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1 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 : :
3 : : Module: FGActuator.cpp
4 : : Author: Jon Berndt
5 : : Date started: 21 February 2006
6 : :
7 : : ------------- Copyright (C) 2007 Jon S. Berndt (jon@jsbsim.org) -------------
8 : :
9 : : This program is free software; you can redistribute it and/or modify it under
10 : : the terms of the GNU Lesser General Public License as published by the Free Software
11 : : Foundation; either version 2 of the License, or (at your option) any later
12 : : version.
13 : :
14 : : This program is distributed in the hope that it will be useful, but WITHOUT
15 : : ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
16 : : FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
17 : : details.
18 : :
19 : : You should have received a copy of the GNU Lesser General Public License along with
20 : : this program; if not, write to the Free Software Foundation, Inc., 59 Temple
21 : : Place - Suite 330, Boston, MA 02111-1307, USA.
22 : :
23 : : Further information about the GNU Lesser General Public License can also be found on
24 : : the world wide web at http://www.gnu.org.
25 : :
26 : : FUNCTIONAL DESCRIPTION
27 : : --------------------------------------------------------------------------------
28 : :
29 : : HISTORY
30 : : --------------------------------------------------------------------------------
31 : :
32 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
33 : : COMMENTS, REFERENCES, and NOTES
34 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
35 : :
36 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
37 : : INCLUDES
38 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
39 : :
40 : : #include "FGActuator.h"
41 : :
42 : : using namespace std;
43 : :
44 : : namespace JSBSim {
45 : :
46 : : static const char *IdSrc = "$Id: FGActuator.cpp,v 1.15 2010/08/21 22:56:11 jberndt Exp $";
47 : : static const char *IdHdr = ID_ACTUATOR;
48 : :
49 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
50 : : CLASS IMPLEMENTATION
51 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
52 : :
53 : :
54 : 4 : FGActuator::FGActuator(FGFCS* fcs, Element* element) : FGFCSComponent(fcs, element)
55 : : {
56 : : double denom;
57 : :
58 : : // inputs are read from the base class constructor
59 : :
60 : 4 : PreviousOutput = 0.0;
61 : 4 : PreviousHystOutput = 0.0;
62 : 4 : PreviousRateLimOutput = 0.0;
63 : 4 : PreviousLagInput = PreviousLagOutput = 0.0;
64 : 4 : bias = lag = hysteresis_width = deadband_width = 0.0;
65 : 4 : rate_limit = 0.0; // no limit
66 : 4 : fail_zero = fail_hardover = fail_stuck = false;
67 : 4 : ca = cb = 0.0;
68 : :
69 [ - + ][ # # ]: 4 : if ( element->FindElement("deadband_width") ) {
70 : 0 : deadband_width = element->FindElementValueAsNumber("deadband_width");
71 : : }
72 [ + - ][ # # ]: 4 : if ( element->FindElement("hysteresis_width") ) {
73 : 4 : hysteresis_width = element->FindElementValueAsNumber("hysteresis_width");
74 : : }
75 [ + - ][ # # ]: 4 : if ( element->FindElement("rate_limit") ) {
76 : 4 : rate_limit = element->FindElementValueAsNumber("rate_limit");
77 : : }
78 [ + - ][ # # ]: 4 : if ( element->FindElement("bias") ) {
79 : 4 : bias = element->FindElementValueAsNumber("bias");
80 : : }
81 [ + - ][ # # ]: 4 : if ( element->FindElement("lag") ) {
82 : 4 : lag = element->FindElementValueAsNumber("lag");
83 : 4 : denom = 2.00 + dt*lag;
84 : 4 : ca = dt*lag / denom;
85 : 4 : cb = (2.00 - dt*lag) / denom;
86 : : }
87 : :
88 : 4 : FGFCSComponent::bind();
89 : 4 : bind();
90 : :
91 : 4 : Debug(0);
92 : 4 : }
93 : :
94 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
95 : :
96 : 4 : FGActuator::~FGActuator()
97 : : {
98 : 4 : Debug(1);
99 [ + - ][ # # ]: 4 : }
[ # # ]
100 : :
101 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
102 : :
103 : 216020 : bool FGActuator::Run(void )
104 : : {
105 : 216020 : Input = InputNodes[0]->getDoubleValue() * InputSigns[0];
106 : :
107 [ - + ]: 216020 : if (fail_zero) Input = 0;
108 [ - + ]: 216020 : if (fail_hardover) Input = clipmax*sign(Input);
109 : :
110 : 216020 : Output = Input; // Perfect actuator. At this point, if no failures are present
111 : : // and no subsequent lag, limiting, etc. is done, the output
112 : : // is simply the input. If any further processing is done
113 : : // (below) such as lag, rate limiting, hysteresis, etc., then
114 : : // the Input will be further processed and the eventual Output
115 : : // will be overwritten from this perfect value.
