MotorSimulator.hh

[詳解]

 
//
// Copyright (C) 2011-2020 Yokokura, Yuki
// This program is free software;
// you can redistribute it and/or modify it under the terms of the FreeBSD License.
// For details, see the License.txt file.
 
#ifndef MOTORSIMULATOR
#define MOTORSIMULATOR
 
#include "Matrix.hh"
#include "StateSpaceSystem.hh"
 
namespace ARCS {    // ARCS名前空間
    class MotorSimulator {
        public:
            MotorSimulator(void);                   
            MotorSimulator(const double TrqConst, const double MotorInert, const double MotorFric, const double SmplTime);  
            MotorSimulator(MotorSimulator&& r);     
            ~MotorSimulator();                      
            void SetParameters(const double TrqConst, const double MotorInert, const double MotorFric, const double SmplTime); 
            void SetCurrentAndLoadTorque(const double current, const double loadtorque);                            
            void GetResponses(const double current, const double loadtorque, double& velocity, double& position);   
            std::tuple<double,double> GetResponses(const double current, const double loadtorque);  
            void GetVelocityAndPosition(double& velocity, double& position);    
            std::tuple<double, double> GetVelocityAndPosition(void);            
            void SetMotorInertia(const double inertia);             
            void Reset(void);                                       
            
        private:
            MotorSimulator(const MotorSimulator&) = delete;                 
            const MotorSimulator& operator=(const MotorSimulator&) = delete;
            
            double Kt;  
            double Jm;  
            double Dm;  
            double Ts;  
            double iq;  
            double taul;
            Matrix<2,2> A;  
            Matrix<2,2> B;  
            Matrix<1,2> u;  
            Matrix<1,2> y;  
            StateSpaceSystem<2,2,2> PlantSys;   
            
            void SetStateSpaceModel(void);  
    };
}
 
#endif