Public Member Functions | Protected Member Functions | Protected Attributes

Allows to simulate the behaviour of actuators within the Process. More...

#include <actuator.hpp>

Inheritance diagram for Actuator:
Inheritance graph
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List of all members.

Public Member Functions

 Actuator ()
 Actuator (uint _nU, uint _nP=0, double _samplingTime=DEFAULT_SAMPLING_TIME)
 Actuator (const Actuator &rhs)
double getControlDeadTime (uint idx) const
DVector getControlDeadTimes () const
NoisegetControlNoise (uint idx) const
uint getNP () const
uint getNU () const
double getParameterDeadTime (uint idx) const
DVector getParameterDeadTimes () const
NoisegetParameterNoise (uint idx) const
virtual returnValue init (double _startTime=0.0, const DVector &_startValueU=emptyConstVector, const DVector &_startValueP=emptyConstVector)
Actuatoroperator= (const Actuator &rhs)
returnValue setControlDeadTime (uint idx, double _deadTime)
returnValue setControlDeadTimes (const DVector &_deadTimes)
returnValue setControlDeadTimes (double _deadTime)
returnValue setControlNoise (const Noise &_noise, double _noiseSamplingTime)
returnValue setControlNoise (uint idx, const Noise &_noise, double _noiseSamplingTime)
returnValue setParameterDeadTime (uint idx, double _deadTime)
returnValue setParameterDeadTimes (const DVector &_deadTimes)
returnValue setParameterDeadTimes (double _deadTime)
returnValue setParameterNoise (const Noise &_noise, double _noiseSamplingTime)
returnValue setParameterNoise (uint idx, const Noise &_noise, double _noiseSamplingTime)
virtual returnValue step (VariablesGrid &_u, VariablesGrid &_p=emptyVariablesGrid)
virtual ~Actuator ()

Protected Member Functions

returnValue addActuatorNoise (VariablesGrid &_u, VariablesGrid &_p) const
returnValue checkInputConsistency (const VariablesGrid &_u, const VariablesGrid &_p) const
returnValue delayActuatorInput (VariablesGrid &_u, VariablesGrid &_p)
returnValue getDelayedInputGrids (const VariablesGrid &_u, const VariablesGrid &_p, VariablesGrid &_uDelayed, VariablesGrid &_pDelayed) const

Protected Attributes

uint nP
uint nU

Detailed Description

Allows to simulate the behaviour of actuators within the Process.

The class Actuator allows to simulate the behaviour of actuators within the Process.

Author:
Hans Joachim Ferreau, Boris Houska

Definition at line 54 of file actuator.hpp.


Constructor & Destructor Documentation

Default constructor.

Definition at line 46 of file actuator.cpp.

Actuator::Actuator ( uint  _nU,
uint  _nP = 0,
double  _samplingTime = DEFAULT_SAMPLING_TIME 
)

Constructor which takes the number of process inputs and the sampling time.

Parameters:
[in]_nUNumber of control inputs to the process.
[in]_nPNumber of parameter inputs to the process.
[in]_samplingTimeSampling time.

Definition at line 53 of file actuator.cpp.

Actuator::Actuator ( const Actuator rhs)

Copy constructor (deep copy).

Parameters:
[in]rhsRight-hand side object.

Definition at line 63 of file actuator.cpp.

Actuator::~Actuator ( ) [virtual]

Destructor.

Definition at line 70 of file actuator.cpp.


Member Function Documentation

returnValue Actuator::addActuatorNoise ( VariablesGrid _u,
VariablesGrid _p 
) const [protected]

Adds noise to given signals.

Parameters:
[in,out]_uActuator control signal to be noised.
[in,out]_pActuator parameter signal to be noised.
Returns:
SUCCESSFUL_RETURN,
RET_GENERATING_NOISE_FAILED

Definition at line 498 of file actuator.cpp.

returnValue Actuator::checkInputConsistency ( const VariablesGrid _u,
const VariablesGrid _p 
) const [protected]

Checks whether the two actuator signal are valid and compatible.

Parameters:
[in]_uActuator control signal.
[in]_pActuator parameter signal.
Returns:
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_CONTROL_DIMENSION_MISMATCH,
RET_PARAMETER_DIMENSION_MISMATCH

Definition at line 340 of file actuator.cpp.

Delays given signals according to the internal dead times.

Parameters:
[in,out]_uActuator control signal to be delayed.
[in,out]_pActuator parameter signal to be delayed.
Returns:
SUCCESSFUL_RETURN,
RET_DELAYING_INPUTS_FAILED

Definition at line 375 of file actuator.cpp.

double Actuator::getControlDeadTime ( uint  idx) const [inline]

Returns dead time of given component of the actuator control signal.

Parameters:
[in]idxIndex of component.
Returns:
Dead time of given component

Returns dead times of the actuator control signal.

Returns:
Dead times of actuator control signal
Noise* Actuator::getControlNoise ( uint  idx) const [inline]

Returns pointer to additive noise of given component of the actuator control signal.

Parameters:
[in]idxIndex of component.
Returns:
Pointer to additive noise of given component
returnValue Actuator::getDelayedInputGrids ( const VariablesGrid _u,
const VariablesGrid _p,
VariablesGrid _uDelayed,
VariablesGrid _pDelayed 
) const [protected]

Returns time grids for representing the given actuator signals in delayed form.

