cinosposcontrol.h

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//******************************************************************************
//******************************************************************************
 
#ifndef INC_CINOSPOSCONTROL_H
#define INC_CINOSPOSCONTROL_H
 
//------------------------------------------------------------------------------
// defines
//------------------------------------------------------------------------------
//
#define DF_INOS_POS_CONTROL_DBT "INOS-POS-CONTROL"  // db table name
#define DF_INOS_POS_CONTROL_NAME "CINOSPosControl"  // control name
//
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
// system
#include <cinosbasecontrol.h>
//
// C++
//
// project
//
//------------------------------------------------------------------------------
//--- structures ---------------------------------------------------------------
//------------------------------------------------------------------------------
//
struct SPidPos
    //; structure of PID parameters
{
    real64 m_rKp;
    real64 m_rKi;
    real64 m_rKd;
    real64 m_rAff;
    real64 m_rTi;
    real64 m_rTd;
    real64 m_rVff;
    real64 m_rBff;
};
 
struct SINOSPosControl : 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_rSintMax;
    
    // for future use (e.g. backward pid parameters)
    real64 m_rSINOSPosControl_Internal0[8];
};
 
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
//
class CINOSPosControl : public CINOSBaseControl
{
    //--- user interface ---------------------------------------------------
 
    // public member functions
    public :
 
        // constructor/destructor
 
        explicit CINOSPosControl(SINOSPosControl* apDesc);
            //; constructor
        virtual ~CINOSPosControl();
            //; destructor
        
        // activate / inactivate
 
        virtual void Activate(bool abCheckPos = true, bool abSimulatePos = false,
            bool abSimulateOut = false, bool abSimulateAct = false);
            //; activate controller
        
        virtual void SetCycleTime(real64 arCycleTime);
            //; set controller cycle time [sec]
        virtual void OnGearRatioChanged();
            //; called whenever the axis gear ratio has changed, it gives the controller
            //; the chance to recalculate internal values if necessary
 
        virtual void BorderRelaxStart();
            //; inform controller about a touched border
        virtual void BorderRelaxStop();
            //; inform controller about border relax time has expired
 
        virtual CINCOObject* GetRegister();
            //; do inco registration and return pointer to it
 
        real64 GetVff()
            { return m_rVff; };
 
        void SetVff(real64 arVff)
            { m_rVff = arVff; };
 
    //--- internals --------------------------------------------------------
 
    friend class CINCOPosCtrPar;
    
    // protected member functions
    protected:
        virtual void Reset();
            //; reset controller values (called whenever the controller is 
            //; switched on)
        ICACHE virtual void Control();
            //; do a control cycle
        void CalcVff();
 
    // protected members
    protected:
        uint8 m_uActSet;
            //; actual PID set (0-halt, 1-run)
 
        // controller parameters (0-halt, 1-run)
        SPidPos m_Pid[2];
            //; pid parameters
        real64 m_rSintMax;
            //; max. allowed position integrator
        real64 m_rVff;
            //; feed forward V
 
        // error values
 
        real64 m_rSerrInc;
            //; actual S error [inc]
        real64 m_rSerrIncMax = 0x7fffffff;
            //; max. allowed S error [inc]
        real64 m_rSintInc;
            //; actual S error integral [inc]
        real64 m_rVerrInc;
            //; actual V error [inc/t]
            
    // allow dynamic object handling (new/delete)
    DECLARE_DYNAMIC_CACHE(CINOSPosControl);
};
 
 
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSPOSCONTROL_H