Inheritance diagram for Ship::PropulsorActuator:

Collaboration diagram for Ship::PropulsorActuator:

Public Types
enum	FailureModes { failureModeRPMError = 0 , failureModeRPMLock , failureModePitchLock , failureModePitchMalfunction , failureModeAzimuthLock , failureModeAzimuthMalfunction , failureModeFeedbackPitchFreeze , failureModeFeedbackRPMFreeze , failureModeFeedbackAzimuthFreeze , failureModeFeedbackThrustFreeze , failureModes }

Public Member Functions
	PropulsorActuator (const std::string &simObjectName, ISimObjectCreator *const creator)

virtual void	OdeFcn (const double T, const double const X, double const XDot) const

void	AcceptedStep (double T, const double *X) override
	Reads the failure modes and holds the values of the feedbacks that freeze (MAR-0038)

void	InitialConditionSetup (const double T, const double const currentIC, double const updatedIC, ISimObjectCreator *const creator)

const double *	RPM (const double T, const double *const X)

const double *	RPMMotor (const double T, const double *const X)

const double *	Pitch (const double T, const double *const X)

const double *	PD (const double T, const double *const X)

const double *	ConsumedPower (const double T, const double *const X)

const double *	RPM_FB (const double T, const double *const X)

const double *	Thrust_FB (const double T, const double *const X)

const double *	Pitch_FB (const double T, const double *const X)

const double *	ForceBody2 (const double T, const double *const X)

const double *	TorqueBody2 (const double T, const double *const X)

virtual const double *	Angle_FB (const double T, const double *const X)

virtual const double *	Angle (const double T, const double *const X)

Public Member Functions inherited from Ship::LocalConnection
	LocalConnection (const std::string simObjectName, ISimObjectCreator *const creator)

const double *	OffsetBody (const double T, const double *const X)

const double *	RotationBody (const double T, const double *const X)

const double *	PositionNED (const double T, const double *const X)

const double *	VelocityNED (const double T, const double *const X)

const double *	VelocityBody (const double T, const double *const X)

const double *	OmegaNED (const double T, const double *const X)

const double *	QuaternionNED (const double T, const double *const X)

const double *	Axis1NED (const double T, const double *const X)

const double *	Axis2NED (const double T, const double *const X)

const double *	Axis3NED (const double T, const double *const X)

const double *	ForceNED (const double T, const double *const X)

const double *	TorqueNED (const double T, const double *const X)

const double *	ForceBody (const double T, const double *const X)

const double *	TorqueBody (const double T, const double *const X)

const double *	ParentQuaterion (const double T, const double *const X)

Protected Member Functions
virtual double	AngleFeedbackValue (const double *X) const
	The angle that Angle_FB reports (the azimuth state; the cycloidal actuator has its own)

Protected Member Functions inherited from Ship::LocalConnection
const double *	Force (const double T, const double *const X)

const double *	Torque (const double T, const double *const X)

double	AzimuthLossFactor (const double angle) const
	The factor on the force at the yaw angle `angle` of the connection: 1 with AzimuthLoss off, else l0 cos^2 + l1 sin^2.

void	ComputePostition (const double T, const double *const X) const

Eigen::Vector3d	AngularMotorRate (const Eigen::Vector3d &target, const Eigen::Vector3d &state) const
	The rate of the angular motor state: the angle error wrapped to [-pi,pi], divided by the motor constants and clamped to the rate limits (MAR-0084). Used by OdeFcn and ComputePostition.

void	ComputeForce (const double T, const double *const X) const

Protected Attributes
double	m_torqueLimit

bool	m_oscMode

ISignalPort *	m_inRPMLimits

ISignalPort *	m_inPitchLimits

ISignalPort *	m_inAngleLimits

ISignalPort *	m_inShaftTorque

ISignalPort *	m_inAvailablePower

double	m_pitchMaxChangeRate

double	m_RPMMaxChangeRate

double	m_aziMaxChangeRate

int	m_indexMotorPitch

int	m_indexPropulsorRPM

ISignalPort *	m_inFailureMode

ISignalPort *	m_inCommendedRPM

ISignalPort *	m_inCommandedPitch

bool	m_isAzimuth

double	m_azimuthLoss [2]

