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