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        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
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      <memberdef kind="variable" id="pmsm__mod_8cpp_14ee05581e5d78f06a138e2f86b6c619c" prot="public" static="yes" mutable="no">
        <type>double</type>
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        <argsstring></argsstring>
        <name>dTheta1</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
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      <memberdef kind="variable" id="pmsm__mod_8cpp_1c6ed9fc65ecf7935a27a0fbacbecab8b" prot="public" static="yes" mutable="no">
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        <argsstring></argsstring>
        <name>dTheta2</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
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      <memberdef kind="variable" id="pmsm__mod_8cpp_126ccf33b4cb557f30c8a78ce9e20d006" prot="public" static="yes" mutable="no">
        <type>double</type>
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        <argsstring></argsstring>
        <name>dTheta3</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
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        <name>dw</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
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      <memberdef kind="variable" id="pmsm__mod_8cpp_13dbeafa64f6523568b739c7c92d656cc" prot="public" static="yes" mutable="no">
        <type>double</type>
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        <argsstring></argsstring>
        <name>dw1</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
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        <name>dw2</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
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        <name>dw3</name>
        <briefdescription>
        </briefdescription>
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        </detaileddescription>
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        <name>A</name>
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        <name>B</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
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        </inbodydescription>
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      <memberdef kind="variable" id="pmsm__mod_8cpp_18987032f6f7d7cfaa0ff4e2a62ae08fe" prot="public" static="yes" mutable="no">
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        <argsstring></argsstring>
        <name>C</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
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        <argsstring></argsstring>
        <name>D</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
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        <name>E</name>
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        </briefdescription>
        <detaileddescription>
        </detaileddescription>
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        </inbodydescription>
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        <name>F</name>
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        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
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        <argsstring></argsstring>
        <name>G</name>
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        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
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        <type>double</type>
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        <argsstring></argsstring>
        <name>Fsq</name>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
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      <sectiondef kind="func">
      <memberdef kind="function" id="pmsm__mod_8cpp_1ba44de7be51364c03f4e2a8bd591f054" prot="public" static="no" const="no" explicit="no" inline="no" virt="non-virtual">
        <type>void</type>
        <definition>void init_pmsm</definition>
        <argsstring>(double *param, double *REL)</argsstring>
        <name>init_pmsm</name>
        <param>
          <type>double *</type>
          <declname>param</declname>
        </param>
        <param>
          <type>double *</type>
          <declname>REL</declname>
        </param>
        <briefdescription>
        </briefdescription>
        <detaileddescription>
        </detaileddescription>
        <inbodydescription>
        </inbodydescription>
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        <type>void</type>
