Changeset 40 for simulator_zdenek/simulator.cpp

Timestamp:

03/19/08 15:32:40 (17 years ago)

Author:

smidl

Message:

Opravy simulatoru: premenovani na prefix pmsmsim_ + preklad na linuxu

Files:

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

simulator_zdenek/simulator.cpp

@@ -12 +12 @@
 
 #include <math.h>
+#include <stdlib.h> //na linuxu je abs v stdlib
 #include "regulace.h"
 #include "simulator.h"
@@ -17 +18 @@
 #define REZIM_REGULACE  1       // 0...reg. momentu, 1...reg.rychlosti, 2... Isqw=sqrt(Imax^2-Id^2) - max. moment
 
-void set_parameters(double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0);
-void eval(double Ww);
+void pmsmsim_set_parameters(double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0);
+void pmsmsim_step(double Ww);
 
 // local functions
@@ -54 +55 @@
 static double us[2]={0.,0.};    // format us={us_alfa, us_beta}
 
-// output for EKF (voltages and measured currents, which are fed to Kalman)
-static double Kalman[4]={0.,0.,0.,0.};      // usx, usy, Isx, Isy
+// output for EKF (voltages and measured currents, which are fed to KalmanObs)
+double KalmanObs[4]={0.,0.,0.,0.};      // usx, usy, Isx, Isy
 
 // real-time
 static double t=0.;
 
-void set_parameters(double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0)
+void pmsmsim_set_parameters(double Rs0, double Ls0, double Fmag0, double Bf0, double p0, double kp0, double J0, double Uc0, double DT0, double dt0)
 {
   int tmp_i;
@@ -97 +98 @@
   smer=-1; smer2=-1;
   citac=0;
-  citac2=abs(0-(DT/h));
+  citac2=abs(0-(int)(DT/h)); //VS: oprava, je to spravne?
   citac_PR=h_reg_counter_mez;
 
@@ -258 +259 @@
 
 //////////////////////////////////////////////////////////////////////////////////////////////////////
-void eval(double Ww)            // you must link array Kalman[] to EKF modul
+void pmsmsim_step(double Ww)            // you must link array KalmanObs[] to EKF modul
 {
   double Umk, ua, ub;
@@ -273 +274 @@
       ua=Umk*cos(*(u+1));
       ub=Umk*cos(*(u+1)-2./3.*M_PI);
-      Kalman[0]=ua;                     // usx
-      Kalman[1]=(ua+2.*ub)/sqrt(3.);    // usy
-      Kalman[2]=Isx;
-      Kalman[3]=Isy;
+      KalmanObs[0]=ua;                     // usx
+      KalmanObs[1]=(ua+2.*ub)/sqrt(3.);    // usy
+      KalmanObs[2]=Isx;
+      KalmanObs[3]=Isy;
 
       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