Changeset 52

Timestamp:

03/25/08 13:38:56 (16 years ago)

Author:

smidl

Message:

zprovozneni na linuxu

Location:

simulator_zdenek/ekf_example

Files:

• fixed.cpp (moved) (moved from simulator_zdenek/ekf_example/FIXED.CPP)
• pmsm_mod.cpp (moved) (moved from simulator_zdenek/ekf_example/PMSM_MOD.cpp)
• pwm.cpp (moved) (moved from simulator_zdenek/ekf_example/PWM.CPP) (3 diffs)
• pwm.h (moved) (moved from simulator_zdenek/ekf_example/PWM.H)
• regulace.cpp (moved) (moved from simulator_zdenek/ekf_example/regulace.CPP) (1 diff)
• simul.cpp (moved) (moved from simulator_zdenek/ekf_example/SIMULACE.CPP) (7 diffs)

simulator_zdenek/ekf_example/pwm.cpp

@@ -12 +12 @@
 #define _USE_MATH_DEFINES
 #include <math.h>
+#include <stdlib.h>
 #include "pwm.h"
 
@@ -225 +226 @@
   smer=D_smer; smer2=D_smer2;
   citac=citac_init;
-  citac2=citac_init-(DT/h);
-  citac_PR=1./4./fc/h;
+  citac2=citac_init-(int)(DT/h);
+  citac_PR=(int)(1./4./fc/h);
 }
 
@@ -241 +242 @@
   smer=D_smer; smer2=D_smer2;
   citac=citac_init;
-  citac2=abs(citac_init-(DT/h));
-  citac_PR=1./2./fc/h;
+  citac2=abs(citac_init-(int)(DT/h));
+  citac_PR=(int)(1./2./fc/h);
 }
 

simulator_zdenek/ekf_example/regulace.cpp

@@ -187 +187 @@
   if (fabs(rychlost)>prechod_1_2) ALGORITMUS=1; // prechod z algoritmu 1 na 2
   if (fabs(rychlost)<prechod_2_1) ALGORITMUS=0; // prechod z algortimu 2 na 1
-//  ALGORITMUS=0;         // provozovana pouze definovana varianta algoritmu rizeni  
+  ALGORITMUS=0;         // provozovana pouze definovana varianta algoritmu rizeni
 
   Iqw_reg=pi_reg(Ww-rychlost,Kpw,Kpw*Treg/Tiw,MAXw,-MAXw,&Sw);

simulator_zdenek/ekf_example/simul.cpp

@@ -94 +94 @@
 
 //  REL[0]=600; REL[1]=12.0*sqrt(2); REL[2]=2*M_PI*200; REL[3]=3.14159;
-//  REL[4]=17.8;REL[5]=1.0;       // parametry pro v�MSM 6kW!!!
+//  REL[4]=17.8;REL[5]=1.0;       // parametry pro v�kon PMSM 6kW!!!
 
   Isx=0.;Isy=0.;theta=x[3];rychlost=x[2];Uc_mer=Uc;
 }
 
-void main(void)
+int main(void)
 {
   h=1e-6;
@@ -115 +115 @@
   init_ekf(h_reg,param);
 
-  fw=fopen("data\\graf1.txt","w");
+  fw=fopen("data/graf1.txt","w");
 
   Idwf=0.;
@@ -146 +146 @@
                 // jednoducha reverzace - cely dej cca 11s
                 Ww+=k_rampa*2.*M_PI*0.125/2.;    //1000Hz/s
-                if (Ww>2.*M_PI*250.) {Ww=2.*M_PI*250.; if (k_rampa_tmp<8000) k_rampa_tmp++; else {k_rampa=-1;k_rampa_tmp=0;}}
-                if (Ww<-2.*M_PI*250.) Ww=-2.*M_PI*250.;   /* */
+                if (Ww>2.*M_PI*150.) {Ww=2.*M_PI*150.; if (k_rampa_tmp<8000) k_rampa_tmp++; else {k_rampa=-1;k_rampa_tmp=0;}}
+                if (Ww<-2.*M_PI*150.) Ww=-2.*M_PI*150.;   /* */
           // skokova zmena napeti troleje
 //          Ut=500;       // nutno zadat konstantni Isdw pri startu
@@ -155 +155 @@
 //        Iqwf=149.*sqrt(2.);
 
-                // pomal�ezd 10s do max. rychlosti 700rpm
+                // pomal� rozjezd 10s do max. rychlosti 700rpm
 /*              Iqwf=149.*sqrt(2.);     // konst. Isqw = Imax
                 x[2]+=2.*M_PI*0.004;
@@ -171 +171 @@
 
                 // vystup z EKF zaveden do regulatoru
-                rychlost=ekf_estim[0]; theta=ekf_estim[1];
+                // rychlost=ekf_estim[0]; theta=ekf_estim[1]; //VS
 
                 Urm_max=1.0;
@@ -186 +186 @@
 
         reg_counter=0;
-        Isx=x[0];Isy=x[1];rychlost=x[2];theta=x[3]+CHYBA_POLOHY;Uc_mer=Uc;       // re��zorkov�
+        Isx=x[0];Isy=x[1];rychlost=x[2];theta=x[3]+CHYBA_POLOHY;Uc_mer=Uc;       // re�ln� vzorkov�n�
       }
       hpom_model=0;
@@ -216 +216 @@
 //  printf("*** \n\n");
   fclose(fw);
+        return 0;
  }