1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | /*!
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6 | * \file NestedSat.h
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7 | * \brief Class defining a PID with saturations
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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9 | * \date 2013/04/15
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10 | * \version 4.0
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11 | */
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12 |
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13 | #ifndef NESTEDSAT_H
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14 | #define NESTEDSAT_H
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15 |
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16 | #include <ControlLaw.h>
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17 |
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18 | namespace flair
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19 | {
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20 | namespace gui
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21 | {
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22 | class Layout;
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23 | class LayoutPosition;
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24 | }
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25 | }
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26 |
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27 | class NestedSat_impl;
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28 |
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29 | namespace flair
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30 | {
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31 | namespace filter
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32 | {
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33 | /*! \class NestedSat
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34 | *
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35 | * \brief Class defining a PID with saturations
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36 | *
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37 | * The output of this control law is calculated
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38 | * as follows: \n
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39 | * p_ref=Sat(p_ref,k*sat_ref) \n
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40 | * d_ref=Sat[(p_ref-p)*kp,k*sat_dref] \n
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41 | * law=Sat[(d-d_ref)*kd,sat_u] \n
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42 | * where p, p_ref and d are input values (see SetValues()), \n
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43 | * where sat_ref, sat_dref and sat_u are settings availables on the ground station, \n
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44 | * where k is a conversion factor (see ConvertSatFromDegToRad()).
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45 | */
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46 | class NestedSat : public ControlLaw
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47 | {
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48 | friend class ::NestedSat_impl;
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49 |
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50 | public:
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51 | /*!
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52 | * \brief Constructor
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53 | *
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54 | * Construct a NestedSat at given place position. \n
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55 | * The NestedSat will automatically be child of position->getLayout() Layout. After calling this function,
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56 | * position will be deleted as it is no longer usefull. \n
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57 | *
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58 | * \param position position to display settings
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59 | * \param name name
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60 | */
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61 | NestedSat(const gui::LayoutPosition* position,std::string name);
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62 |
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63 | /*!
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64 | * \brief Destructor
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65 | *
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66 | */
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67 | ~NestedSat();
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68 |
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69 | /*!
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70 | * \brief Set input values
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71 | *
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72 | * \param p_ref proportional reference
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73 | * \param p proportional value
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74 | * \param d derivative value
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75 | */
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76 | void SetValues(float p_ref,float p,float d);
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77 |
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78 | /*!
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79 | * \brief Convert saturation parameters in radians
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80 | *
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81 | * If this function is called, saturation parameters
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82 | * on the ground station will be interpreted as degrees. \n
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83 | * Thus, an internal conversion from degrees to radians will
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84 | * be done (k=PI/180).
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85 | */
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86 | void ConvertSatFromDegToRad(void);
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87 |
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88 | private:
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89 | /*!
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90 | * \brief Update using provided datas
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91 | *
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92 | * Reimplemented from IODevice.
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93 | *
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94 | * \param data data from the parent to process
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95 | */
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96 | void UpdateFrom(const core::io_data *data);
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97 |
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98 | NestedSat_impl* pimpl_;
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99 | };
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100 | } // end namespace filter
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101 | } // end namespace flair
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102 | #endif // NESTEDSAT_H
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