67 lines
1.5 KiB
C++
67 lines
1.5 KiB
C++
|
/*
|
|||
|
|
* LoadEstimation.hh
|
|||
|
|
*
|
|||
|
|
* Created on: 29 <EFBFBD><EFBFBD><EFBFBD>. 2020 <EFBFBD>.
|
|||
|
|
* Author: titov
|
|||
|
|
*/
|
|||
|
|
|
|||
|
|
#ifndef UMLIBRARY_PROCESSING_LOADESTIMATION_HH_
|
|||
|
|
#define UMLIBRARY_PROCESSING_LOADESTIMATION_HH_
|
|||
|
|
|
|||
|
|
#include "../systemic/ISignal.hh"
|
|||
|
|
#include "../systemic/IProcess.hh"
|
|||
|
|
|
|||
|
|
namespace processing {
|
|||
|
|
|
|||
|
|
//!<21><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
|
|||
|
|
/*!<21><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><> <20><><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>:
|
|||
|
|
* W[n] = W[n-1] + (T[n] - L[n]) * dT / J, <EFBFBD><EFBFBD><EFBFBD>
|
|||
|
|
* W - <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,
|
|||
|
|
* T - <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>,
|
|||
|
|
* L - <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
|
|||
|
|
*/
|
|||
|
|
class LoadEstimation : public systemic::IProcess {
|
|||
|
|
public:
|
|||
|
|
struct Setting {
|
|||
|
|
float L1; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
|
|||
|
|
float L2; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
|
|||
|
|
float Jp; //!<<3C><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>, <20><>*<2A>^2.
|
|||
|
|
|
|||
|
|
bool isValid();
|
|||
|
|
Setting();
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
void configure( const Setting & setting );
|
|||
|
|
|
|||
|
|
void process();
|
|||
|
|
void setSampleTime( float ts_in_second );
|
|||
|
|
|
|||
|
|
const float & getEstimatedLoad() const;
|
|||
|
|
const float & getEstimatedSpeed() const;
|
|||
|
|
|
|||
|
|
LoadEstimation( systemic::ISignal & speed, systemic::ISignal & torque );
|
|||
|
|
private:
|
|||
|
|
|
|||
|
|
float _Ts;
|
|||
|
|
|
|||
|
|
//<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD> <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>.
|
|||
|
|
float _L1Base;
|
|||
|
|
float _L2Base;
|
|||
|
|
float _Base_J;
|
|||
|
|
|
|||
|
|
float _L1Ts;
|
|||
|
|
float _L2Ts;
|
|||
|
|
float _Ts_J;
|
|||
|
|
|
|||
|
|
systemic::ISignal & speed;
|
|||
|
|
systemic::ISignal & torque;
|
|||
|
|
|
|||
|
|
float est_speed;
|
|||
|
|
float est_load;
|
|||
|
|
|
|||
|
|
};
|
|||
|
|
|
|||
|
|
}
|
|||
|
|
|
|||
|
|
#endif /* UMLIBRARY_PROCESSING_LOADESTIMATION_HH_ */
|