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

#include <actuator.hpp>

Inheritance diagram for Actuator:

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
Noise *	getControlNoise (uint idx) const
uint	getNP () const
uint	getNU () const
double	getParameterDeadTime (uint idx) const
DVector	getParameterDeadTimes () const
Noise *	getParameterNoise (uint idx) const
virtual returnValue	init (double _startTime=0.0, const DVector &_startValueU=emptyConstVector, const DVector &_startValueP=emptyConstVector)
Actuator &	operator= (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

BEGIN_NAMESPACE_ACADO Actuator::Actuator ( )

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]	_nU	Number of control inputs to the process.
[in]	_nP	Number of parameter inputs to the process.
[in]	_samplingTime	Sampling time.

Definition at line 53 of file actuator.cpp.

Actuator::Actuator ( const Actuator & rhs )

Copy constructor (deep copy).

Parameters:

[in] rhs Right-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]	_u	Actuator control signal to be noised.
[in,out]	_p	Actuator 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]	_u	Actuator control signal.
[in]	_p	Actuator parameter signal.

Returns:: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_CONTROL_DIMENSION_MISMATCH,
RET_PARAMETER_DIMENSION_MISMATCH

Definition at line 340 of file actuator.cpp.

returnValue Actuator::delayActuatorInput	(	VariablesGrid &	_u,
		VariablesGrid &	_p
	)		`[protected]`

Delays given signals according to the internal dead times.

Parameters:

[in,out]	_u	Actuator control signal to be delayed.
[in,out]	_p	Actuator 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] idx Index of component.

Returns:: Dead time of given component

DVector Actuator::getControlDeadTimes ( ) const [inline]

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] idx Index 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]	_u	Actuator control signal to be delayed.
[in]	_p	Actuator parameter signal to be delayed.
[out]	_uDelayed	Time grid for representing delayed actuator control signal.
[out]	_pDelayed	Time 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] idx Index of component.

Returns:: Dead time of given component

DVector Actuator::getParameterDeadTimes ( ) const [inline]

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] idx Index 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]	_startTime	Start time.
[in]	_startValueU	Initial value of the actuator control signal.
[in]	_startValueP	Initial 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] rhs Right-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]	idx	Index of component.
[in]	_deadTimes	New dead time.

Returns:: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 211 of file actuator.cpp.

returnValue Actuator::setControlDeadTimes ( const DVector & _deadTimes )

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

Parameters:

[in] _deadTimes New dead times.

Returns:: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 176 of file actuator.cpp.

returnValue Actuator::setControlDeadTimes ( double _deadTime )

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

Parameters:

[in] _deadTime New 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]	_noise	New additive noise.
[in]	_noiseSamplingTime	New 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]	idx	Index of component.
[in]	_noise	New additive noise.
[in]	_noiseSamplingTime	New 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]	idx	Index of component.
[in]	_deadTimes	New dead time.

Returns:: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 266 of file actuator.cpp.

returnValue Actuator::setParameterDeadTimes ( const DVector & _deadTimes )

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

Parameters:

[in] _deadTimes New dead times.

Returns:: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS,
RET_MEMBER_NOT_INITIALISED

Definition at line 231 of file actuator.cpp.

returnValue Actuator::setParameterDeadTimes ( double _deadTime )

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

Parameters:

[in] _deadTime New 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]	_noise	New additive noise.
[in]	_noiseSamplingTime	New 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]	idx	Index of component.
[in]	_noise	New additive noise.
[in]	_noiseSamplingTime	New noise sampling time.

Returns:: SUCCESSFUL_RETURN,
RET_INVALID_ARGUMENTS

Definition at line 153 of file actuator.cpp.

returnValue Actuator::step	(	VariablesGrid &	_u,
		VariablesGrid &	_p = `emptyVariablesGrid`
	)		`[virtual]`

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

Parameters:

[in,out]	_u	Actuator control signal to be transformed.
[in,out]	_p	Actuator 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:

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation