#include <motor_heating_model.h>

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.
double	getHousingTemperature ()
	Gets current winding temperature estimate (for testing)
double	getWindingTemperature ()
	Gets current winding temperature estimate (for testing)
bool	hasOverheated () const
	Not thread save, should be called by same thread that calls update()
bool	loadTemperatureState ()
	Load saved temperature estimate from directory.
	MotorHeatingModel (const MotorHeatingModelParameters &motor_params, const std::string &actuator_name, const std::string &hwid, const std::string &save_directory)
	Constructor.
void	reset ()
	Resets motor overheat flag.
bool	saveTemperatureState ()
bool	startTemperaturePublisher ()
bool	update (double heating_power, double ambient_temperature, double duration)
	Updates motor temperature estimate.
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.
double	updateFromDowntimeWithInterval (double downtime, double saved_ambient_temperature, double interval, unsigned cycles)
	Updates estimated motor temperature for certain amount of downtime.
Protected Attributes
std::string	actuator_name_
	name of actuator (ex. fl_caster_rotation_motor)
double	ambient_temperature_
	Last recorded ambient temperature : in Celcius.
double	ambient_temperature_sum_
	Sum of (abient heat * time) over last sample interval.
double	duration_since_last_sample_
	Time (in seconds) since late sample interval occurred.
double	heating_energy_sum_
	Sum of heat energy for last sample interval.
double	housing_temperature_
	Temperature estimate of motor housing : in Celcius.
double	housing_thermal_mass_inverse_
	Inverse of thermal mass for motor housing : in Joules/C.
double	housing_to_ambient_thermal_conductance_
	Thermal conductance between motor housing and ambient : in Watt/C.
std::string	hwid_
	Hardware ID of device (ex. 680500501000)
MotorHeatingModelParameters	motor_params_
boost::mutex	mutex_
	mutex protects values updates by realtime thread and used by diagnostics thread
bool	overheat_
	True if most has overheat, once set, will only clear when reset() is called.
realtime_tools::RealtimePublisher < ethercat_hardware::MotorTemperature > *	publisher_
	Sample interval for trace (in seconds)
std::string	save_filename_
	path to file where temperature data will be saved
double	winding_temperature_
	Temperature estimate of motor winding : in Celcius.
double	winding_thermal_mass_inverse_
	Inverse of thermal mass for motor winding : in Joules/C.
double	winding_to_housing_thermal_conductance_
	Thermal conductance between motor winding and housing : in Watt/C.

Detailed Description

Definition at line 153 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 214 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 272 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 397 of file motor_heating_model.cpp.

double ethercat_hardware::MotorHeatingModel::getHousingTemperature ( ) [inline]

Gets current winding temperature estimate (for testing)

Definition at line 189 of file motor_heating_model.h.

double ethercat_hardware::MotorHeatingModel::getWindingTemperature ( ) [inline]

Gets current winding temperature estimate (for testing)

Definition at line 187 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 185 of file motor_heating_model.h.

bool ethercat_hardware::MotorHeatingModel::loadTemperatureState ( )

Load saved temperature estimate from directory.

Definition at line 555 of file motor_heating_model.cpp.

void ethercat_hardware::MotorHeatingModel::reset ( )

Resets motor overheat flag.

Definition at line 388 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 669 of file motor_heating_model.cpp.

bool ethercat_hardware::MotorHeatingModel::startTemperaturePublisher ( )

Definition at line 254 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 309 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 176 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 361 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 337 of file motor_heating_model.cpp.