Changeset 130

Timestamp:

07/07/08 15:45:24 (17 years ago)

Author:

smidl

Message:

saturace na zadanem napeti v PWM + ukaldani "skutecnych" napeti do KalmanObs?

Location:

pmsm/simulator_zdenek

Files:

• regulace.cpp (modified) (1 diff)
• simulator.cpp (modified) (5 diffs)
• simulator.h (modified) (1 diff)

pmsm/simulator_zdenek/regulace.cpp

@@ -164 +164 @@
   filtr(Um/Ucn_2,&Urmf,Treg/Tfurm);
 
+// saturation of modulation depth going to PWM
+  if (Um>Ucn_2*Urm_max) Um=Ucn_2*Urm_max;  // linear modulation area only - ensure max. modulation depth
+
 /////// PRECHOD ZPET DO SIMULACE //////////////
   *u=Um;

pmsm/simulator_zdenek/simulator.cpp

@@ -58 +58 @@
 static double us[2]={0.,0.};    // format us={us_alfa, us_beta}
 
+// variables for calculation of mean values of stator voltage components
+static double usx_av=0., usy_av=0.,sum_usx_av=0.,sum_usy_av=0.;
+
+// variables for calculation of mean values of stator current components - (alfa, beta)
+static double isx_av=0., isy_av=0.,sum_isx_av=0.,sum_isy_av=0.;
+
+// stator voltage components filtering
+static double usxf=0.,usyf=0.,Tf=0.01;
+static unsigned int start_filter=1;
+
 // output for EKF (voltages and measured currents, which are fed to KalmanObs)
-double KalmanObs[4]={0.,0.,0.,0.};      // usx, usy, Isx, Isy
+double KalmanObs[10]={0.,0.,0.,0.,0.,0.,0.,0.,0.,0.};      // usx, usy, Isx, Isy, usx_av, usy_av
 
 // real-time
@@ -87 +97 @@
   h_reg=125e-6;         // fpwm = 4kHz
   h_reg_counter_mez=(int)(h_reg/h);         // emulation of operation of DSP timer
-  h_reg_counter=h_reg_counter_mez;
+  //h_reg_counter=h_reg_counter_mez;
+  h_reg_counter=1;
   h_reg_real=h_reg_counter_mez*h;           // real sampling period
 
@@ -155 +166 @@
 
   for (i=0;i<3;i++)
-  { dtr[i]=ubytek(fabs(iabc[i]));
+  { dtr[i]=ubytek(fabs(iabc[i]))*0.;
     dd[i]=dtr[i]*.73;
   }
@@ -182 +193 @@
 
   // emulation of DSP timers
-  if ((citac==citac_PR)||(citac==0)) smer*=-1;
+  if ((citac==citac_PR)||(citac==0))
+  {
+    smer*=-1;
+    // calculation of stator voltage components mean values
+    usx_av=h/h_reg*sum_usx_av;
+    usy_av=h/h_reg*sum_usy_av;
+    // reset of sum accumulators
+    sum_usx_av=0.;
+    sum_usy_av=0.;
+    
+    // stator current components mean values - reference frame (alfa, beta)
+    isx_av=h/h_reg*sum_isx_av;
+    isy_av=h/h_reg*sum_isy_av;
+    // reset of sum accumulators
+    sum_isx_av=0.;
+    sum_isy_av=0.;
+  }
   if ((citac2==citac_PR)||(citac2==0)) smer2*=-1;
   citac+=smer;
   citac2+=smer2;
+  
+  // calculation of stator voltage components mean values - sum
+  sum_usx_av+=*us;
+  sum_usy_av+=*(us+1);
+  
+  // stator voltage components filtering
+  //if (start_filter==1)
+  usxf+=(*us-usxf)*h/h_reg;
+  usyf+=(*(us+1)-usyf)*h/h_reg;
+  
+  // stator current components mean values - reference frame (alfa, beta)
+  sum_isx_av+=*x;
+  sum_isy_av+=*(x+1);
 }
 
@@ -280 +320 @@
       KalmanObs[0]=ua;                     // usx
       KalmanObs[1]=(ua+2.*ub)/sqrt(3.);    // usy
-      KalmanObs[2]=Isx;
-      KalmanObs[3]=Isy;
+      
+      // real sampling - considered transport delay equal to the sampling period
+/*     KalmanObs[2]=Isx;
+     KalmanObs[3]=Isy;*/
+      // ideal sampling
+      KalmanObs[2]=x[0];
+      KalmanObs[3]=x[1];
+      
+      // diagnostic - mean values of stator voltage components - pwm()
+      KalmanObs[4]=usx_av;
+      KalmanObs[5]=usy_av;
+      KalmanObs[6]=usxf;
+      KalmanObs[7]=usyf;
+      KalmanObs[8]=isx_av;
+      KalmanObs[9]=isy_av;      
 
       vektor_regulace(0,0,Urm_max,Ww,u,Isx,Isy,theta,speed,U_modulace,Uc,Ucn,REZIM_REGULACE);   // rezim=1 ... reg. rychlosti, rezim=0 ... reg. momentu

pmsm/simulator_zdenek/simulator.h

@@ -22 +22 @@
 extern double x[9]; 
 extern double t; 
-extern double KalmanObs[4];
+extern double KalmanObs[10];