From a49631353e6dda10c31c436089efb04517f37984 Mon Sep 17 00:00:00 2001
From: Martin Heyden <martin.heyden@control.lth.se>
Date: Wed, 8 May 2019 08:59:38 +0200
Subject: [PATCH] Updated flexible servo
---
src/LabProcesses.jl | 1 +
src/interface_implementations/flexibleservo.jl | 15 ++++++++-------
2 files changed, 9 insertions(+), 7 deletions(-)
diff --git a/src/LabProcesses.jl b/src/LabProcesses.jl
index b2f1a68..49a3e91 100644
--- a/src/LabProcesses.jl
+++ b/src/LabProcesses.jl
@@ -17,6 +17,7 @@ include("interface.jl")
include("interface_documentation.jl")
include("interface_implementations/ballandbeam.jl")
include("interface_implementations/eth_helicopter.jl")
+include("interface_implementations/flexibleservo.jl")
include("reference_generators.jl")
include("controllers.jl")
diff --git a/src/interface_implementations/flexibleservo.jl b/src/interface_implementations/flexibleservo.jl
index 9894fdd..2ba12ca 100644
--- a/src/interface_implementations/flexibleservo.jl
+++ b/src/interface_implementations/flexibleservo.jl
@@ -3,7 +3,7 @@
#TODO export get_states and define process
export FlexibleServo, FlexibleServoSimulator, AbstractFlexibleServo, define_flexible_servo
-
+export num_states, get_state
struct FlexibleServo <: PhysicalProcess
h::Float64
stream::LabStream
@@ -14,7 +14,7 @@ end
function FlexibleServo(;
h::Float64 = 0.01,
- stream:LabStream = ComediStream(),
+ stream::LabStream = ComediStream(),
measure1::AnalogInput10V = AnalogInput10V(0),
measure2::AnalogInput10V = AnalogInput10V(1),
control::AnalogOutput10V = AnalogOutput10V(1))
@@ -46,17 +46,17 @@ function define_flexible_servo()
end
struct FlexibleServoSimulator <: SimulatedProcess
- x::Array{Float64,1}
h::Float64
+ x::Array{Float64,2} #TODO Dim 1 or 2? Result of matrix mult is dim 2?
Φ::Array{Float64,2}
Γ::Array{Float64,2}
C::Array{Float64,2}
end
-function FlexibleServoSimulator (;h::Float64 =0.01)
- Gp = ss(A,B,C,D)
+function FlexibleServoSimulator(;h::Float64 =0.01)
+ Gp = define_flexible_servo()
Gp_disc = c2d(Gp, h)
- return FlexibleServo(h, Gp_disc[1].A, Gp_disc[1].B, Gp_disc[1].C)
+ return FlexibleServoSimulator(h,zeros(4,1), Gp_disc[1].A, Gp_disc[1].B, Gp_disc[1].C)
end
const AbstractFlexibleServo = Union{FlexibleServo, FlexibleServoSimulator}
@@ -65,6 +65,7 @@ const AbstractFlexibleServo = Union{FlexibleServo, FlexibleServoSimulator}
num_outputs(p::AbstractFlexibleServo) = 2
num_inputs(p::AbstractFlexibleServo) = 1
+num_states(P::AbstractFlexibleServo) = 4 #For statefeedback simulation in ak lab3
outputrange(p::AbstractFlexibleServo) = [(-10,10),(-10,10)] #Process has two outputs, only one uses in AK lab3
inputrange(p::AbstractFlexibleServo) = [(-10,10)]
isstable(p::AbstractFlexibleServo) = true
@@ -79,7 +80,7 @@ end
control(p::FlexibleServo, u) = send(p.control,u)
function control(p::FlexibleServoSimulator, u)
- x = p.Φ*x + p.Γ*u
+ p.x .= p.Φ*p.x + p.Γ*u
nothing
end
--
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