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<codeline lineno="1"><highlight class="comment">/***********************************************</highlight></codeline>
<codeline lineno="2"><highlight class="comment"></highlight></codeline>
<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>Nastaveni<sp/>regulatoru<sp/>vektoroveho<sp/>rizeni</highlight></codeline>
<codeline lineno="4"><highlight class="comment"></highlight></codeline>
<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>Konstanty<sp/>a<sp/>omezovace</highlight></codeline>
<codeline lineno="6"><highlight class="comment"></highlight></codeline>
<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/><sp/><sp/>Z.<sp/>Peroutka</highlight></codeline>
<codeline lineno="8"><highlight class="comment"></highlight></codeline>
<codeline lineno="9"><highlight class="comment">Rev.<sp/>31.5.2007</highlight></codeline>
<codeline lineno="10"><highlight class="comment">***********************************************/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="11"><highlight class="normal"></highlight></codeline>
<codeline lineno="12"><highlight class="normal"></highlight><highlight class="comment">//<sp/>maximalni<sp/>proud</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Ismax<sp/><sp/><sp/>40.0<sp/><sp/><sp/><sp/>//<sp/>max.<sp/>proud<sp/>motoru</highlight></codeline>
<codeline lineno="14"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="15"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulatory<sp/>proudu</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="16"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpi<sp/><sp/><sp/><sp/><sp/>20.<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>Kp*Iref/Uref</highlight></codeline>
<codeline lineno="17"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tii<sp/><sp/><sp/><sp/><sp/>0.005<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>casova<sp/>konstanta<sp/>reg.<sp/>...<sp/>Kp*Iref/Uref*TV/Ti</highlight></codeline>
<codeline lineno="18"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MAXi<sp/><sp/><sp/><sp/>1199.0</highlight></codeline>
<codeline lineno="19"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_Kpi<sp/><sp/><sp/>15</highlight></codeline>
<codeline lineno="20"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_Kii<sp/><sp/><sp/>15</highlight></codeline>
<codeline lineno="21"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="22"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>odbuzovani<sp/>-<sp/>RUrm<sp/><sp/>Kp=15,<sp/>Ti=0.5</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="23"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpurm<sp/><sp/><sp/>50.0<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>2.0/Iref<sp/>ev.<sp/>sqrt(3)/Iref<sp/>pro<sp/>PWM<sp/>se<sp/>3.<sp/>harmonickou</highlight></codeline>
<codeline lineno="24"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tiurm<sp/><sp/><sp/>0.05<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/>31.5.2007:<sp/>puvodne<sp/>0.01</highlight></codeline>
<codeline lineno="25"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MINurm<sp/><sp/>(-0.95*Ismax)<sp/><sp/><sp/>//<sp/><sp/>0.95<sp/>...<sp/>aby<sp/>i<sp/>při<sp/>reakci<sp/>reg.<sp/>Urm<sp/>byl<sp/>motor<sp/>schopen<sp/>produkovat<sp/>moment</highlight></codeline>
<codeline lineno="26"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tfurm<sp/><sp/><sp/>0.01<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>casova<sp/>konstanta<sp/>filtru<sp/>Urm</highlight></codeline>
<codeline lineno="27"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_Kpurm<sp/>12</highlight></codeline>
<codeline lineno="28"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_Kiurm<sp/>15</highlight></codeline>
<codeline lineno="29"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_Kturm<sp/>15<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>TV/Tf<sp/><sp/>...<sp/>nechat<sp/>Q15!!!!</highlight></codeline>
<codeline lineno="30"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="31"><highlight class="normal"></highlight><highlight class="comment">//<sp/>blok<sp/>&quot;Vypocet<sp/>napeti&quot;<sp/>-<sp/>&quot;odvazbovaci<sp/>blok&quot;<sp/>...<sp/>definice<sp/>systemu</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="32"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Q_Kodv_ud<sp/><sp/><sp/><sp/><sp/><sp/><sp/>15<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>Wref*Iref/Uref*Ls</highlight></codeline>
<codeline lineno="33"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="34"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>rychlosti</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="35"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpw<sp/><sp/><sp/><sp/><sp/>3.0<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>Kpw*Wref/Iref</highlight></codeline>
