FGActuator Class Reference

Encapsulates an Actuator component for the flight control system. More...

#include <FGActuator.h>

Inheritance diagram for FGActuator:

Collaboration diagram for FGActuator:

Public Member Functions
	FGActuator (FGFCS *fcs, Element *element)
	Constructor.
	~FGActuator ()
	Destructor.
bool	GetFailHardover (void) const
bool	GetFailStuck (void) const
bool	GetFailZero (void) const
bool	IsSaturated (void) const
void	ResetPastStates (void)
bool	Run (void)
	This function processes the input. More...
void	SetFailHardover (bool set)
void	SetFailStuck (bool set)
void	SetFailZero (bool set)
	This function fails the actuator to zero. More...
Public Member Functions inherited from FGFCSComponent
	FGFCSComponent (FGFCS *fcs, Element *el)
	Constructor.
virtual	~FGFCSComponent ()
	Destructor.
std::string	GetName (void) const
double	GetOutput (void) const
virtual double	GetOutputPct (void) const
std::string	GetType (void) const
void	SetDtForFrameCount (int FrameCount)
virtual void	SetOutput (void)
Public Member Functions inherited from FGJSBBase
	FGJSBBase ()
	Constructor for FGJSBBase.
virtual	~FGJSBBase ()
	Destructor for FGJSBBase.
void	disableHighLighting (void)
	Disables highlighting in the console output.
std::string	GetVersion (void)
	Returns the version number of JSBSim. More...
void	PutMessage (const Message &msg)
	Places a Message structure on the Message queue. More...
void	PutMessage (const std::string &text)
	Creates a message with the given text and places it on the queue. More...
void	PutMessage (const std::string &text, bool bVal)
	Creates a message with the given text and boolean value and places it on the queue. More...
void	PutMessage (const std::string &text, int iVal)
	Creates a message with the given text and integer value and places it on the queue. More...
void	PutMessage (const std::string &text, double dVal)
	Creates a message with the given text and double value and places it on the queue. More...
int	SomeMessages (void)
	Reads the message on the queue (but does not delete it). More...
void	ProcessMessage (void)
	Reads the message on the queue and removes it from the queue. More...
Message *	ProcessNextMessage (void)
	Reads the next message on the queue and removes it from the queue. More...

