Changeset 81 for pmsm/pmsm.h

Timestamp:

04/18/08 14:10:47 (16 years ago)

Author:

smidl

Message:

opravy + pridani simulace kovarianci

Files:

• pmsm/pmsm.h (modified) (3 diffs)

pmsm/pmsm.h

@@ -3 +3 @@
 
 #include <stat/libFN.h>
+#include <userinfo.h>
 
 
@@ -9 +10 @@
 RV ru ( "5 6", "{ua, ub}", ones_i ( 2 ) ,zeros_i ( 2 ));
 RV ry ( "7 8", "{oia, oib}", ones_i ( 2 ) ,zeros_i ( 2 ));
+
+class uipmsm : public uicompound{
+        double Rs, Ls, dt, Ypm, kp, p,  J, Mz;
+};
 
 //! State evolution model for a PMSM drive and its derivative with respect to \$x\$
@@ -37 +42 @@
                 xk ( 2 ) = omm + kp*p*p * Ypm/J*dt* ( ibm * cos ( thm )-iam * sin ( thm ) ) - p/J*dt*Mz;
                 //th
-                xk ( 3 ) = rem(thm + omm*dt,2*pi); // <0..2pi>
+                xk ( 3 ) = thm + omm*dt; // <0..2pi>
+                if ( xk ( 3 ) >pi ) xk ( 3 )-=2*pi;
+                if ( xk ( 3 ) <-pi ) xk ( 3 ) +=2*pi;
                 return xk;
         }