Changeset 135 for pmsm/simulator_zdenek

Timestamp:

07/25/08 15:04:05 (16 years ago)

Author:

smidl

Message:

oprava simulatoru

Files:

• pmsm/simulator_zdenek/simulator.cpp (modified) (6 diffs)

pmsm/simulator_zdenek/simulator.cpp

@@ -73 +73 @@
 // real-time
 double t=0.; //VS removed static due to clash with export in .h
+
+// stator voltage components in alfa beta (inluding impact of the real dc-link voltage)
+static double ualfa=0., ubeta=0.;
 
 void pmsmsim_set_parameters(double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0)
@@ -114 +117 @@
   citac2=abs(0-(int)(DT/h)); //VS: oprava, je to spravne?
   citac_PR=h_reg_counter_mez;
+
+  // first interrupt occur after first period match => add 1 to both counter registers
+  citac++;smer=1;
+  citac2--;
 
   modulace=1;           // THIPWM
@@ -304 +311 @@
 void pmsmsim_step(double Ww)            // you must link array KalmanObs[] to EKF modul
 {
-  double Umk, ua, ub;
+  double Umk, ub, uc;
 
 //  while (t<=t_end)
@@ -310 +317 @@
     pwm(modulace);
 //    *us=KalmanObs[0]; *(us+1)=KalmanObs[1];
+//     *us=ualfa; *(us+1)=ubeta;
     pmsm_model(5);
 
@@ -315 +323 @@
     {
       // voltages and measured currents for EKF
-      Umk=*u*Uc/Ucn;
-      ua=Umk*cos(*(u+1));
-      ub=Umk*cos(*(u+1)-2./3.*M_PI);
-      KalmanObs[0]=ua;                     // usx
-      KalmanObs[1]=(ua+2.*ub)/sqrt(3.);    // usy
+//       Umk=*u*Uc/Ucn;
+//       ualfa=Umk*cos(*(u+1));
+//       ub=Umk*cos(*(u+1)-2./3.*M_PI);
+      KalmanObs[0]=ualfa;                     // usx
+      //KalmanObs[1]=(ualfa+2.*ub)/sqrt(3.);    // usy
+      KalmanObs[1]=ubeta;    // usy
       
       // real sampling - considered transport delay equal to the sampling period
@@ -341 +350 @@
       Isx=x[0];Isy=x[1];speed=x[2];theta=x[3];
 
+      // include ideal commanded stator voltage 
+      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
+//       uc=-ualfa-ub;
+//       ubeta=(ub-uc)/sqrt(3.);
+
       h_reg_counter=0;
     }