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404 lines
11 KiB
404 lines
11 KiB
/*
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* This file is part of ACADO Toolkit.
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*
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* ACADO Toolkit -- A Toolkit for Automatic Control and Dynamic Optimization.
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* Copyright (C) 2008-2014 by Boris Houska, Hans Joachim Ferreau,
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* Milan Vukov, Rien Quirynen, KU Leuven.
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* Developed within the Optimization in Engineering Center (OPTEC)
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* under supervision of Moritz Diehl. All rights reserved.
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*
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* ACADO Toolkit is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 3 of the License, or (at your option) any later version.
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*
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* ACADO Toolkit is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with ACADO Toolkit; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file include/acado/transfer_device/actuator.hpp
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* \author Hans Joachim Ferreau, Boris Houska
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*/
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#ifndef ACADO_TOOLKIT_ACTUATOR_HPP
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#define ACADO_TOOLKIT_ACTUATOR_HPP
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#include <acado/utils/acado_utils.hpp>
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#include <acado/transfer_device/transfer_device.hpp>
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BEGIN_NAMESPACE_ACADO
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/**
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* \brief Allows to simulate the behaviour of actuators within the Process.
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*
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* \ingroup UserDataStructures
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*
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* The class Actuator allows to simulate the behaviour of actuators within
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* the Process.
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*
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* \author Hans Joachim Ferreau, Boris Houska
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*/
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class Actuator : public TransferDevice
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{
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//
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// PUBLIC MEMBER FUNCTIONS:
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//
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public:
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/** Default constructor.
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*/
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Actuator( );
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/** Constructor which takes the number of process inputs and the sampling time.
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*
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* @param[in] _nU Number of control inputs to the process.
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* @param[in] _nP Number of parameter inputs to the process.
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* @param[in] _samplingTime Sampling time.
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*/
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Actuator( uint _nU,
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uint _nP = 0,
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double _samplingTime = DEFAULT_SAMPLING_TIME
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);
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/** Copy constructor (deep copy).
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*
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* @param[in] rhs Right-hand side object.
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*/
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Actuator( const Actuator& rhs
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);
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/** Destructor.
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*/
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virtual ~Actuator( );
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/** Assignment operator (deep copy).
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*
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* @param[in] rhs Right-hand side object.
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*/
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Actuator& operator=( const Actuator& rhs
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);
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/** Assigns new additive noise with given sampling time to all
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* components of the actuator control signal.
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*
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* @param[in] _noise New additive noise.
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* @param[in] _noiseSamplingTime New noise sampling time.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS
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*/
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returnValue setControlNoise( const Noise& _noise,
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double _noiseSamplingTime
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);
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/** Assigns new additive noise with given sampling time to given
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* component of the actuator control signal.
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*
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* @param[in] idx Index of component.
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* @param[in] _noise New additive noise.
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* @param[in] _noiseSamplingTime New noise sampling time.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS
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*/
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returnValue setControlNoise( uint idx,
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const Noise& _noise,
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double _noiseSamplingTime
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);
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/** Assigns new additive noise with given sampling time to all
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* components of the actuator parameter signal.
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*
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* @param[in] _noise New additive noise.
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* @param[in] _noiseSamplingTime New noise sampling time.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS
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*/
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returnValue setParameterNoise( const Noise& _noise,
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double _noiseSamplingTime
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);
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/** Assigns new additive noise with given sampling time to given
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* component of the actuator parameter signal.
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*
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* @param[in] idx Index of component.
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* @param[in] _noise New additive noise.
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* @param[in] _noiseSamplingTime New noise sampling time.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS
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*/
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returnValue setParameterNoise( uint idx,
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const Noise& _noise,
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double _noiseSamplingTime
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);
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/** Assigns new dead times to each component of the actuator control signal.
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*
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* @param[in] _deadTimes New dead times.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS, \n
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* RET_MEMBER_NOT_INITIALISED
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*/
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returnValue setControlDeadTimes( const DVector& _deadTimes
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);
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/** Assigns new dead time to all components of the actuator control signal.
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*
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* @param[in] _deadTime New dead time.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS, \n
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* RET_MEMBER_NOT_INITIALISED
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*/
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returnValue setControlDeadTimes( double _deadTime
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);
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/** Assigns new dead time to given component of the actuator control signal.
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*
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* @param[in] idx Index of component.
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* @param[in] _deadTimes New dead time.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS, \n
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* RET_MEMBER_NOT_INITIALISED
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*/
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returnValue setControlDeadTime( uint idx,
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double _deadTime
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);
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/** Assigns new dead times to each component of the actuator parameter signal.
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*
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* @param[in] _deadTimes New dead times.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS, \n
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* RET_MEMBER_NOT_INITIALISED
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*/
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returnValue setParameterDeadTimes( const DVector& _deadTimes
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);
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/** Assigns new dead time to all components of the actuator parameter signal.
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*
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* @param[in] _deadTime New dead time.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS, \n
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* RET_MEMBER_NOT_INITIALISED
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*/
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returnValue setParameterDeadTimes( double _deadTime
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);
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/** Assigns new dead time to given component of the actuator parameter signal.