        <definition>void pmsm_double</definition>
        <argsstring>(double usx, double usy, double h, unsigned int vypocet)</argsstring>
        <name>pmsm_double</name>
        <param>
          <type>double</type>
          <declname>usx</declname>
        </param>
        <param>
          <type>double</type>
          <declname>usy</declname>
        </param>
        <param>
          <type>double</type>
          <declname>h</declname>
        </param>
        <param>
          <type>unsigned int</type>
          <declname>vypocet</declname>
        </param>
        <briefdescription>
        </briefdescription>
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        </inbodydescription>
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        <type>double</type>
        <definition>double uhel</definition>
        <argsstring>(double x, double y)</argsstring>
        <name>uhel</name>
        <param>
          <type>double</type>
          <declname>x</declname>
        </param>
        <param>
          <type>double</type>
          <declname>y</declname>
        </param>
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    <briefdescription>
    </briefdescription>
    <detaileddescription>
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    <programlisting>
<codeline lineno="1"><highlight class="comment">/*<sp/>model<sp/>synchronniho<sp/>motoru<sp/>s<sp/>permanentnimi<sp/>magnety</highlight></codeline>
<codeline lineno="2"><highlight class="comment"></highlight></codeline>
<codeline lineno="3"><highlight class="comment"><sp/><sp/><sp/>PMSM<sp/>v<sp/>plovouci<sp/>radove<sp/>carce<sp/>-<sp/>fyzikalni<sp/>model!</highlight></codeline>
<codeline lineno="4"><highlight class="comment"><sp/><sp/><sp/></highlight></codeline>
<codeline lineno="5"><highlight class="comment"><sp/><sp/><sp/>31.5.2007</highlight></codeline>
<codeline lineno="6"><highlight class="comment"></highlight></codeline>
<codeline lineno="7"><highlight class="comment"><sp/><sp/><sp/>Upraven<sp/>vypocet<sp/>momentu<sp/>M<sp/>=<sp/>Fmag*Isq!!<sp/>(nikoliv<sp/>M<sp/>=<sp/>Fs*Isq!!)</highlight></codeline>
<codeline lineno="8"><highlight class="comment"><sp/><sp/><sp/>31.5.2007<sp/><sp/><sp/><sp/>doplnen<sp/>vypocet<sp/>zatezneho<sp/>uhlu<sp/>(beta)</highlight></codeline>
<codeline lineno="9"><highlight class="comment">*/</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="10"><highlight class="normal"></highlight></codeline>
<codeline lineno="11"><highlight class="normal"></highlight><highlight class="preprocessor">#define<sp/>_USE_MATH_DEFINES</highlight></codeline>
<codeline lineno="12"><highlight class="preprocessor"></highlight><highlight class="preprocessor">#include<sp/>&lt;math.h&gt;</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="13"><highlight class="normal"></highlight><highlight class="preprocessor">#include<sp/>&quot;pmsm_mod.h&quot;</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="14"><highlight class="normal"></highlight></codeline>
<codeline lineno="15"><highlight class="normal"></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x[10];<sp/></highlight><highlight class="comment">//<sp/>(isx,isy,wme,theta_e,M,Fsd,Isd,Isq,Mz,beta)<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/>...<sp/>beta<sp/>=<sp/>zatezny<sp/>uhel</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="16"><highlight class="normal"></highlight></codeline>
<codeline lineno="17"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_pmsm(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*REL);</highlight></codeline>
<codeline lineno="18"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsm_double(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>vypocet);</highlight></codeline>
<codeline lineno="19"><highlight class="normal"></highlight></codeline>
<codeline lineno="20"><highlight class="normal"></highlight><highlight class="comment">//<sp/>pomocne<sp/>funkce</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="21"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uhel(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>y);</highlight></codeline>
<codeline lineno="22"><highlight class="normal"></highlight></codeline>
<codeline lineno="23"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Isx,Isy,wme,Mz,M,Fs,Isd,Isq;</highlight></codeline>
<codeline lineno="24"><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,Bfric,p,kp,J;</highlight></codeline>
