <codeline lineno="319"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/>*us=ualfa;<sp/>*(us+1)=ubeta;</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1360 | <codeline lineno="320"><highlight class="normal"><sp/><sp/><sp/><sp/>pmsm_model(5);</highlight></codeline> |
---|
| 1361 | <codeline lineno="321"><highlight class="normal"></highlight></codeline> |
---|
| 1362 | <codeline lineno="322"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(h_reg_counter>=h_reg_counter_mez)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>pocatek<sp/>ISR</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1363 | <codeline lineno="323"><highlight class="normal"><sp/><sp/><sp/><sp/>{</highlight></codeline> |
---|
| 1364 | <codeline lineno="324"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>voltages<sp/>and<sp/>measured<sp/>currents<sp/>for<sp/>EKF</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1365 | <codeline lineno="325"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/>Umk=*u*Uc/Ucn;</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1366 | <codeline lineno="326"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/>ualfa=Umk*cos(*(u+1));</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1367 | <codeline lineno="327"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/>ub=Umk*cos(*(u+1)-2./3.*M_PI);</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1368 | <codeline lineno="328"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[0]=ualfa;<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/>usx</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1369 | <codeline lineno="329"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//KalmanObs[1]=(ualfa+2.*ub)/sqrt(3.);<sp/><sp/><sp/><sp/>//<sp/>usy</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1370 | <codeline lineno="330"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[1]=ubeta;<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>usy</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1371 | <codeline lineno="331"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline> |
---|
| 1372 | <codeline lineno="332"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>real<sp/>sampling<sp/>-<sp/>considered<sp/>transport<sp/>delay<sp/>equal<sp/>to<sp/>the<sp/>sampling<sp/>period</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1373 | <codeline lineno="333"><highlight class="normal"></highlight><highlight class="comment">/*<sp/><sp/><sp/><sp/><sp/>KalmanObs[2]=Isx;</highlight></codeline> |
---|
| 1374 | <codeline lineno="334"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>KalmanObs[3]=Isy;*/</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1375 | <codeline lineno="335"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>ideal<sp/>sampling</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1376 | <codeline lineno="336"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[2]=x[0];</highlight></codeline> |
---|
| 1377 | <codeline lineno="337"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[3]=x[1];</highlight></codeline> |
---|
| 1378 | <codeline lineno="338"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline> |
---|
| 1379 | <codeline lineno="339"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>diagnostic<sp/>-<sp/>mean<sp/>values<sp/>of<sp/>stator<sp/>voltage<sp/>components<sp/>-<sp/>pwm()</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1380 | <codeline lineno="340"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[4]=usx_av;</highlight></codeline> |
---|
| 1381 | <codeline lineno="341"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[5]=usy_av;</highlight></codeline> |
---|
| 1382 | <codeline lineno="342"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[6]=usxf;</highlight></codeline> |
---|
| 1383 | <codeline lineno="343"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[7]=usyf;</highlight></codeline> |
---|
| 1384 | <codeline lineno="344"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[8]=isx_av;</highlight></codeline> |
---|
| 1385 | <codeline lineno="345"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>KalmanObs[9]=isy_av;<sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline> |
---|
| 1386 | <codeline lineno="346"><highlight class="normal"></highlight></codeline> |
---|
| 1387 | <codeline lineno="347"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>vektor_regulace(0,0,Urm_max,Ww,u,Isx,Isy,theta,speed,U_modulace,Uc,Ucn,REZIM_REGULACE);<sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>rezim=1<sp/>...<sp/>reg.<sp/>rychlosti,<sp/>rezim=0<sp/>...<sp/>reg.<sp/>momentu</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1388 | <codeline lineno="348"><highlight class="normal"><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/><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/><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/><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/>rezim=2<sp/>...<sp/>Iqw=sqrt(Imax^2-Idw^2)</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1389 | <codeline lineno="349"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>emulation<sp/>of<sp/>the<sp/>real<sp/>sampling<sp/>of<sp/>A/D<sp/>converter</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1390 | <codeline lineno="350"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>Isx=x[0];Isy=x[1];speed=x[2];theta=x[3];</highlight></codeline> |
---|
| 1391 | <codeline lineno="351"><highlight class="normal"></highlight></codeline> |
---|
| 1392 | <codeline lineno="352"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>include<sp/>ideal<sp/>commanded<sp/>stator<sp/>voltage<sp/></highlight><highlight class="normal"></highlight></codeline> |
---|
| 1393 | <codeline lineno="353"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>Umk=*u*Uc/Ucn;</highlight></codeline> |
---|
| 1394 | <codeline lineno="354"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>ualfa=Umk*cos(*(u+1));<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>usx<sp/>=<sp/>usa</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1395 | <codeline lineno="355"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>ub=Umk*cos(*(u+1)-2./3.*M_PI);</highlight></codeline> |
---|
| 1396 | <codeline lineno="356"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>ubeta=(ualfa+2.*ub)/sqrt(3.);<sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>usy</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1397 | <codeline lineno="357"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/>uc=-ualfa-ub;</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1398 | <codeline lineno="358"><highlight class="normal"></highlight><highlight class="comment">//<sp/><sp/><sp/><sp/><sp/><sp/><sp/>ubeta=(ub-uc)/sqrt(3.);</highlight><highlight class="normal"></highlight></codeline> |
---|
| 1399 | <codeline lineno="359"><highlight class="normal"></highlight></codeline> |
---|
| 1400 | <codeline lineno="360"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/>h_reg_counter=0;</highlight></codeline> |
---|
| 1401 | <codeline lineno="361"><highlight class="normal"><sp/><sp/><sp/><sp/>}</highlight></codeline> |
---|
| 1402 | <codeline lineno="362"><highlight class="normal"></highlight></codeline> |
---|
| 1403 | <codeline lineno="363"><highlight class="normal"><sp/><sp/><sp/><sp/>t+=h;</highlight></codeline> |
---|
| 1404 | <codeline lineno="364"><highlight class="normal"><sp/><sp/><sp/><sp/>h_reg_counter++;</highlight></codeline> |
---|
| 1405 | <codeline lineno="365"><highlight class="normal"><sp/><sp/>}</highlight></codeline> |
---|
| 1406 | <codeline lineno="366"><highlight class="normal">}</highlight></codeline> |
---|
| 1407 | </programlisting> |
---|
| 1408 | <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/simulator.cpp"/> |
---|
| 1409 | </compounddef> |
---|
| 1410 | </doxygen> |
---|