Additional Inherited Members
Public Types inherited from FGJSBBase
enum	{ eL = 1, eM, eN }
	Moments L, M, N.
enum	{ eP = 1, eQ, eR }
	Rates P, Q, R.
enum	{ eU = 1, eV, eW }
	Velocities U, V, W.
enum	{ eX = 1, eY, eZ }
	Positions X, Y, Z.
enum	{ ePhi = 1, eTht, ePsi }
	Euler angles Phi, Theta, Psi.
enum	{ eDrag = 1, eSide, eLift }
	Stability axis forces, Drag, Side force, Lift.
enum	{ eRoll = 1, ePitch, eYaw }
	Local frame orientation Roll, Pitch, Yaw.
enum	{ eNorth = 1, eEast, eDown }
	Local frame position North, East, Down.
enum	{ eLat = 1, eLong, eRad }
	Locations Radius, Latitude, Longitude.
enum	{   inNone = 0, inDegrees, inRadians, inMeters,   inFeet }
	Conversion specifiers.
Static Public Member Functions inherited from FGJSBBase
static double	CelsiusToFahrenheit (double celsius)
	Converts from degrees Celsius to degrees Fahrenheit. More...
static double	CelsiusToKelvin (double celsius)
	Converts from degrees Celsius to degrees Kelvin. More...
static double	CelsiusToRankine (double celsius)
	Converts from degrees Celsius to degrees Rankine. More...
static double	Constrain (double min, double value, double max)
	Constrain a value between a minimum and a maximum value.
static bool	EqualToRoundoff (double a, double b)
	Finite precision comparison. More...
static bool	EqualToRoundoff (float a, float b)
	Finite precision comparison. More...
static bool	EqualToRoundoff (float a, double b)
	Finite precision comparison. More...
static bool	EqualToRoundoff (double a, float b)
	Finite precision comparison. More...
static double	FahrenheitToCelsius (double fahrenheit)
	Converts from degrees Fahrenheit to degrees Celsius. More...
static double	FeetToMeters (double measure)
	Converts from feet to meters. More...
static double	GaussianRandomNumber (void)
static double	KelvinToCelsius (double kelvin)
	Converts from degrees Kelvin to degrees Celsius. More...
static double	KelvinToFahrenheit (double kelvin)
	Converts from degrees Kelvin to degrees Fahrenheit. More...
static double	KelvinToRankine (double kelvin)
	Converts from degrees Kelvin to degrees Rankine. More...
static double	MachFromVcalibrated (double vcas, double p, double psl, double rhosl)
	Calculate the Mach number from the calibrated airspeed. More...
static double	PitotTotalPressure (double mach, double p)
	Compute the total pressure in front of the Pitot tube. More...
static double	RankineToCelsius (double rankine)
	Converts from degrees Rankine to degrees Celsius. More...
static double	RankineToKelvin (double rankine)
	Converts from degrees Rankine to degrees Kelvin. More...
static double	sign (double num)
static double	VcalibratedFromMach (double mach, double p, double psl, double rhosl)
	Calculate the calibrated airspeed from the Mach number. More...
Static Public Attributes inherited from FGJSBBase
static short	debug_lvl = 1
static char	highint [5] = {27, '[', '1', 'm', '\0' }
	highlights text
static char	halfint [5] = {27, '[', '2', 'm', '\0' }
	low intensity text
static char	normint [6] = {27, '[', '2', '2', 'm', '\0' }
	normal intensity text
static char	reset [5] = {27, '[', '0', 'm', '\0' }
	resets text properties
static char	underon [5] = {27, '[', '4', 'm', '\0' }
	underlines text
static char	underoff [6] = {27, '[', '2', '4', 'm', '\0' }
	underline off
static char	fgblue [6] = {27, '[', '3', '4', 'm', '\0' }
	blue text
static char	fgcyan [6] = {27, '[', '3', '6', 'm', '\0' }
	cyan text
static char	fgred [6] = {27, '[', '3', '1', 'm', '\0' }
	red text
static char	fggreen [6] = {27, '[', '3', '2', 'm', '\0' }
	green text
static char	fgdef [6] = {27, '[', '3', '9', 'm', '\0' }
	default text
Protected Member Functions inherited from FGFCSComponent
void	Clip (void)
void	Delay (void)
Protected Member Functions inherited from FGJSBBase
void	Debug (int)
Static Protected Member Functions inherited from FGJSBBase
static std::string	CreateIndexedPropertyName (const std::string &Property, int index)
Protected Attributes inherited from FGFCSComponent
bool	clip
double	clipmax
FGPropertyNode_ptr	ClipMaxPropertyNode
float	clipMaxSign
double	clipmin
FGPropertyNode_ptr	ClipMinPropertyNode
float	clipMinSign
unsigned int	delay
double	delay_time
double	dt
FGFCS *	fcs
int	index
std::vector< std::string >	InitNames
std::vector< FGPropertyValue * >	InitNodes
std::vector< float >	InitSigns
double	Input
std::vector< std::string >	InputNames
std::vector< FGPropertyValue * >	InputNodes
std::vector< float >	InputSigns
bool	IsOutput
std::string	Name
double	Output
std::vector< double >	output_array
std::vector< FGPropertyNode_ptr >	OutputNodes
FGPropertyManager *	PropertyManager
FGPropertyNode_ptr	treenode
std::string	Type
Static Protected Attributes inherited from FGJSBBase
static const double	degtorad = 0.017453292519943295769236907684886
static const double	fpstokts = 1.0/ktstofps
static const double	fttom = 0.3048
static int	gaussian_random_number_phase = 0
static const double	hptoftlbssec = 550.0
static const double	in3tom3 = 1.638706E-5
static const double	inchtoft = 0.08333333
static const double	inhgtopa = 3386.38
static const std::string	JSBSim_version = "1.0 " __DATE__ " " __TIME__
static const double	kgtolb = 2.20462
static const double	kgtoslug = 0.06852168
static const double	ktstofps = 1.68781
static const double	lbtoslug = 1.0/slugtolb
static Message	localMsg
static const double	m3toft3 = 1.0/(fttom*fttom*fttom)
static double	Mair = 28.9645
static unsigned int	messageId = 0
static std::queue< Message >	Messages
static const std::string	needed_cfg_version = "2.0"
static const double	psftoinhg = 0.014138
static const double	psftopa = 47.88
static const double	radtodeg = 57.295779513082320876798154814105
static double	Reng = 1716.56
static double	Rstar = 1545.348
static const double	SHRatio = 1.40
static const double	slugtolb = 32.174049

Detailed Description

Encapsulates an Actuator component for the flight control system.

