cinoscurcontrol.h

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//******************************************************************************
//******************************************************************************
 
#ifndef INC_CINOSCURCONTROL_H
#define INC_CINOSCURCONTROL_H
 
//------------------------------------------------------------------------------
// defines
//------------------------------------------------------------------------------
//
#define DF_INOS_CUR_CONTROL_DBT "INOS-CUR-CONTROL"  // db table name
#define DF_INOS_CUR_CONTROL_NAME "CINOSCurControl"  // control name
//
// --- controller flags --------------------------------------------------------
//                       
#define DF_INOS_CUR_CONTROL_FLAG_ENB_FFS    0x01000000  // enable feed forward S
#define DF_INOS_CUR_CONTROL_FLAG_ENB_FFT    0x02000000  // enable feed forward T
#define DF_INOS_CUR_CONTROL_FLAG_ENB_SIN    0x04000000  // enable sinus mode
#define DF_INOS_CUR_CONTROL_FLAG_ENB_DZ     0x08000000  // enable deadzone ctrl
//
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
// system
#include <cinosbasecontrol.h>
//
// C++
//
// project
//
//------------------------------------------------------------------------------
//--- structures ---------------------------------------------------------------
//------------------------------------------------------------------------------
//
struct SPidCur
    //; structure of PID parameters
{
    real64 m_rKp;
    real64 m_rKi;
    real64 m_rKd;
    real64 m_rVff;
    real64 m_rAff;
    real64 m_rTi;
    real64 m_rTd;
    real64 m_rBff;
};
 
struct SINOSCurControl : public SINOSBaseControl
{
    real64 m_rKpHalt;
 
    real64 m_rTiHalt;
 
    real64 m_rTdHalt;
 
    real64 m_rKpRun;
 
    real64 m_rTiRun;
 
    real64 m_rTdRun;
 
    real64 m_rVff;
 
    real64 m_rAff;
 
    real64 m_rBff;
        
    real64 m_rTintMax;
 
    real64 m_rImax;
 
    real64 m_rTmax;
    
    uint32 m_uNumDiff;
 
    real64 m_rSff;
 
    real64 m_rSoffset;
 
    real64 m_rTff;
};
 
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
//
class CINOSCurControl : public CINOSBaseControl
{
    //--- user interface ---------------------------------------------------
 
    // public member functions
    public :
 
        // constructor/destructor
 
        explicit CINOSCurControl(SINOSCurControl* apDesc);
            //; constructor
        virtual ~CINOSCurControl();
            //; destructor
        
        virtual CINCOObject* GetRegister() override;
            //; do inco registration and return pointer to it
 
    //--- internals --------------------------------------------------------
 
    friend class CINCOCurCtrPar;
    friend class CINCOCurCtrSff;
    friend class CINCOCurCtrTff;
    friend class CINCOCurCtrEnbTff;
    friend class CINCOCurCtrEnbSff;
    friend class CINCOCurCtrEnbSin;
    
    // protected member functions
    protected:
        virtual void Reset() override;
            //; reset controller values (called whenever the controller is 
            //; switched on)
        ICACHE virtual void Control() override;
            //; do a control cycle
        ICACHE virtual real64 CalcFeedForward();
            //; calculate feedforward
        void SinusMode();
            //; sinus mode handler
        void Freq1();
            //; sinus mode frequency 1
        void Freq2();
            //; sinus mode frequency 2
        void Sweep(real64 arFre1, real64 arFreq2, real64 arTime);
            //; sinus mode sweep between freq1 and freq2
        void Stop();
            //; sinus mode stop
    // protected members
    protected:
        uint8 m_uActSet;
            //; actual PID set (0-halt, 1-run)
 
        // controller parameters (0-halt, 1-run)
        SPidCur m_Pid[2];
            //; pid parameters
        real64 m_rTintMax;
            //; max. allowed torque integrator
        real64 m_rImax;
            //; max. allowed current
        real64 m_rTtoI;
            //; torque to current
 
        // actual values
        
        real64 m_rTact;
            //; actual torque
        real64 m_rTController;  
            //; actual torque of controller
        real64 m_rTFeedForward; 
            //; actual torque of feedforward
        real64 m_rIact;
            //; actual current
 
        // error values
 
        real64 m_rSerrInc;
            //; actual S error [inc]
        real64 m_rTint;
            //; actual error integral [Nm]
        real64 m_rVerrFilt;
            //; actual filtered V error [inc/s]
        real64 m_rVerrInc;
            //; actual V error [inc/s]
        real64 m_rVerrInc_1;
            //; last V error [inc/s]
        real64 m_rVerrInc_2;
            //; before last V error [inc/s]
            
        real64 m_rSff;
            //; feed forward S gain 
        real64 m_rSoffset;
            //; feed forward S offset
        real64 m_rTff;
            //; feed forward torque
    
        // misc.
        uint32 m_uNumDiff;
            //; actual selected V filter
            
        // sinus control
        uint32 m_uSinType;
            //; 0-single, 1-sweep, 2-stopping
        real64 m_rSinOff;
            //; sinus mode offset       
        real64 m_rSinAmp;
            //; sinus mode amplitude
        real64 m_rSinF1cmd;
            //; sinus mode commanded frequency 1
        real64 m_rSinF2cmd;
            //; sinus mode commanded frequency 2
        real64 m_rSinFact;
            //; sinus mode actual frequency
        real64 m_rSinFend;
            //; sinus mode requested end frequency
        real64 m_rSinFdel;
            //; sinus mode delta frequency
        real64 m_rSinTcmd;
            //; sinus mode time to reach next frequency
        real64 m_rSinTact;
            //; sinus mode actual time base
 
    // allow dynamic object handling (new/delete)
    DECLARE_DYNAMIC_CACHE(CINOSCurControl);
};
 
 
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSCURCONTROL_H