#include <motor_heating_model.h>

Inheritance diagram for ethercat_hardware::MotorHeatingModel:

Public Member Functions
double	calculateMotorHeatPower (const ethercat_hardware::MotorTraceSample &sample, const ethercat_hardware::ActuatorInfo &actuator_info)

void	diagnostics (diagnostic_updater::DiagnosticStatusWrapper &d)
	Appends heating diagnostic data to status wrapper. More...

double	getHousingTemperature ()
	Gets current winding temperature estimate (for testing) More...

double	getWindingTemperature ()
	Gets current winding temperature estimate (for testing) More...

bool	hasOverheated () const
	Not thread save, should be called by same thread that calls update() More...

bool	loadTemperatureState ()
	Load saved temperature estimate from directory. More...

	MotorHeatingModel (const MotorHeatingModelParameters &motor_params, const std::string &actuator_name, const std::string &hwid, const std::string &save_directory)
	Constructor. More...

void	reset ()
	Resets motor overheat flag. More...

bool	saveTemperatureState ()

bool	startTemperaturePublisher ()

bool	update (double heating_power, double ambient_temperature, double duration)
	Updates motor temperature estimate. More...

bool	update (const ethercat_hardware::MotorTraceSample &sample, const ethercat_hardware::ActuatorInfo &actuator_info, double ambient_temperature, double duration)

void	updateFromDowntime (double downtime, double saved_ambient_temperature)
	Updates estimated motor temperature for long period of off-time. More...

double	updateFromDowntimeWithInterval (double downtime, double saved_ambient_temperature, double interval, unsigned cycles)
	Updates estimated motor temperature for certain amount of downtime. More...

Protected Attributes
std::string	actuator_name_
	name of actuator (ex. fl_caster_rotation_motor) More...

double	ambient_temperature_
	Last recorded ambient temperature : in Celcius. More...

double	ambient_temperature_sum_
	Sum of (abient heat * time) over last sample interval. More...

double	duration_since_last_sample_
	Time (in seconds) since late sample interval occurred. More...

double	heating_energy_sum_
	Sum of heat energy for last sample interval. More...

double	housing_temperature_
	Temperature estimate of motor housing : in Celcius. More...

double	housing_thermal_mass_inverse_
	Inverse of thermal mass for motor housing : in Joules/C. More...

double	housing_to_ambient_thermal_conductance_
	Thermal conductance between motor housing and ambient : in Watt/C. More...

std::string	hwid_
	Hardware ID of device (ex. 680500501000) More...

MotorHeatingModelParameters	motor_params_

boost::mutex	mutex_
	mutex protects values updates by realtime thread and used by diagnostics thread More...

bool	overheat_
	True if most has overheat, once set, will only clear when reset() is called. More...

realtime_tools::RealtimePublisher< ethercat_hardware::MotorTemperature > *	publisher_
	Sample interval for trace (in seconds) More...

std::string	save_filename_
	path to file where temperature data will be saved More...

double	winding_temperature_
	Temperature estimate of motor winding : in Celcius. More...

double	winding_thermal_mass_inverse_
	Inverse of thermal mass for motor winding : in Joules/C. More...

double	winding_to_housing_thermal_conductance_
	Thermal conductance between motor winding and housing : in Watt/C. More...

Detailed Description

Definition at line 154 of file motor_heating_model.h.

Constructor & Destructor Documentation

ethercat_hardware::MotorHeatingModel::MotorHeatingModel	(	const MotorHeatingModelParameters &	motor_params,
		const std::string &	actuator_name,
		const std::string &	hwid,
		const std::string &	save_directory
	)

Constructor.

Parameters

motor_params	Heating parameters used by motor heating model
actuator_name	Name of actuator (ex: fl_caster_roataion_motor)
save_directory	Directory where motor temperature will be routinely saved
device_position	Position of device on EtherCAT chain. Used to prevent multiple motor models from saving at same time

Definition at line 216 of file motor_heating_model.cpp.

Member Function Documentation

double ethercat_hardware::MotorHeatingModel::calculateMotorHeatPower	(	const ethercat_hardware::MotorTraceSample &	sample,
		const ethercat_hardware::ActuatorInfo &	actuator_info
	)

Determines power being put into motor as heat (in Watts)

Definition at line 274 of file motor_heating_model.cpp.

void ethercat_hardware::MotorHeatingModel::diagnostics ( diagnostic_updater::DiagnosticStatusWrapper & d )

Appends heating diagnostic data to status wrapper.

Definition at line 399 of file motor_heating_model.cpp.

double ethercat_hardware::MotorHeatingModel::getHousingTemperature ( )

inline

Gets current winding temperature estimate (for testing)

Definition at line 190 of file motor_heating_model.h.

double ethercat_hardware::MotorHeatingModel::getWindingTemperature ( )

inline

Gets current winding temperature estimate (for testing)

Definition at line 188 of file motor_heating_model.h.

bool ethercat_hardware::MotorHeatingModel::hasOverheated ( ) const

inline

Not thread save, should be called by same thread that calls update()

Definition at line 186 of file motor_heating_model.h.

bool ethercat_hardware::MotorHeatingModel::loadTemperatureState ( )

Load saved temperature estimate from directory.

Definition at line 557 of file motor_heating_model.cpp.

void ethercat_hardware::MotorHeatingModel::reset ( )

Resets motor overheat flag.