<codeline lineno="25"><highlight class="normal"></highlight><highlight class="comment">//<sp/>Rs=odpor<sp/>stator;<sp/>Ls=statorova<sp/>indukcnost<sp/>(synchronni<sp/>reaktance)</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="26"><highlight class="normal"></highlight><highlight class="comment">//<sp/>p=pocet<sp/>polparu,<sp/>kp=konst.<sp/>Parkovy<sp/>transf.,</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="27"><highlight class="normal"></highlight><highlight class="comment">//<sp/>J=moment<sp/>setrvacnosti<sp/>(J&lt;0<sp/>...<sp/>nekonecny)</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="28"><highlight class="normal"></highlight></codeline>
<codeline lineno="29"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Uref,<sp/>Iref,<sp/>Wref,<sp/>Mref,<sp/>Fref,<sp/>Thetaref;<sp/></highlight><highlight class="comment">//<sp/>referencni<sp/>hodnoty</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="30"><highlight class="normal"></highlight></codeline>
<codeline lineno="31"><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>
<codeline lineno="32"><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>
<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/>dw,dw1,dw2,dw3;</highlight></codeline>
<codeline lineno="34"><highlight class="normal"></highlight></codeline>
<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/>A,B,C,D,E,F,G;</highlight></codeline>
<codeline lineno="36"><highlight class="normal"></highlight></codeline>
<codeline lineno="37"><highlight class="normal"></highlight><highlight class="keyword">static</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>Fsq;</highlight></codeline>
<codeline lineno="38"><highlight class="normal"></highlight></codeline>
<codeline lineno="39"><highlight class="normal"></highlight></codeline>
<codeline lineno="41"><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>uhel(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>x,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>y)</highlight></codeline>
<codeline lineno="42"><highlight class="normal">{</highlight></codeline>
<codeline lineno="43"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>th;</highlight></codeline>
<codeline lineno="44"><highlight class="normal"></highlight></codeline>
<codeline lineno="45"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x==0)</highlight></codeline>
<codeline lineno="46"><highlight class="normal"><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(y==0)<sp/>th=0.;</highlight></codeline>
<codeline lineno="47"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(y&gt;0)<sp/>th=M_PI/2.;</highlight></codeline>
<codeline lineno="48"><highlight class="normal"><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"><sp/>th=-M_PI/2.;</highlight></codeline>
<codeline lineno="49"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="50"><highlight class="normal"><sp/><sp/><sp/><sp/>th=atan(y/x);</highlight></codeline>
<codeline lineno="51"><highlight class="normal"></highlight></codeline>
<codeline lineno="52"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x&lt;0)<sp/>th+=M_PI;</highlight></codeline>
<codeline lineno="53"><highlight class="normal"></highlight></codeline>
<codeline lineno="54"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">return</highlight><highlight class="normal"><sp/>th;</highlight></codeline>
<codeline lineno="55"><highlight class="normal">}</highlight></codeline>
<codeline lineno="56"><highlight class="normal"></highlight></codeline>
<codeline lineno="57"><highlight class="normal"></highlight></codeline>
<codeline lineno="58"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>init_pmsm(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*param,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>*REL)</highlight></codeline>
<codeline lineno="59"><highlight class="normal">{</highlight></codeline>
<codeline lineno="60"><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>
<codeline lineno="61"><highlight class="normal"></highlight></codeline>
<codeline lineno="62"><highlight class="normal"><sp/><sp/>Rs=*(param);</highlight></codeline>
<codeline lineno="63"><highlight class="normal"><sp/><sp/>Ls=*(param+1);</highlight></codeline>
<codeline lineno="64"><highlight class="normal"><sp/><sp/>Fmag=*(param+2);</highlight></codeline>
<codeline lineno="65"><highlight class="normal"><sp/><sp/>Bfric=*(param+3);</highlight></codeline>
<codeline lineno="66"><highlight class="normal"></highlight></codeline>
<codeline lineno="67"><highlight class="normal"><sp/><sp/>p=*(param+4);</highlight></codeline>
<codeline lineno="68"><highlight class="normal"><sp/><sp/>kp=*(param+5);</highlight></codeline>
<codeline lineno="69"><highlight class="normal"><sp/><sp/>J=*(param+6);</highlight></codeline>
<codeline lineno="70"><highlight class="normal"></highlight></codeline>
<codeline lineno="71"><highlight class="normal"><sp/><sp/>Uref=*REL;</highlight></codeline>
