[10] | 1 | // %flair:license{
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[15] | 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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[10] | 4 | // %flair:license}
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[7] | 5 | // created: 2013/04/15
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| 6 | // filename: NestedSat_impl.cpp
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| 7 | //
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| 8 | // author: Guillaume Sanahuja
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| 9 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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| 10 | //
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| 11 | // version: $Id: $
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| 12 | //
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| 13 | // purpose: objet permettant le calcul d'un Pid avec saturations
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| 14 | //
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| 15 | //
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| 16 | /*********************************************************************/
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| 17 |
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| 18 | #include "NestedSat_impl.h"
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| 19 | #include "NestedSat.h"
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| 20 | #include <cvmatrix.h>
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| 21 | #include <Layout.h>
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| 22 | #include <GroupBox.h>
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| 23 | #include <DoubleSpinBox.h>
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| 24 |
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| 25 | using std::string;
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| 26 | using namespace flair::core;
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| 27 | using namespace flair::gui;
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| 28 | using namespace flair::filter;
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| 29 |
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[15] | 30 | NestedSat_impl::NestedSat_impl(NestedSat *self, const LayoutPosition *position,
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| 31 | string name) {
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| 32 | this->self = self;
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| 33 | k = 1;
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[7] | 34 |
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[15] | 35 | // init matrix
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| 36 | self->input = new cvmatrix(self, 3, 1, floatType, name);
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[7] | 37 |
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[15] | 38 | GroupBox *reglages_groupbox = new GroupBox(position, name);
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| 39 | sat =
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| 40 | new DoubleSpinBox(reglages_groupbox->NewRow(), "sat ref:", 0, 9000000, 1);
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| 41 | kp = new DoubleSpinBox(reglages_groupbox->NewRow(), "kp:", 0, 9000000, 1);
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| 42 | dsat = new DoubleSpinBox(reglages_groupbox->NewRow(), "sat dref:", 0, 9000000,
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| 43 | 1);
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| 44 | kd = new DoubleSpinBox(reglages_groupbox->NewRow(), "kd:", 0, 9000000, 0.1);
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| 45 | usat = new DoubleSpinBox(reglages_groupbox->NewRow(), "sat u:", 0, 1, .1);
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[7] | 46 | }
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| 47 |
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[15] | 48 | NestedSat_impl::~NestedSat_impl(void) {}
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[7] | 49 |
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[15] | 50 | void NestedSat_impl::UpdateFrom(const io_data *data) {
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| 51 | float cons, dcons, law;
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| 52 | cvmatrix *input = (cvmatrix *)data;
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[7] | 53 |
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[15] | 54 | input->GetMutex();
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[7] | 55 |
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[15] | 56 | cons = Sat(input->ValueNoMutex(0, 0), k * sat->Value());
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| 57 | dcons = (cons - input->ValueNoMutex(1, 0)) * kp->Value();
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| 58 | dcons = Sat(dcons, k * dsat->Value());
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| 59 | law = (input->ValueNoMutex(2, 0) - dcons) * kd->Value();
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| 60 | law = Sat(law, usat->Value());
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[7] | 61 |
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[15] | 62 | input->ReleaseMutex();
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[7] | 63 |
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[15] | 64 | self->output->SetValue(0, 0, law);
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| 65 | self->output->SetDataTime(data->DataTime());
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[7] | 66 | }
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| 67 |
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[15] | 68 | float NestedSat_impl::Sat(float value, float borne) {
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| 69 | if (value < -borne)
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| 70 | return -borne;
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| 71 | if (value > borne)
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| 72 | return borne;
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| 73 | return value;
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[7] | 74 | }
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