130 lines
3.4 KiB
C++
130 lines
3.4 KiB
C++
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/*
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* ThetaNullEstimate.h
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*
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* Created on: 23 нояб. 2016 г.
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* Author: titov
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*/
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#ifndef SOURCE_COMMISSIONING_THETANULLESTIMATE_H_
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#define SOURCE_COMMISSIONING_THETANULLESTIMATE_H_
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#include "../../algorithm/LinearRegression.hh"
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#include "../../math/math_inc.hh"
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#include <algorithm>
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#include <memory_resource>
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namespace technological { namespace commissioning {
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//todo: Очеень нужен рефакторинг тулзы.
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class ThetaNullEstimate {
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public:
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struct TSetting {
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float Ts;
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float Np;
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float valid_mismatch_theta_1;
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float valid_error;
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bool isValid() const {
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return Ts > 0.0f
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&& Np > 0
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&& Np < 128
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and valid_mismatch_theta_1 > 0
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and valid_error > 0;
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}
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};
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private:
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enum TDirection {
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forward,
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backward
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};
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//Состояние.
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bool enable;
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bool data_collection;
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bool data_analysis;
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//Параметры движения.
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int sector_setpoint; //!<Заданное количество секторов (1/6 электрических оборотов).
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unsigned int Np; //!<Количество пар полюсов.
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float speed; //!<Скорость для вращения вектора напряжения.
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float Ts; //!<Период дискретизации.
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//Организация движения.
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TDirection direction;
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unsigned long count_rise; //!<Количество отсчетов в движении.
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unsigned long count_next; //!<Количество отсчетов в секторе.
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int sector; //!<Текущий номер сектора.
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unsigned long count; //!<Счетчик
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//Используемые модули.
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algorithm::LinearRegression * null_calculator;
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//Проверка результатов.
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float errorEstimate;
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float totalError; //!<Общая ошибка.
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//Проверка данных по ходу дела.
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float previous_feedback;
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float delta_previous;
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std::pmr::monotonic_buffer_resource * buff_resource;
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private:
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void add_data(float theta_feedback);
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float calc_null_result() const {
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const unsigned int start_k = 0;
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return (null_calculator->getTheta(0)
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+ null_calculator->getTheta(1) * start_k);
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}
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bool check_valid_result() const {
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return null_calculator->getTheta(1) < ( math::constants::pi_3 + errorEstimate )
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&& null_calculator->getTheta(1) > ( math::constants::pi_3 - errorEstimate )
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and std::abs( null_calculator->getError() ) < totalError;
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}
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public:
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ThetaNullEstimate();
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bool setBuffer( std::pmr::monotonic_buffer_resource * buffer );
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void resetBuffer();
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bool configure(const TSetting & setting);
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bool start(float average_speed, unsigned int number_sector, float rise_to_hold);
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void stop();
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void execute(float theta_feedback, float & iota);
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void process();
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bool isDataCollection() const {return enable && data_collection;}
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bool isDataCollected() const {return enable && not data_collection;}
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bool isDataAnalysis() const {return enable && data_analysis;}
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bool isDataReady() const {return enable && null_calculator && null_calculator->isFull();}
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bool isDataFailure() const {return enable && !data_collection && null_calculator && !null_calculator->isFull();}
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bool isCalcReady() const {return enable && null_calculator && null_calculator->isFinish();}
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float get_result() const {
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if(null_calculator && check_valid_result())
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return calc_null_result();
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else
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return NAN;
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}
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};
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}}
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#endif /* SOURCE_COMMISSIONING_THETANULLESTIMATE_H_ */
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