<codeline lineno="72"><highlight class="normal"><sp/><sp/>Iref=*(REL+1);</highlight></codeline>
<codeline lineno="73"><highlight class="normal"><sp/><sp/>Wref=*(REL+2);</highlight></codeline>
<codeline lineno="74"><highlight class="normal"><sp/><sp/>Thetaref=*(REL+3);</highlight></codeline>
<codeline lineno="75"><highlight class="normal"><sp/><sp/>Mref=*(REL+4);</highlight></codeline>
<codeline lineno="76"><highlight class="normal"><sp/><sp/>Fref=*(REL+5);</highlight></codeline>
<codeline lineno="77"><highlight class="normal"></highlight></codeline>
<codeline lineno="78"><highlight class="normal"></highlight><highlight class="comment">//<sp/>definice<sp/>konstant<sp/>modelu</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="79"><highlight class="normal"><sp/><sp/>A=Rs/Ls;</highlight></codeline>
<codeline lineno="80"><highlight class="normal"><sp/><sp/>B=Fmag/Ls*Wref/Iref;</highlight></codeline>
<codeline lineno="81"><highlight class="normal"><sp/><sp/>C=Uref/Iref/Ls;</highlight></codeline>
<codeline lineno="82"><highlight class="normal"><sp/><sp/>D=Bfric/J;</highlight></codeline>
<codeline lineno="83"><highlight class="normal"><sp/><sp/>E=kp*p*p*Fmag/J*Iref/Wref;</highlight></codeline>
<codeline lineno="84"><highlight class="normal"><sp/><sp/>F=p/J*Mref/Wref;</highlight></codeline>
<codeline lineno="85"><highlight class="normal"><sp/><sp/>G=Wref/Thetaref;</highlight></codeline>
<codeline lineno="86"><highlight class="normal"></highlight></codeline>
<codeline lineno="87"><highlight class="normal"></highlight><highlight class="comment">//<sp/>definice<sp/>pocatecnich<sp/>hodnot</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="88"><highlight class="normal"><sp/><sp/>dIsx=0;dIsx1=0;dIsx2=0;dIsx3=0;dIsy=0;dIsy1=0;dIsy2=0;dIsy3=0;</highlight></codeline>
<codeline lineno="89"><highlight class="normal"><sp/><sp/>dTheta=0;dTheta1=0;dTheta2=0;dTheta3=0;</highlight></codeline>
<codeline lineno="90"><highlight class="normal"><sp/><sp/>dw=0;dw1=0;dw2=0;dw3=0;</highlight></codeline>
<codeline lineno="91"><highlight class="normal">}</highlight></codeline>
<codeline lineno="92"><highlight class="normal"></highlight></codeline>
<codeline lineno="93"><highlight class="normal"></highlight><highlight class="keywordtype">void</highlight><highlight class="normal"><sp/>pmsm_double(</highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usx,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>usy,<sp/></highlight><highlight class="keywordtype">double</highlight><highlight class="normal"><sp/>h,<sp/></highlight><highlight class="keywordtype">unsigned</highlight><highlight class="normal"><sp/></highlight><highlight class="keywordtype">int</highlight><highlight class="normal"><sp/>vypocet)</highlight></codeline>
<codeline lineno="94"><highlight class="normal"></highlight><highlight class="comment">//<sp/>vypocet&lt;5...Euler,<sp/>vypocet&gt;4<sp/>...<sp/>Adams<sp/>4.radu</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="95"><highlight class="normal">{</highlight></codeline>
<codeline lineno="96"><highlight class="normal"></highlight><highlight class="comment">//<sp/>(isx,isy,wme,theta_e,M,Fs,Mz)</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="97"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocty<sp/>diferenci</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="98"><highlight class="normal"><sp/><sp/>dIsx=-A*x[0]+B*x[2]*sin(x[3]*Thetaref)+C*usx;</highlight></codeline>
<codeline lineno="99"><highlight class="normal"><sp/><sp/>dIsy=-A*x[1]-B*x[2]*cos(x[3]*Thetaref)+C*usy;</highlight></codeline>
<codeline lineno="100"><highlight class="normal"><sp/><sp/>dTheta=G*x[2];</highlight></codeline>
<codeline lineno="101"><highlight class="normal"></highlight></codeline>
<codeline lineno="102"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(J&gt;0)</highlight></codeline>
<codeline lineno="103"><highlight class="normal"><sp/><sp/><sp/><sp/>dw=E*(x[1]*cos(x[3]*Thetaref)-x[0]*sin(x[3]*Thetaref))-D*x[2]-F*x[8];</highlight></codeline>
<codeline lineno="104"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">else</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="105"><highlight class="normal"><sp/><sp/><sp/><sp/>dw=0;</highlight></codeline>
<codeline lineno="106"><highlight class="normal"></highlight></codeline>
<codeline lineno="107"><highlight class="normal"></highlight><highlight class="comment">//<sp/>integrace</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="108"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(vypocet&lt;5)<sp/><sp/></highlight><highlight class="comment">//<sp/>Euler</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="109"><highlight class="normal"><sp/><sp/>{<sp/>x[0]+=dIsx*h;</highlight></codeline>
