Adaptative high-gain extended Kalman filter and applications

tel-00559107, version 1 - 24 Jan 2011
}
C.2 Computational Function for the Simulation of the DC Machine
i n t b l o c k −>n e v p r t ;
i n t b l o c k −>nz ;
d o u b l e ∗ b l o c k −>z ;
i n t b l o c k −>nx ;
d o u b l e ∗ b l o c k −>x;
d o u b l e ∗ b l o c k −>xd ;
d o u b l e ∗ b l o c k −>r e s ;
i n t b l o c k −>nin ;
i n t ∗ b l o c k −>i n s z ;
d o u b l e ∗∗block −>i n p t r ;
i n t b l o c k −>nout ;
i n t ∗ b l o c k −>o u t s z ;
d o u b l e ∗∗block −>o u t p t r ;
i n t b l o c k −>nevout ;
i n t b l o c k −>nrpar ;
d o u b l e ∗ b l o c k −>rpar ;
i n t b l o c k −>nipar ;
i n t ∗ b l o c k −>i p a r ;
i n t b l o c k −>ng ;
d o u b l e ∗ b l o c k −>g;
i n t ∗ b l o c k −>j r o o t ;
char b l o c k −>l a b e l [ 4 1 ] ;
∗/
if ( f l a g == 4) { /∗ i n i t i a l i z a t i o n ∗/
DCmachine bloc init ( block , f l a g ) ;
} else if( f l a g == 1) { /∗ o u tput computation ∗/
set b l o c k e r r o r ( DCmachine bloc outputs ( block , f l a g ) ) ;
} else if( f l a g == 0) { /∗ d e r i v a t i v e or r e s i d u a l ..
computation ∗/
set b l o c k e r r o r ( DCmachine bloc deriv ( block , f l a g ) ) ;
} else if ( f l a g == 5) { /∗ ending ∗/
set b l o c k e r r o r ( DCmachine bloc ending ( block , f l a g ) ) ;
}
int DCmachine bloc init ( s c i c o s b l o c k ∗ block , int f l a g )
{return 0;}
int DCmachine bloc outputs ( s c i c o s b l o c k ∗ block , int f l a g )
{ block−>outptr [ 0 ] [ 0 ] = block−>x [ 0 ] ;
block−>outptr [ 0 ] [ 1 ] = block−>x [ 1 ] ;
return 0;}
int DCmachine bloc deriv ( s c i c o s b l o c k ∗ block , int f l a g )
{double L=1.22 , Res =5.4183 , Laf =0.068;
double J =0.0044 , B=0.0026 , p=0;
double I=block−>x [ 0 ] , wr=block−>x [ 1 ] ;
double V=block−>i n p t r [ 0 ] [ 0 ] , Tl=block−>i n p t r [ 0 ] [ 1 ] ;
block−>xd [ 0 ] = (V−Res∗ I−Laf ∗wr∗ I ) /L ;
block−>xd [ 1 ] = ( Laf ∗ I ∗ I−B∗wr−p∗pow( wr , 2 . 0 8 )−Tl ) /J ;
return 0;}
156