bool	m_failureModeRPMError = false

bool	m_failureModeRPMLock = false

bool	m_failureModePitchLock = false

bool	m_failureModePitchMalfunction = false

bool	m_failureModeAzimuthLock = false

bool	m_failureModeAzimuthMalfunction = false

bool	m_failureModeFeedbackPitchFreeze = false

bool	m_failureModeFeedbackRPMFreeze = false

bool	m_failureModeFeedbackAzimuthFreeze = false

bool	m_failureModeFeedbackThrustFreeze = false

double	m_maxAngle

double	m_minAngle

double	m_maxRPM

double	m_minRPM

double	m_maxPitch

double	m_minPitch

double	m_gearRatio

double	m_angularMotorMalfunctionRate

double	m_actualRPM

double	m_actualMotorRPM

double	m_actualPitch

double	m_actualPD

double	m_actualAngle

double	m_consumedPower

double	m_timeConstantPitch

double	m_timeConstantRPM

double	m_actualRPMFeedback

double	m_actualThrustFeedback

double	m_actualPitchFeedback

double	m_actualAngleFeedback

double	m_heldRPMFeedback = 0
	The feedback values held while a feedback freezes (set by AcceptedStep)

double	m_heldPitchFeedback = 0

double	m_heldAngleFeedback = 0

double	m_heldThrustFeedback = 0

double	m_forceParentBody [3]

double	m_torqueParentBody [3]

Protected Attributes inherited from Ship::LocalConnection
double	m_positionNED [3]

double	m_omegaNED [3]

double	m_velocityNED [3]

double	m_omegaBody [3]

double	m_velocityBody [3]

double	m_quaternionNED [4]

double	m_axis1NED [3]

double	m_axis2NED [3]

double	m_axis3NED [3]

double	m_ForceNED [3]

double	m_TorqueNED [3]

double	m_ForceBody [3]

double	m_TorqueBody [3]

bool	m_isAzimuth

double	m_azimuthLoss [2]

ISignalPort *	m_InParentPositionNED

ISignalPort *	m_InParentQuaternionNED

ISignalPort *	m_InParentVelocityNED

ISignalPort *	m_InParentOmegaNED

ISignalPort *	m_InForce

ISignalPort *	m_InMotorAngularTarget [3]

ISignalPort *	m_InMotorLinearTarget [3]

double	m_Offset [3]

bool	m_ForceCalculator

bool	m_ForceInBodyFrame

ISignalPort *	m_InOffset

ISignalPort *	m_InPositionCGNED

bool	m_isLinearMotor

bool	m_isAngularMotor

int	m_stateLinearMotor [3]

int	m_stateAngularMotor [3]

double	m_linearMotorMaxChangerate [3]

double	m_angularMotorMaxChangerate [3]

double	m_linearMotorConstants [3]

double	m_angularMotorConstants [3]

double	m_linearStaticOffset [3]

double	m_angularStaticOffset [3]

double	m_linearForceAttackOffset [3]

ICommonComputation *	m_computePosition

ICommonComputation *	m_computeForce

Member Function Documentation

◆ AngleFeedbackValue()

virtual double Ship::PropulsorActuator::AngleFeedbackValue ( const double * X ) const

protectedvirtual

Reimplemented in Ship::CycloidalActuator.

◆ InitialConditionSetup()

void Ship::PropulsorActuator::InitialConditionSetup	(	const double	T,
		const double *const	currentIC,
		double *const	updatedIC,
		ISimObjectCreator *const	creator
	)

virtual

Reimplemented from Ship::LocalConnection.

◆ OdeFcn()

virtual void Ship::PropulsorActuator::OdeFcn	(	const double	T,
		const double *const	X,
		double *const	XDot
	)		const

virtual

Reimplemented from Ship::LocalConnection.

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

webfhsim/reloadrepos/fhsim_maritime/src/ship/PropulsorActuator.h

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Member Function Documentation

◆ AngleFeedbackValue()

◆ InitialConditionSetup()

◆ OdeFcn()