Definition at line 390 of file motor_heating_model.cpp.

bool ethercat_hardware::MotorHeatingModel::saveTemperatureState ( )

Saves current temperature estimate to file given directory.

Filename will be named : <actuator_name>_motor_temp Update of file should be atomic.

Definition at line 671 of file motor_heating_model.cpp.

bool ethercat_hardware::MotorHeatingModel::startTemperaturePublisher ( )

Definition at line 256 of file motor_heating_model.cpp.

bool ethercat_hardware::MotorHeatingModel::update	(	double	heating_power,
		double	ambient_temperature,
		double	duration
	)

Updates motor temperature estimate.

This uses motor data to determine how much heat power was put into motor over last control cycle. The control cycle is assumed to be relatively short so the update is done as a linear estimation of differential equation

Returns true if motor winding temperature is below acceptable limit, false if motor has overheated and halting enabled.

Definition at line 311 of file motor_heating_model.cpp.

bool ethercat_hardware::MotorHeatingModel::update	(	const ethercat_hardware::MotorTraceSample &	sample,
		const ethercat_hardware::ActuatorInfo &	actuator_info,
		double	ambient_temperature,
		double	duration
	)

inline

Definition at line 177 of file motor_heating_model.h.

void ethercat_hardware::MotorHeatingModel::updateFromDowntime	(	double	downtime,
		double	saved_ambient_temperature
	)

Updates estimated motor temperature for long period of off-time.

Between runs of this program the motor temperature estimate is stored to a file. When the program is run again this saved temperature estimate needs to be updated base on time between runs. This function makes the assumption that no power was being put into motor between runs.

Because the motor may have been disabled for a long time, this function does not always use a interative approach to calculate new temperature

Definition at line 363 of file motor_heating_model.cpp.

double ethercat_hardware::MotorHeatingModel::updateFromDowntimeWithInterval	(	double	downtime,
		double	saved_ambient_temperature,
		double	interval,
		unsigned	cycles
	)

Updates estimated motor temperature for certain amount of downtime.

Runs motor temperture simulation with a certain step interval and for a given number of cycles. Will stop early if downtime reaches 0. Returns remaining downtime

Definition at line 339 of file motor_heating_model.cpp.

Member Data Documentation

std::string ethercat_hardware::MotorHeatingModel::actuator_name_

protected

name of actuator (ex. fl_caster_rotation_motor)

Definition at line 297 of file motor_heating_model.h.

double ethercat_hardware::MotorHeatingModel::ambient_temperature_

protected

Last recorded ambient temperature : in Celcius.

Definition at line 277 of file motor_heating_model.h.

double ethercat_hardware::MotorHeatingModel::ambient_temperature_sum_

protected

Sum of (abient heat * time) over last sample interval.

Definition at line 288 of file motor_heating_model.h.

double ethercat_hardware::MotorHeatingModel::duration_since_last_sample_

protected

Time (in seconds) since late sample interval occurred.

Definition at line 290 of file motor_heating_model.h.

double ethercat_hardware::MotorHeatingModel::heating_energy_sum_

protected

Sum of heat energy for last sample interval.

Definition at line 286 of file motor_heating_model.h.

double ethercat_hardware::MotorHeatingModel::housing_temperature_

protected

Temperature estimate of motor housing : in Celcius.

Definition at line 275 of file motor_heating_model.h.

double ethercat_hardware::MotorHeatingModel::housing_thermal_mass_inverse_

protected

Inverse of thermal mass for motor housing : in Joules/C.

Definition at line 269 of file motor_heating_model.h.

double ethercat_hardware::MotorHeatingModel::housing_to_ambient_thermal_conductance_

protected

Thermal conductance between motor housing and ambient : in Watt/C.

Definition at line 265 of file motor_heating_model.h.

std::string ethercat_hardware::MotorHeatingModel::hwid_

protected

Hardware ID of device (ex. 680500501000)

Definition at line 299 of file motor_heating_model.h.

MotorHeatingModelParameters ethercat_hardware::MotorHeatingModel::motor_params_

protected

Definition at line 296 of file motor_heating_model.h.

boost::mutex ethercat_hardware::MotorHeatingModel::mutex_

protected

mutex protects values updates by realtime thread and used by diagnostics thread

Definition at line 280 of file motor_heating_model.h.

bool ethercat_hardware::MotorHeatingModel::overheat_

protected

True if most has overheat, once set, will only clear when reset() is called.

Definition at line 283 of file motor_heating_model.h.

realtime_tools::RealtimePublisher<ethercat_hardware::MotorTemperature>* ethercat_hardware::MotorHeatingModel::publisher_

protected

Sample interval for trace (in seconds)

realtime publisher for MotorHeatingSample

Definition at line 294 of file motor_heating_model.h.

std::string ethercat_hardware::MotorHeatingModel::save_filename_

protected

path to file where temperature data will be saved

Definition at line 298 of file motor_heating_model.h.

double ethercat_hardware::MotorHeatingModel::winding_temperature_

protected

Temperature estimate of motor winding : in Celcius.

Definition at line 273 of file motor_heating_model.h.

double ethercat_hardware::MotorHeatingModel::winding_thermal_mass_inverse_

protected

Inverse of thermal mass for motor winding : in Joules/C.

Definition at line 267 of file motor_heating_model.h.

double ethercat_hardware::MotorHeatingModel::winding_to_housing_thermal_conductance_

protected

Thermal conductance between motor winding and housing : in Watt/C.

Definition at line 263 of file motor_heating_model.h.

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

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation