T - FER

ulazna varijabla ω R, ω 1m , ω 2m , ∆α m ;izlazna varijabla m 1Rd ;konstanta T, K ω1 , K ω2 , K ∆α , T I , M 1lim ;varijabla e, y I = 0, y P ;početak1 e := ω R - ω 2m ;2 y I := y I + (K ω1 + K ω2 )⋅T / T I ⋅ e;3 y P := K ω1 ⋅ω 1m + K ω2 ⋅ω 2m + K ∆α ⋅∆α m ;4 m 1Rd := y I - y P ;5 ako (|m 1Rd | > M 1lim ) tada6 m 1Rd = M 1lim ⋅sgn(m 1Rd );7 y I := m 1Rd + y P ;8 krajkrajLista pseudokoda digitalnog regulatora stanja punog reda suključenim antireset-windup algoritmom resetiranja integratora.Copyright: Nedjeljko Perić41