116 : :
117 [ + - ]: 216020 : if (lag != 0.0) Lag(); // models actuator lag
118 [ + - ]: 216020 : if (rate_limit != 0) RateLimit(); // limit the actuator rate
119 [ - + ]: 216020 : if (deadband_width != 0.0) Deadband();
120 [ + - ]: 216020 : if (hysteresis_width != 0.0) Hysteresis();
121 [ + - ]: 216020 : if (bias != 0.0) Bias(); // models a finite bias
122 : :
123 [ - + ]: 216020 : if (fail_stuck) Output = PreviousOutput;
124 : 216020 : PreviousOutput = Output; // previous value needed for "stuck" malfunction
125 : :
126 : 216020 : Clip();
127 [ + - ]: 216020 : if (IsOutput) SetOutput();
128 : :
129 : 216020 : return true;
130 : : }
131 : :
132 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
133 : :
134 : 0 : void FGActuator::Bias(void)
135 : : {
136 : 216020 : Output += bias;
137 : 0 : }
138 : :
139 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
140 : :
141 : 0 : void FGActuator::Lag(void)
142 : : {
143 : : // "Output" on the right side of the "=" is the current frame input
144 : : // for this Lag filter
145 : 216020 : double input = Output;
146 : 216020 : Output = ca * (input + PreviousLagInput) + PreviousLagOutput * cb;
147 : 216020 : PreviousLagInput = input;
148 : 216020 : PreviousLagOutput = Output;
149 : 0 : }
150 : :
151 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
152 : :
153 : 216020 : void FGActuator::Hysteresis(void)
154 : : {
155 : : // Note: this function acts cumulatively on the "Output" parameter. So, "Output"
156 : : // is - for the purposes of this Hysteresis method - really the input to the
157 : : // method.
158 : 216020 : double input = Output;
159 : :
160 [ + + ]: 216020 : if (input > PreviousHystOutput) {
161 : 120340 : Output = max(PreviousHystOutput, input-0.5*hysteresis_width);
162 [ + + ]: 95680 : } else if (input < PreviousHystOutput) {
163 : 79545 : Output = min(PreviousHystOutput, input+0.5*hysteresis_width);
164 : : }
165 : :
166 : 216020 : PreviousHystOutput = Output;
167 : 216020 : }
168 : :
169 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
170 : :
171 : 216020 : void FGActuator::RateLimit(void)
172 : : {
173 : : // Note: this function acts cumulatively on the "Output" parameter. So, "Output"
174 : : // is - for the purposes of this RateLimit method - really the input to the
175 : : // method.
