labust::allocation::EThruster Class Reference

#include <ethruster.h>

List of all members.

Public Member Functions
	EThruster ()
	Main constructor.
	EThruster (double Kp, double Kn, int pwm_id, double pwm_max, double pwm_min, double pwm_dir)
	Init constructor.
double	F (double p=1, double Us=1)
double	pwm (double F, double Us=1)
Public Attributes
double	Kn
	The Kn- gain for negative voltages.
double	Kp
	The Kn+ gain for positive voltages.
int	pwm_dir
	The pwm corrected direction.
int	pwm_id
	The connected PWM id.
double	pwm_max
	The maximum pwm.
double	pwm_min
	The minimum pwm.

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Detailed Description

The class implements a object representation of a single electrical thruster with the standard quadratic characteristics.

F = K*Ua*|Ua| = Kn*Us^2*p|p| where: Ua - general Ua voltage Us - current supply voltage (Us>0) K - the thruster gain (Kp for positive, Kn for negative); K,Kp,Kn>0 p - PWM width [-1,1] F - the supplied thruster force

Definition at line 55 of file ethruster.h.

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Constructor & Destructor Documentation

labust::allocation::EThruster::EThruster

(

)

[inline]

Main constructor.

Definition at line 59 of file ethruster.h.

labust::allocation::EThruster::EThruster	(	double	Kp,
		double	Kn,
		int	pwm_id,
		double	pwm_max,
		double	pwm_min,
		double	pwm_dir
	)		[inline]

Init constructor.

Definition at line 68 of file ethruster.h.

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Member Function Documentation

double labust::allocation::EThruster::F	(	double	p = 1,
		double	Us = 1
	)		[inline]

Calculate the force given a supply voltage and PWM value.

Parameters:

Us	- the supply voltage (default: 1)
p	- the PWM values (default: 1)

Definition at line 82 of file ethruster.h.

double labust::allocation::EThruster::pwm	(	double	F,
		double	Us = 1
	)		[inline]

Calculate the required pwm value given a desired force.

Parameters:

Us	- the supply voltage (default: 1)
p	- the PWM values (default: 1)

Returns:

Definition at line 89 of file ethruster.h.

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Member Data Documentation

double labust::allocation::EThruster::Kn

The Kn- gain for negative voltages.

Definition at line 98 of file ethruster.h.

double labust::allocation::EThruster::Kp

The Kn+ gain for positive voltages.

Definition at line 96 of file ethruster.h.

int labust::allocation::EThruster::pwm_dir

The pwm corrected direction.

Definition at line 106 of file ethruster.h.

int labust::allocation::EThruster::pwm_id

The connected PWM id.

Definition at line 100 of file ethruster.h.

double labust::allocation::EThruster::pwm_max

The maximum pwm.

Definition at line 102 of file ethruster.h.

double labust::allocation::EThruster::pwm_min

The minimum pwm.

Definition at line 104 of file ethruster.h.

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

• ethruster.h