<codeline lineno="36"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tiw<sp/><sp/><sp/><sp/><sp/>0.1</highlight></codeline>
<codeline lineno="37"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MAXw<sp/><sp/><sp/><sp/>Ismax</highlight></codeline>
<codeline lineno="38"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_Kpw<sp/><sp/><sp/>7</highlight></codeline>
<codeline lineno="39"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_Kiw<sp/><sp/><sp/>15</highlight></codeline>
<codeline lineno="40"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="41"><highlight class="normal"></highlight><highlight class="comment">//<sp/>model<sp/>motoru<sp/>pro<sp/>vypocet<sp/>toku<sp/>a<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="42"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Q_K_Fs<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>15<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>max.<sp/>Q15<sp/>...<sp/>Ls*Iref/Fref</highlight></codeline>
<codeline lineno="43"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Q_K_moment<sp/><sp/><sp/><sp/><sp/><sp/>12<sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>max.<sp/>Q15<sp/>...<sp/>kp*p*Fref*Iref/Mref</highlight></codeline>
<codeline lineno="44"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="45"><highlight class="normal"></highlight></codeline>
<codeline lineno="46"><highlight class="normal"></highlight><highlight class="comment">//<sp/>filtrace<sp/>napeti<sp/>v<sp/>ss<sp/>obvodu</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="47"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Tfuc<sp/><sp/><sp/><sp/>0.1</highlight></codeline>
<codeline lineno="48"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="49"><highlight class="normal"></highlight><highlight class="comment">//<sp/>filtrace<sp/>Isd</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="50"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Tfid<sp/><sp/><sp/><sp/>0.1</highlight></codeline>
<codeline lineno="51"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="52"><highlight class="normal"></highlight><highlight class="comment">//<sp/>prechod<sp/>mezi<sp/>algoritmy<sp/>regulace<sp/>VARIANTA<sp/>1<sp/>a<sp/>VARIANTA<sp/>2</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="53"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>prechod_1_2<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(2.*M_PI*75.)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>55Hz<sp/>...<sp/>wme<sp/>[rad/s]</highlight></codeline>
<codeline lineno="54"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>prechod_2_1<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>(2.*M_PI*70.)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>50Hz<sp/>...<sp/>wme<sp/>[rad/s]</highlight></codeline>
<codeline lineno="55"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="56"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>Isq<sp/>prostednictvim<sp/>beta<sp/>-<sp/>algoritmus<sp/>VARIANTA<sp/>2:<sp/>Karel<sp/>(Kp=0.0002,<sp/>Ti=0.001s)</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="57"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpib<sp/><sp/><sp/><sp/>0.005</highlight></codeline>
<codeline lineno="58"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tiib<sp/><sp/><sp/><sp/>0.01<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight></codeline>
<codeline lineno="59"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MAXbeta<sp/>(40./180.*M_PI)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>zatezny<sp/>uhel<sp/>omezen<sp/>na<sp/>+/-<sp/>40st.</highlight></codeline>
<codeline lineno="60"><highlight class="preprocessor"></highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="61"><highlight class="normal"></highlight><highlight class="comment">//<sp/>regulator<sp/>Isd<sp/>-<sp/>VAR2<sp/>-<sp/>kompenzace<sp/>vypocteneho<sp/>napeti</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="62"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>Kpidb<sp/><sp/><sp/>0</highlight></codeline>
<codeline lineno="63"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>Tiidb<sp/><sp/><sp/>0.1</highlight></codeline>
<codeline lineno="64"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MAXud<sp/><sp/><sp/>50.</highlight></codeline>
<codeline lineno="65"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#define<sp/>MINud<sp/><sp/><sp/>(-600.)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>//<sp/>principialne<sp/>neni<sp/>nutne<sp/>omezovat,<sp/>avsak<sp/>s<sp/>ohledem<sp/>na<sp/>format<sp/>Q13<sp/>s<sp/>dostatecnou<sp/>bezpecnosti<sp/>uvazovano<sp/>600V</highlight></codeline>
    </programlisting>
    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/nastaveni_regulatoru_float.h"/>
  </compounddef>
</doxygen>