<codeline lineno="110"><highlight class="normal"><sp/><sp/><sp/><sp/>x[1]+=dIsy*h;</highlight></codeline>
<codeline lineno="111"><highlight class="normal"><sp/><sp/><sp/><sp/>x[2]+=dw*h;</highlight></codeline>
<codeline lineno="112"><highlight class="normal"><sp/><sp/><sp/><sp/>x[3]+=dTheta*h;</highlight></codeline>
<codeline lineno="113"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
<codeline lineno="114"><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/>4.radu</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="115"><highlight class="normal"><sp/><sp/>{<sp/>x[0]+=h/24*(55*dIsx-59*dIsx1+37*dIsx2-9*dIsx3);</highlight></codeline>
<codeline lineno="116"><highlight class="normal"><sp/><sp/><sp/><sp/>x[1]+=h/24*(55*dIsy-59*dIsy1+37*dIsy2-9*dIsy3);</highlight></codeline>
<codeline lineno="117"><highlight class="normal"><sp/><sp/><sp/><sp/>x[2]+=h/24*(55*dw-59*dw1+37*dw2-9*dw3);</highlight></codeline>
<codeline lineno="118"><highlight class="normal"><sp/><sp/><sp/><sp/>x[3]+=h/24*(55*dTheta-59*dTheta1+37*dTheta2-9*dTheta3);</highlight></codeline>
<codeline lineno="119"><highlight class="normal"><sp/><sp/>}</highlight></codeline>
<codeline lineno="120"><highlight class="normal"></highlight></codeline>
<codeline lineno="121"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>uprava<sp/>theta<sp/>tak,<sp/>aby<sp/>bylo<sp/>stale<sp/>v<sp/>rozmezi<sp/>(-pi,pi)</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="122"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x[3]&gt;M_PI/Thetaref)<sp/>x[3]-=(2*M_PI/Thetaref);</highlight></codeline>
<codeline lineno="123"><highlight class="normal"><sp/><sp/></highlight><highlight class="keywordflow">if</highlight><highlight class="normal"><sp/>(x[3]&lt;-M_PI/Thetaref)<sp/>x[3]+=(2*M_PI/Thetaref);</highlight></codeline>
<codeline lineno="124"><highlight class="normal"></highlight></codeline>
<codeline lineno="125"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>zamena<sp/>diferenci</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="126"><highlight class="normal"><sp/><sp/>dIsx3=dIsx2;dIsx2=dIsx1;dIsx1=dIsx;</highlight></codeline>
<codeline lineno="127"><highlight class="normal"><sp/><sp/>dIsy3=dIsy2;dIsy2=dIsy1;dIsy1=dIsy;</highlight></codeline>
<codeline lineno="128"><highlight class="normal"><sp/><sp/>dTheta3=dTheta2;dTheta2=dTheta1;dTheta1=dTheta;</highlight></codeline>
<codeline lineno="129"><highlight class="normal"><sp/><sp/>dw3=dw2;dw2=dw1;dw1=dw;</highlight></codeline>
<codeline lineno="130"><highlight class="normal"></highlight></codeline>
<codeline lineno="131"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>Isd,<sp/>Isq</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="132"><highlight class="normal"><sp/><sp/>x[6]=x[0]*cos(x[3]*Thetaref)+x[1]*sin(x[3]*Thetaref);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Isd</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="133"><highlight class="normal"><sp/><sp/>x[7]=x[1]*cos(x[3]*Thetaref)-x[0]*sin(x[3]*Thetaref);<sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/><sp/></highlight><highlight class="comment">//<sp/>Isq</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="134"><highlight class="normal"></highlight></codeline>
<codeline lineno="135"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>toku<sp/>statoru<sp/>Fsd<sp/>-<sp/>neni<sp/>normovany!!</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="136"><highlight class="normal"><sp/><sp/>x[5]=Ls*x[6]*Iref+Fmag;</highlight></codeline>
<codeline lineno="137"><highlight class="normal"></highlight></codeline>
<codeline lineno="138"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>Vypocet<sp/>momentu</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="139"><highlight class="normal"><sp/><sp/>x[4]=kp*p*Fmag*Iref/Mref*(x[1]*cos(x[3]*Thetaref)-x[0]*sin(x[3]*Thetaref));</highlight></codeline>
<codeline lineno="140"><highlight class="normal"></highlight></codeline>
<codeline lineno="141"><highlight class="normal"><sp/><sp/></highlight><highlight class="comment">//<sp/>vypocet<sp/>zatezneho<sp/>uhlu</highlight><highlight class="normal"></highlight></codeline>
<codeline lineno="142"><highlight class="normal"><sp/><sp/>Fsq=Ls*x[7]*Iref;</highlight></codeline>
<codeline lineno="143"><highlight class="normal"><sp/><sp/>x[10]=uhel(x[5],Fsq);</highlight></codeline>
<codeline lineno="144"><highlight class="normal">}</highlight></codeline>
    </programlisting>
    <location file="/home/smidl/work/git/mixpp/pmsm/simulator_zdenek/ekf_example/pmsm_mod.cpp"/>
  </compounddef>
</doxygen>