Parameters:
[in]_uActuator control signal to be delayed.
[in]_pActuator parameter signal to be delayed.
[out]_uDelayedTime grid for representing delayed actuator control signal.
[out]_pDelayedTime grid for representing delayed actuator parameter signal.
Returns:
SUCCESSFUL_RETURN

Definition at line 434 of file actuator.cpp.

uint Actuator::getNP ( ) const [inline]

Returns number of actuator parameter signal components.

Returns:
Number of actuator parameter signal components.
uint Actuator::getNU ( ) const [inline]

Returns number of actuator control signal components.

Returns:
Number of actuator control signal components.
double Actuator::getParameterDeadTime ( uint  idx) const [inline]

Returns dead time of given component of the actuator parameter signal.

Parameters:
[in]idxIndex of component.
Returns:
Dead time of given component

Returns dead times of the actuator parameter signal.

Returns:
Dead times of actuator parameter signal
Noise* Actuator::getParameterNoise ( uint  idx) const [inline]

Returns pointer to additive noise of given component of the actuator parameter signal.

Parameters:
[in]idxIndex of component.
Returns:
Pointer to additive noise of given component
returnValue Actuator::init ( double  _startTime = 0.0,
const DVector _startValueU = emptyConstVector,
const DVector _startValueP = emptyConstVector 
) [virtual]

Initializes all components of the actuator and the lastSignal member based on the given start information.

Parameters:
[in]_startTimeStart time.
[in]_startValueUInitial value of the actuator control signal.
[in]_startValuePInitial value of the actuator parameter signal.
Returns:
SUCCESSFUL_RETURN

Definition at line 286 of file actuator.cpp.

Actuator & Actuator::operator= ( const Actuator rhs)

Assignment operator (deep copy).

Parameters:
[in]rhsRight-hand side object.

Definition at line 75 of file actuator.cpp.

returnValue Actuator::setControlDeadTime ( uint  idx,
double  _deadTime 
)

Assigns new dead time to given component of the actuator control signal.

Parameters:
[in]idxIndex of component.
[in]_deadTimesNew dead time.
Returns:
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 211 of file actuator.cpp.

Assigns new dead times to each component of the actuator control signal.

Parameters:
[in]_deadTimesNew dead times.
Returns:
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 176 of file actuator.cpp.

Assigns new dead time to all components of the actuator control signal.

Parameters:
[in]_deadTimeNew dead time.
Returns:
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 195 of file actuator.cpp.

returnValue Actuator::setControlNoise ( const Noise _noise,
double  _noiseSamplingTime 
)

Assigns new additive noise with given sampling time to all components of the actuator control signal.

Parameters:
[in]_noiseNew additive noise.
[in]_noiseSamplingTimeNew noise sampling time.
Returns:
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 89 of file actuator.cpp.

returnValue Actuator::setControlNoise ( uint  idx,
const Noise _noise,
double  _noiseSamplingTime 
)

Assigns new additive noise with given sampling time to given component of the actuator control signal.

Parameters:
[in]idxIndex of component.
[in]_noiseNew additive noise.
[in]_noiseSamplingTimeNew noise sampling time.
Returns:
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 110 of file actuator.cpp.

returnValue Actuator::setParameterDeadTime ( uint  idx,
double  _deadTime 
)

Assigns new dead time to given component of the actuator parameter signal.

Parameters:
[in]idxIndex of component.
[in]_deadTimesNew dead time.
Returns:
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 266 of file actuator.cpp.

Assigns new dead times to each component of the actuator parameter signal.

Parameters:
[in]_deadTimesNew dead times.
Returns:
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 231 of file actuator.cpp.

Assigns new dead time to all components of the actuator parameter signal.

Parameters:
[in]_deadTimeNew dead time.
Returns:
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 250 of file actuator.cpp.

returnValue Actuator::setParameterNoise ( const Noise _noise,
double  _noiseSamplingTime 
)

Assigns new additive noise with given sampling time to all components of the actuator parameter signal.

Parameters:
[in]_noiseNew additive noise.
[in]_noiseSamplingTimeNew noise sampling time.
Returns:
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 132 of file actuator.cpp.

returnValue Actuator::setParameterNoise ( uint  idx,
const Noise _noise,
double  _noiseSamplingTime 
)

Assigns new additive noise with given sampling time to given component of the actuator parameter signal.

Parameters:
[in]idxIndex of component.
[in]_noiseNew additive noise.
[in]_noiseSamplingTimeNew noise sampling time.
Returns:
SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 153 of file actuator.cpp.

Performs one step of the actuator transforming the given signals according to the internal actuator settings.

Parameters:
[in,out]_uActuator control signal to be transformed.
[in,out]_pActuator parameter signal to be transformed.
Returns:
SUCCESSFUL_RETURN,
RET_BLOCK_NOT_READY,
RET_INVALID_ARGUMENTS,
RET_ACTUATOR_STEP_FAILED

Definition at line 307 of file actuator.cpp.


Member Data Documentation

uint Actuator::nP [protected]

Number of actuator parameter signal components.

Definition at line 390 of file actuator.hpp.

uint Actuator::nU [protected]

Number of actuator control signal components.

Definition at line 389 of file actuator.hpp.


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


acado
Author(s): Milan Vukov, Rien Quirynen
autogenerated on Sat Jun 8 2019 19:40:23