Changeset 1306 for applications

Timestamp:

03/23/11 22:52:02 (13 years ago)

Author:

smidl

Message:

compute Kalman the same way it is done in pmsm_estim.

TODO: check ZP

Files:

• applications/pmsm/simulator_zdenek/simulator.cpp (modified) (1 diff)

applications/pmsm/simulator_zdenek/simulator.cpp

@@ -485 +485 @@
   pmsm_model(5);
 
+  // TODO - check ZP
   double Umk=*u*Uc/Ucn;// !!!!
+  ualfa=Umk*cos(*(u+1));                   // usx = usa
+  ub=Umk*cos(*(u+1)-2./3.*M_PI);
+  ubeta=(ualfa+2.*ub)/sqrt(3.);    // usy
+  
   
 //  KalmanObs[0]=Umk*cos(*(u+1));                  // usx = usa
 //  KalmanObs[1]=(KalmanObs[0]+2.*ub)/sqrt(3.);    // usy
 
-  KalmanObs[0]=ua;//Umk*cos(*(u+1));               // usx = usa
-  KalmanObs[1]=ub;//(KalmanObs[0]+2.*Umk*cos(*(u+1)-2./3.*M_PI))/sqrt(3.);    // usy
+  KalmanObs[0]=ualfa;//Umk*cos(*(u+1));            // usx = usa
+  KalmanObs[1]=ubeta;//(KalmanObs[0]+2.*Umk*cos(*(u+1)-2./3.*M_PI))/sqrt(3.);    // usy
   
   KalmanObs[2]=x[0];