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1 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
2 : :
3 : : Header: FGActuator.h
4 : : Author: Jon Berndt
5 : : Date started: 21 February 2007
6 : :
7 : : ------------- Copyright (C) 2006 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 : : HISTORY
27 : : --------------------------------------------------------------------------------
28 : :
29 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
30 : : SENTRY
31 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
32 : :
33 : : #ifndef FGACTUATOR_H
34 : : #define FGACTUATOR_H
35 : :
36 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
37 : : INCLUDES
38 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
39 : :
40 : : #include "FGFCSComponent.h"
41 : : #include "input_output/FGXMLElement.h"
42 : :
43 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
44 : : DEFINITIONS
45 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
46 : :
47 : : #define ID_ACTUATOR "$Id: FGActuator.h,v 1.11 2009/10/02 10:30:09 jberndt Exp $"
48 : :
49 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
50 : : FORWARD DECLARATIONS
51 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
52 : :
53 : : namespace JSBSim {
54 : :
55 : : class FGFCS;
56 : :
57 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
58 : : CLASS DOCUMENTATION
59 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
60 : :
61 : : /** Encapsulates an Actuator component for the flight control system.
62 : : The actuator can be modeled as a "perfect actuator", with the Output
63 : : being set directly to the input. The actuator can be made more "real"
64 : : by specifying any/all of the following additional effects that can be
65 : : applied to the actuator. In order of application to the input signal,
66 : : these are:
67 : :
68 : : - System lag (input lag, really)
69 : : - Rate limiting
70 : : - Deadband
71 : : - Hysteresis (mechanical hysteresis)
72 : : - Bias (mechanical bias)
73 : : - Position limiting ("hard stops")
74 : :
75 : : There are also several malfunctions that can be applied to the actuator
76 : : by setting a property to true or false (or 1 or 0).
77 : :
78 : : Syntax:
79 : :
80 : : @code
81 : : <actuator name="name">
82 : : <input> {[-]property} </input>
83 : : <lag> number </lag>
84 : : <rate_limit> number <rate_limit>
85 : : <bias> number </bias>
86 : : <deadband_width> number </deadband_width>
87 : : <hysteresis_width> number </hysteresis_width>
88 : : [<clipto>
89 : : <min> {property name | value} </min>
90 : : <max> {property name | value} </max>
91 : : </clipto>]
92 : : [<output> {property} </output>]
93 : : </actuator>
94 : : @endcode
95 : :
96 : : Example:
97 : :
98 : : @code
99 : : <actuator name="fcs/gimbal_pitch_position">
100 : : <input> fcs/gimbal_pitch_command </input>
101 : : <lag> 60 </lag>
102 : : <rate_limit> 0.085 <rate_limit> <!-- 5 degrees/sec -->
103 : : <bias> 0.002 </bias>
104 : : <deadband_width> 0.002 </deadband_width>
105 : : <hysteresis_width> 0.05 </hysteresis_width>
106 : : <clipto> <!-- +/- 10 degrees -->
107 : : <min> -0.17 </min>
108 : : <max> 0.17 </max>
109 : : </clipto>
110 : : </actuator>
111 : : @endcode
112 : :
113 : : @author Jon S. Berndt
114 : : @version $Revision: 1.11 $
115 : : */
116 : :
117 : : /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
118 : : CLASS DECLARATION
119 : : %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
120 : :
121 : : class FGActuator : public FGFCSComponent
122 : : {
123 : : public:
124 : : /// Constructor
125 : : FGActuator(FGFCS* fcs, Element* element);
126 : : /// Destructor
127 : : ~FGActuator();
128 : :
129 : : /** This function processes the input.
130 : : It calls private functions if needed to perform the hysteresis, lag,
131 : : limiting, etc. functions. */
132 : : bool Run (void);
133 : :
134 : : // these may need to have the bool argument replaced with a double
135 : : /** This function fails the actuator to zero. The motion to zero
136 : : will flow through the lag, hysteresis, and rate limiting
137 : : functions if those are activated. */
138 : 0 : inline void SetFailZero(bool set) {fail_zero = set;}
139 : 0 : inline void SetFailHardover(bool set) {fail_hardover = set;}
140 : 0 : inline void SetFailStuck(bool set) {fail_stuck = set;}
141 : :
142 : 4 : inline bool GetFailZero(void) const {return fail_zero;}
143 : 4 : inline bool GetFailHardover(void) const {return fail_hardover;}
144 : 4 : inline bool GetFailStuck(void) const {return fail_stuck;}
145 : :
146 : : private:
147 : : double span;
148 : : double bias;
149 : : double rate_limit;
150 : : double hysteresis_width;
151 : : double deadband_width;
152 : : double lag;
153 : : double ca; // lag filter coefficient "a"
154 : : double cb; // lag filter coefficient "b"
155 : : double PreviousOutput;
156 : : double PreviousHystOutput;
157 : : double PreviousRateLimOutput;
158 : : double PreviousLagInput;
159 : : double PreviousLagOutput;
160 : : bool fail_zero;
161 : : bool fail_hardover;
162 : : bool fail_stuck;
163 : :
164 : : void Hysteresis(void);
165 : : void Lag(void);
166 : : void RateLimit(void);
167 : : void Deadband(void);
168 : : void Bias(void);
169 : :
170 : : void bind(void);
171 : :
172 : : void Debug(int from);
173 : : };
174 : : }
175 : : #endif
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