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Timestamp:
03/19/08 15:32:40 (17 years ago)
Author:
smidl
Message:

Opravy simulatoru: premenovani na prefix pmsmsim_ + preklad na linuxu

Location:
simulator_zdenek/demo_example
Files:
2 modified

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  • simulator_zdenek/demo_example/simulator.cpp

    r38 r40  
    5454static double us[2]={0.,0.};    // format us={us_alfa, us_beta} 
    5555 
    56 // output for EKF (voltages and measured currents, which are fed to Kalman) 
    57 static double Kalman[4]={0.,0.,0.,0.};      // usx, usy, Isx, Isy 
     56// output for EKF (voltages and measured currents, which are fed to KalmanObs) 
     57static double KalmanObs[4]={0.,0.,0.,0.};      // usx, usy, Isx, Isy 
    5858 
    5959// real-time 
    … …  
    258258 
    259259////////////////////////////////////////////////////////////////////////////////////////////////////// 
    260 void eval(double Ww)            // you must link array Kalman[] to EKF modul 
     260void eval(double Ww)            // you must link array KalmanObs[] to EKF modul 
    261261{ 
    262262  double Umk, ua, ub; 
    … …  
    273273      ua=Umk*cos(*(u+1)); 
    274274      ub=Umk*cos(*(u+1)-2./3.*M_PI); 
    275       Kalman[0]=ua;                     // usx 
    276       Kalman[1]=(ua+2.*ub)/sqrt(3.);    // usy 
    277       Kalman[2]=Isx; 
    278       Kalman[3]=Isy; 
     275      KalmanObs[0]=ua;                     // usx 
     276      KalmanObs[1]=(ua+2.*ub)/sqrt(3.);    // usy 
     277      KalmanObs[2]=Isx; 
     278      KalmanObs[3]=Isy; 
    279279 
    280280      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 

  • simulator_zdenek/demo_example/simulator.h

    r38 r40  
    1515extern void eval(double Ww); 
    1616 
    17 extern double x[9];  
     17extern double x[9]; 
     18extern double KalmanObs[4];