The actuator can be modeled as a "perfect actuator", with the Output being set directly to the input. The actuator can be made more "real" by specifying any/all of the following additional effects that can be applied to the actuator. In order of application to the input signal, these are:

• System lag (input lag, really)
• Rate limiting
• Deadband
• Hysteresis (mechanical hysteresis)
• Bias (mechanical bias)
• Position limiting ("hard stops")

There are also several malfunctions that can be applied to the actuator by setting a property to true or false (or 1 or 0).

Rate limits can be specified either as a single number or property. If a single <rate_limit> is supplied (with no "sense" attribute) then the actuator is rate limited at +/- the specified rate limit. If the <rate_limit> element is supplied with a "sense" attribute of either "incr[easing]" or "decr[easing]" then the actuator is limited to the provided numeric or property value) exactly as provided.

Syntax:

<actuator name="name">
  <input> {[-]property} </input>
  <lag> number </lag>
  [<rate_limit> {property name | value} </rate_limit>]
  [<rate_limit sense="incr"> {property name | value} </rate_limit>
   <rate_limit sense="decr"> {property name | value} </rate_limit>]
  <bias> number </bias>
  <deadband_width> number </deadband_width>
  <hysteresis_width> number </hysteresis_width>
  [<clipto>
    <min> {property name | value} </min>
    <max> {property name | value} </max>
   </clipto>]
  [<output> {property} </output>]
</actuator>

Example:

<actuator name="fcs/gimbal_pitch_position_radians">
  <input> fcs/gimbal_pitch_command </input>
  <lag> 60 </lag>
  <rate_limit> 0.085 </rate_limit> <!-- 0.085 radians/sec -->
  <bias> 0.002 </bias>
  <deadband_width> 0.002 </deadband_width>
  <hysteresis_width> 0.05 </hysteresis_width>
  <clipto> <!-- +/- 0.17 radians -->
    <min> -0.17 </min>
    <max>  0.17 </max>
   </clipto>
</actuator>

Author

Jon S. Berndt

Version

Revision

1.20

Definition at line 129 of file FGActuator.h.

Member Function Documentation

Run()

bool Run ( void  )

virtual

This function processes the input.

It calls private functions if needed to perform the hysteresis, lag, limiting, etc. functions.

Reimplemented from FGFCSComponent.

Definition at line 155 of file FGActuator.cpp.

{
  Input = InputNodes[0]->getDoubleValue() * InputSigns[0];

  if( fcs->GetTrimStatus() ) initialized = 0;

  if (fail_zero) Input = 0;
  if (fail_hardover) Input =  clipmax*sign(Input);

  Output = Input; // Perfect actuator. At this point, if no failures are present
                  // and no subsequent lag, limiting, etc. is done, the output
                  // is simply the input. If any further processing is done
                  // (below) such as lag, rate limiting, hysteresis, etc., then
                  // the Input will be further processed and the eventual Output
                  // will be overwritten from this perfect value.

  if (fail_stuck) {
    Output = PreviousOutput;
  } else {
    if (lag != 0.0)              Lag();        // models actuator lag
    if (rate_limit_incr != 0 || rate_limit_decr != 0) RateLimit();  // limit the actuator rate
    if (deadband_width != 0.0)   Deadband();
    if (hysteresis_width != 0.0) Hysteresis();
    if (bias != 0.0)             Bias();       // models a finite bias
    if (delay != 0)              Delay();      // Model transport latency
  }

  PreviousOutput = Output; // previous value needed for "stuck" malfunction
  
  initialized = 1;

  Clip();

  if (clip) {
    saturated = false;
    if (Output >= clipmax && clipmax != 0) saturated = true;
    else if (Output <= clipmin && clipmin != 0) saturated = true;
  }

  if (IsOutput) SetOutput();

  return true;
}

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SetFailZero()

void SetFailZero ( bool  set )

inline

This function fails the actuator to zero.

The motion to zero will flow through the lag, hysteresis, and rate limiting functions if those are activated.

Definition at line 147 of file FGActuator.h.

{fail_zero = set;}

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The documentation for this class was generated from the following files:

• FGActuator.h
• FGActuator.cpp