105 lines
2.4 KiB
C++
105 lines
2.4 KiB
C++
/*
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* SpeedControlProcess.cpp
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*
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* Created on: 18 сент. 2019 г.
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* Author: titov
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*/
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#include "SpeedControlProcess.hh"
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void processing::acs::SpeedControlProcess::set(
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control::PhaseSpacePoint<float> setpoint ) {
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speed_stp = setpoint;
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if( isConnected() ) proc_enable = true;
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}
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control::PhaseSpaceValue processing::acs::SpeedControlProcess::get() const {
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// return read_from_fast( &torque_stp );
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return control::PhaseSpaceValue( speed_fdb, 0.0f ); //todo: Ускорение сетишь? ГЕТЬ!
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}
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void processing::acs::SpeedControlProcess::set_output(
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SetInterface * output_interface ) {
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if( not output_interface ) proc_enable = false;
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output = output_interface;
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}
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void processing::acs::SpeedControlProcess::setSampleTime( float ts_in_second ) {
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speed_control.setTime(ts_in_second);
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}
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void processing::acs::SpeedControlProcess::process() {
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if( not proc_enable )
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return;
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speed_stp.update();
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feedforward.stp.update();
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torque_stp = speed_control.update( speed_stp, speed_fdb, feedforward.stp );
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output->set( torque_stp );
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}
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void processing::acs::SpeedControlProcess::reset() {
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proc_enable = false;
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speed_stp = control::PhaseSpaceValue(0, 0);
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torque_stp = control::PhaseSpaceValue(0, 0);
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speed_control.reset();
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}
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processing::acs::SpeedControlProcess::SpeedControlProcess(
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control::regulator::SpeedController & speed_reg, systemic::ISignal & speed_fdb ) :
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speed_control(speed_reg), speed_fdb(speed_fdb), output(nullptr),
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speed_stp(control::PhaseSpaceValue(0, 0)), torque_stp(control::PhaseSpaceValue(0, 0)),
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proc_enable(false), torque_up_limit(speed_reg), torque_down_limit(speed_reg), inertia_value(speed_reg) {}
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vector::ITechValue & processing::acs::SpeedControlProcess::getTorqueUpLimit() {
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return torque_up_limit;
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}
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vector::ITechValue & processing::acs::SpeedControlProcess::getTorqueDownLimit() {
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return torque_down_limit;
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}
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vector::ITechValue & processing::acs::SpeedControlProcess::getInertiaValue() {
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return inertia_value;
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}
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bool processing::acs::SpeedControlProcess::isConnected() const {
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return output;
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}
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vector::IPhaseSpaceValue & processing::acs::SpeedControlProcess::getFeedforwardTract() {
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return feedforward;
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}
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const float & processing::acs::SpeedControlProcess::demand() const {
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return speed_stp.value;
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}
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