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*
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* @param[in] idx Index of component.
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* @param[in] _deadTimes New dead time.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS, \n
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* RET_MEMBER_NOT_INITIALISED
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*/
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returnValue setParameterDeadTime( uint idx,
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double _deadTime
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);
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/** Initializes all components of the actuator and the
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* lastSignal member based on the given start information.
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*
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* @param[in] _startTime Start time.
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* @param[in] _startValueU Initial value of the actuator control signal.
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* @param[in] _startValueP Initial value of the actuator parameter signal.
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*
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* \return SUCCESSFUL_RETURN
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*/
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virtual returnValue init( double _startTime = 0.0,
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const DVector& _startValueU = emptyConstVector,
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const DVector& _startValueP = emptyConstVector
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);
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/** Performs one step of the actuator transforming the given signals
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* according to the internal actuator settings.
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*
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* @param[in,out] _u Actuator control signal to be transformed.
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* @param[in,out] _p Actuator parameter signal to be transformed.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_BLOCK_NOT_READY, \n
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* RET_INVALID_ARGUMENTS, \n
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* RET_ACTUATOR_STEP_FAILED
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*/
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virtual returnValue step( VariablesGrid& _u,
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VariablesGrid& _p = emptyVariablesGrid
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);
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/** Returns number of actuator control signal components.
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*
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* \return Number of actuator control signal components.
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*/
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inline uint getNU( ) const;
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/** Returns number of actuator parameter signal components.
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*
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* \return Number of actuator parameter signal components.
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*/
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inline uint getNP( ) const;
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/** Returns pointer to additive noise of given component of the actuator control signal.
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*
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* @param[in] idx Index of component.
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*
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* \return Pointer to additive noise of given component
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*/
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inline Noise* getControlNoise( uint idx
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) const;
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/** Returns pointer to additive noise of given component of the actuator parameter signal.
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*
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* @param[in] idx Index of component.
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*
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* \return Pointer to additive noise of given component
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*/
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inline Noise* getParameterNoise( uint idx
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) const;
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/** Returns dead time of given component of the actuator control signal.
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*
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* @param[in] idx Index of component.
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*
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* \return Dead time of given component
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*/
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inline double getControlDeadTime( uint idx
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) const;
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/** Returns dead times of the actuator control signal.
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*
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* \return Dead times of actuator control signal
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*/
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inline DVector getControlDeadTimes( ) const;
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/** Returns dead time of given component of the actuator parameter signal.
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*
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* @param[in] idx Index of component.
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*
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* \return Dead time of given component
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*/
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inline double getParameterDeadTime( uint idx
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) const;
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/** Returns dead times of the actuator parameter signal.
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*
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* \return Dead times of actuator parameter signal
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*/
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inline DVector getParameterDeadTimes( ) const;
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//
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// PROTECTED MEMBER FUNCTIONS:
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//
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protected:
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/** Checks whether the two actuator signal are valid and compatible.
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*
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* @param[in] _u Actuator control signal.
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* @param[in] _p Actuator parameter signal.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_INVALID_ARGUMENTS, \n
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* RET_CONTROL_DIMENSION_MISMATCH, \n
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* RET_PARAMETER_DIMENSION_MISMATCH
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*/
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returnValue checkInputConsistency( const VariablesGrid& _u,
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const VariablesGrid& _p
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) const;
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/** Delays given signals according to the internal dead times.
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*
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* @param[in,out] _u Actuator control signal to be delayed.
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* @param[in,out] _p Actuator parameter signal to be delayed.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_DELAYING_INPUTS_FAILED
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*/
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returnValue delayActuatorInput( VariablesGrid& _u,
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VariablesGrid& _p
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);
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/** Returns time grids for representing the given actuator signals in
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* delayed form.
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*
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* @param[in] _u Actuator control signal to be delayed.
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* @param[in] _p Actuator parameter signal to be delayed.
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* @param[out] _uDelayed Time grid for representing delayed actuator control signal.
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* @param[out] _pDelayed Time grid for representing delayed actuator parameter signal.
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*
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* \return SUCCESSFUL_RETURN
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*/
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returnValue getDelayedInputGrids( const VariablesGrid& _u,
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const VariablesGrid& _p,
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VariablesGrid& _uDelayed,
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VariablesGrid& _pDelayed
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) const;
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/** Adds noise to given signals.
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*
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* @param[in,out] _u Actuator control signal to be noised.
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* @param[in,out] _p Actuator parameter signal to be noised.
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*
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* \return SUCCESSFUL_RETURN, \n
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* RET_GENERATING_NOISE_FAILED
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*/
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returnValue addActuatorNoise( VariablesGrid& _u,
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VariablesGrid& _p
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) const;
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//
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// DATA MEMBERS:
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//
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protected:
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uint nU; /**< Number of actuator control signal components. */
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uint nP; /**< Number of actuator parameter signal components. */
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};
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CLOSE_NAMESPACE_ACADO
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#include <acado/transfer_device/actuator.ipp>
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#endif // ACADO_TOOLKIT_ACTUATOR_HPP
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/*
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* end of file
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*/
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