#include <MultiLoopController.h>

Classes
struct	MultiLoopParams
Public Member Functions
double	currentLoop (double desiredCurrent, double actualVelocity, double busVoltage)
	perform the current loop calculations
const MultiLoopParams &	getMultiLoopParameters () const
	MultiLoopController ()
	MultiLoopController (const MultiLoopController &mlc_in)
void	reset ()
void	setCurrentLoopParameters (double minCurrent, double maxCurrent, double maxDutyCycle, bool bypass=false)
	set the curent loop parameters
void	setHardwareParameters (double motorViscousDampingCompensation, double motorInertia, double motorTorqueConstant, double motorPhaseResistance, double motorBackEMFConstant, double motorInductance, double motionRatio, double PWMFreq, double bridgeDeadTime, double bridgeSwitchTime)
	set the hardware parameters
void	setLoopRate (double loopRate)
	set the loop rate to use for calculations
void	setMultiLoopParameters (const MultiLoopParams &mlp_in)
void	setPositionLoopParameters (double minPosition, double maxPosition, double Kp, bool bypass=false)
	set the position loop parameters
void	setTorqueLoopParameters (double minTension, double maxTension, double Kp, double offset, bool bypass=false)
	set the torque loop parameters
void	setVelocityLoopParameters (double minVelocity, double maxVelocity, double Kp, double Ki, double integratorWindupLimit, bool bypass=false)
	set the velocity loop parameters
double	update (double desiredPosition, double actualPosition, double actualVelocity, double busVoltage, double &desiredVelocity)
	update run through the multiloop controller based on the given inputs
double	update (double desiredPosition, double kTendon, double actualPosition, double actualTension, double actualVelocity, double busVoltage, double &desiredVelocity)
	update run through the multiloop controller based on the given inputs
double	velocityLoop (double desiredVelocity, double actualVelocity, double busVoltage, double &limitedVelocity)
	these loops are broken out and public for testing purposes, update should be the primary interface
virtual	~MultiLoopController ()
Private Attributes
double	busVoltageRatio
MultiLoopParams	coeffs
bool	currentLoopSet
bool	hardwareSet
bool	loopRateSet
bool	positionLoopSet
double	previousDesiredCurrent
double	previousDesiredVelocity
bool	ready
bool	torqueLoopSet
double	velocityLoopIntegrator
bool	velocityLoopSet

Detailed Description

Definition at line 12 of file MultiLoopController.h.

Constructor & Destructor Documentation

MultiLoopController::MultiLoopController ( )

Definition at line 5 of file MultiLoopController.cpp.

MultiLoopController::MultiLoopController ( const MultiLoopController & mlc_in )

Definition at line 20 of file MultiLoopController.cpp.

virtual MultiLoopController::~MultiLoopController ( ) [inline, virtual]

Definition at line 17 of file MultiLoopController.h.

Member Function Documentation

double MultiLoopController::currentLoop	(	double	desiredCurrent,
		double	actualVelocity,
		double	busVoltage
	)

perform the current loop calculations

Exceptions:

std::runtime_error if busVoltage == 0

Current Loop

Limit dutyCycle

Definition at line 287 of file MultiLoopController.cpp.

const MultiLoopParams& MultiLoopController::getMultiLoopParameters ( ) const [inline]

Definition at line 117 of file MultiLoopController.h.

void MultiLoopController::reset ( ) [inline]

Definition at line 114 of file MultiLoopController.h.

void MultiLoopController::setCurrentLoopParameters	(	double	minCurrent,
		double	maxCurrent,
		double	maxDutyCycle,
		bool	bypass = `false`
	)

set the curent loop parameters

Exceptions:

std::runtime_error	if minCurrent > maxCurrent
std::runtime_error	if maxDutyCycle < 0

Definition at line 194 of file MultiLoopController.cpp.

void MultiLoopController::setHardwareParameters	(	double	motorViscousDampingCompensation,
		double	motorInertia,
		double	motorTorqueConstant,
		double	motorPhaseResistance,
		double	motorBackEMFConstant,
		double	motorInductance,
		double	motionRatio,
		double	PWMFreq,
		double	bridgeDeadTime,
		double	bridgeSwitchTime
	)

set the hardware parameters

Exceptions:

std::runtime_error	if motorTorqueConstant == 0
std::runtime_error	if motionRatio == 0
std::runtime_error	if (1. - 2. * PWMFreq * bridgeDeadTime) == 0.

Definition at line 219 of file MultiLoopController.cpp.

void MultiLoopController::setLoopRate ( double loopRate )

set the loop rate to use for calculations

Exceptions:

std::runtime_error if looprate <= 0

Definition at line 115 of file MultiLoopController.cpp.

void MultiLoopController::setMultiLoopParameters ( const MultiLoopParams & mlp_in )

Definition at line 104 of file MultiLoopController.cpp.

void MultiLoopController::setPositionLoopParameters	(	double	minPosition,
		double	maxPosition,
		double	Kp,
		bool	bypass = `false`
	)

set the position loop parameters

Exceptions:

std::runtime_error if minPosition > maxPosition

Definition at line 130 of file MultiLoopController.cpp.

void MultiLoopController::setTorqueLoopParameters	(	double	minTension,
		double	maxTension,
		double	Kp,
		double	offset,
		bool	bypass = `false`
	)

set the torque loop parameters

Exceptions:

std::runtime_error if minTension > maxTension

Definition at line 148 of file MultiLoopController.cpp.

void MultiLoopController::setVelocityLoopParameters	(	double	minVelocity,
		double	maxVelocity,
		double	Kp,
		double	Ki,
		double	integratorWindupLimit,
		bool	bypass = `false`
	)

set the velocity loop parameters

Exceptions:

std::runtime_error	if minVelocity > maxVelocity
std::runtime_error	if integratorWindupLimit < 0

Definition at line 167 of file MultiLoopController.cpp.

double MultiLoopController::update	(	double	desiredPosition,
		double	actualPosition,
		double	actualVelocity,
		double	busVoltage,
		double &	desiredVelocity
	)

update run through the multiloop controller based on the given inputs

Parameters:

desiredPosition	in posUnits
actualPosition	in posUnits
actualVelocity	in velUnits
busVoltage	in volts

Returns:: dutycycle command

Exceptions:

std::runtime_error if parameters have not been set

Force Control Loop

Todo:: insert later

Position Loop

Velocity Loop

Definition at line 36 of file MultiLoopController.cpp.

double MultiLoopController::update	(	double	desiredPosition,
		double	kTendon,
		double	actualPosition,
		double	actualTension,
		double	actualVelocity,
		double	busVoltage,
		double &	desiredVelocity
	)

update run through the multiloop controller based on the given inputs

Parameters:

desiredPosition	in posUnits
kTendon	in posUnits per tensionUnit
actualPosition	in posUnits
actualTension	in tensionUnits
actualVelocity	in velUnits
busVoltage	in volts