/build/rock-master-18.09-control-hysteresis-model-0.20150522/BoucWenHysteresisModel.hpp

Go to the documentation of this file.

/*
 * =====================================================================================
 *
 *       Filename:  bouc_wen_model.h
 *
 *    Description:  Class definition of bouc wen hysterisis model
 *
 *        Version:  1.0
 *        Created:  10/16/09 15:37:47
 *       Revision:  none
 *       Compiler:  gcc
 *
 *         Author:  Ajish Babu (), ajish.babu@dfki.de
 *        Company:  DFKI
 *
 * =====================================================================================
 */

#ifndef BOUC_WEN_HYSTERESIS_MODEL_H
#define BOUC_WEN_HYSTERESIS_MODEL_H

#include <math.h>
#include "motor_controller/RK4Integrator.hpp"
#include "iostream"


namespace hysteresis_model
{
    class BoucWenModel : public motor_controller::RK4_SIM
    {
        public:
            BoucWenModel(double samp_time = 0.001, int _simulation_per_cycle = 1,
                    double _initial_time = 0.0, double *_initial_state = NULL);
            ~BoucWenModel() {};

            double sampling_period;
            int simulation_per_cycle;

            inline void DERIV(const double t, const double *x, 
                    const double *u, double *xdot);

            bool getStress (double currTime, double strain, double& strainVel, double& stress);
            void reset(double initTime = 0.0)    {
                init_param( (sampling_period/((double)simulation_per_cycle)),
                        initTime, NULL);
            };
            void setParameters(double* const p);
            void setParameters(
                    double _A, 
                    double _beta,
                    double _gamma,
                    double _n,
                    double _a,
                    double _ki,
                    double _gearPlay,
                    double _deflectionOffset,
                    double _dampingConstant,
                    double _velocitySmoothFactor);

            void getParameters(double *p) const;
            void printParameters() const;

        private:
            double A;           
            double beta;
            double gamma;
            double n;
            double a;
            double ki;

            double gearPlay;
            double deflectionOffset;
            double dampingConstant;
            double velocitySmoothFactor;

            double torqueGearPlay;
            double torque;

            double prevTime;
            double prevStrain;
            double prevStrainVel;

            bool firstRun;
    };
}
#endif