stmbl

HAL_COMP(i2t);

HAL_PIN(brake_r) = 50.0;
HAL_PIN(brake) = 2.0;
HAL_PIN(air_temp) = 20.0;
HAL_PIN(mot_air_res) = 0.0;
HAL_PIN(mot_cap) = 0.0;
HAL_PIN(mot_tau) = 300.0;
HAL_PIN(mot_temp) = 25.0;
HAL_PIN(mot_max_temp) = 130.0;
HAL_PIN(mot_res) = 1.0;
HAL_PIN(mot_psi) = 1.0;
HAL_PIN(mot_real_res) = 1.0;
HAL_PIN(mot_real_psi) = 1.0;
HAL_PIN(mot_cont_cur) = 2.15;
HAL_PIN(id) = 0.0;
HAL_PIN(iq) = 0.0;
HAL_PIN(flow) = 0.0;

MEM(float mot_temp) = 25.0;

RT(
   float mot_real_res = PIN(mot_res) * (1 + 0.004 * (mot_temp - PIN(air_temp)));
   
   float mot_max_res = PIN(mot_res) * (1 + 0.004 * (PIN(mot_max_temp) - PIN(air_temp)));
   float mot_air_res = (PIN(mot_max_temp) - PIN(air_temp)) / (PIN(mot_cont_cur) * PIN(mot_cont_cur) * mot_max_res);;   
   float mot_cap = PIN(mot_tau) / mot_air_res;
   
   float brake_flow = 24.0 * 24.0 / PIN(brake_r) * PIN(brake);
   float flow = (PIN(id) * PIN(id) + PIN(iq) * PIN(iq)) * 3.0 / 2.0 * mot_real_res - (mot_temp - PIN(air_temp)) / mot_air_res;
   
   flow += brake_flow;
   
   mot_temp += flow / mot_cap * period;
   
   PIN(flow) = flow;
   PIN(mot_air_res) = mot_air_res;
   PIN(mot_cap) = mot_cap;
   PIN(mot_temp) = mot_temp;
   PIN(mot_real_res) = mot_real_res;
   PIN(mot_real_psi) = PIN(mot_psi) * (1 - 0.0013 * (mot_temp - PIN(air_temp)));;
);

ENDCOMP;