176 : 216020 : double input = Output;
177 [ + - ]: 216020 : if (dt > 0.0) {
178 : 216020 : double rate = (input - PreviousRateLimOutput)/dt;
179 [ + + ]: 216020 : if (fabs(rate) > rate_limit) {
180 : 105 : Output = PreviousRateLimOutput + (rate_limit*fabs(rate)/rate)*dt;
181 : : }
182 : : }
183 : 216020 : PreviousRateLimOutput = Output;
184 : 216020 : }
185 : :
186 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
187 : :
188 : 0 : void FGActuator::Deadband(void)
189 : : {
190 : 0 : }
191 : :
192 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
193 : :
194 : 4 : void FGActuator::bind(void)
195 : : {
196 : 4 : string tmp = Name;
197 [ - + ]: 4 : if (Name.find("/") == string::npos) {
198 : 0 : tmp = "fcs/" + PropertyManager->mkPropertyName(Name, true);
199 : : }
200 : 4 : const string tmp_zero = tmp + "/malfunction/fail_zero";
201 : 4 : const string tmp_hardover = tmp + "/malfunction/fail_hardover";
202 : 4 : const string tmp_stuck = tmp + "/malfunction/fail_stuck";
203 : :
204 : 4 : PropertyManager->Tie( tmp_zero, this, &FGActuator::GetFailZero, &FGActuator::SetFailZero);
205 : 4 : PropertyManager->Tie( tmp_hardover, this, &FGActuator::GetFailHardover, &FGActuator::SetFailHardover);
206 : 4 : PropertyManager->Tie( tmp_stuck, this, &FGActuator::GetFailStuck, &FGActuator::SetFailStuck);
207 : 4 : }
208 : :
209 : : //%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
210 : : // The bitmasked value choices are as follows:
211 : : // unset: In this case (the default) JSBSim would only print
212 : : // out the normally expected messages, essentially echoing
213 : : // the config files as they are read. If the environment
214 : : // variable is not set, debug_lvl is set to 1 internally
215 : : // 0: This requests JSBSim not to output any messages
216 : : // whatsoever.
217 : : // 1: This value explicity requests the normal JSBSim
218 : : // startup messages
219 : : // 2: This value asks for a message to be printed out when
220 : : // a class is instantiated
221 : : // 4: When this value is set, a message is displayed when a
222 : : // FGModel object executes its Run() method
223 : : // 8: When this value is set, various runtime state variables
224 : : // are printed out periodically
225 : : // 16: When set various parameters are sanity checked and
226 : : // a message is printed out when they go out of bounds
227 : :
228 : 8 : void FGActuator::Debug(int from)
229 : : {
230 [ + - ]: 8 : if (debug_lvl <= 0) return;
231 : :
232 [ + - ]: 8 : if (debug_lvl & 1) { // Standard console startup message output
233 [ + + ]: 8 : if (from == 0) { // Constructor
234 [ - + ]: 4 : if (InputSigns[0] < 0)
235 : 0 : cout << " INPUT: -" << InputNames[0] << endl;
236 : : else
237 : 4 : cout << " INPUT: " << InputNames[0] << endl;
238 : :
239 [ + - ]: 4 : if (IsOutput) {
240 [ + + ]: 16 : for (unsigned int i=0; i<OutputNodes.size(); i++)
241 : 12 : cout << " OUTPUT: " << OutputNodes[i]->getName() << endl;
242 : : }
243 [ + - ]: 4 : if (bias != 0.0) cout << " Bias: " << bias << endl;
244 [ + - ]: 4 : if (rate_limit != 0) cout << " Rate limit: " << rate_limit << endl;
245 [ + - ]: 4 : if (lag != 0) cout << " Actuator lag: " << lag << endl;
246 [ + - ]: 4 : if (hysteresis_width != 0) cout << " Hysteresis width: " << hysteresis_width << endl;
247 [ - + ]: 4 : if (deadband_width != 0) cout << " Deadband width: " << deadband_width << endl;
248 : : }
249 : : }
250 [ - + ]: 8 : if (debug_lvl & 2 ) { // Instantiation/Destruction notification
251 [ # # ]: 0 : if (from == 0) cout << "Instantiated: FGActuator" << endl;
252 [ # # ]: 0 : if (from == 1) cout << "Destroyed: FGActuator" << endl;
253 : : }
254 : 8 : if (debug_lvl & 4 ) { // Run() method entry print for FGModel-derived objects
255 : : }
256 : 8 : if (debug_lvl & 8 ) { // Runtime state variables
257 : : }
258 : 8 : if (debug_lvl & 16) { // Sanity checking
259 : : }
260 [ - + ]: 8 : if (debug_lvl & 64) {
261 [ # # ]: 0 : if (from == 0) { // Constructor
262 : 0 : cout << IdSrc << endl;
263 : 0 : cout << IdHdr << endl;
264 : : }
265 : : }
266 : : }
267 [ + + ][ + - ]: 12 : }
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