JSBSim::FGActuator Class Reference

Encapsulates an Actuator component for the flight control system. More...

#include <FGActuator.h>

Inherits JSBSim::FGFCSComponent.

Public Member Functions
	FGActuator (FGFCS *fcs, Element *element)
	Constructor.
	~FGActuator ()
	Destructor.
bool	Run (void) override
	This function processes the input.
void	ResetPastStates (void) override
void	SetFailZero (bool set)
	This function fails the actuator to zero.
void	SetFailHardover (bool set)
void	SetFailStuck (bool set)
bool	GetFailZero (void) const
bool	GetFailHardover (void) const
bool	GetFailStuck (void) const
bool	IsSaturated (void) const
Public Member Functions inherited from JSBSim::FGFCSComponent
	FGFCSComponent (FGFCS *fcs, Element *el)
	Constructor.
virtual	~FGFCSComponent ()
	Destructor.
virtual void	SetOutput (void)
double	GetOutput (void) const
std::string	GetName (void) const
std::string	GetType (void) const
virtual double	GetOutputPct (void) const
Public Member Functions inherited from JSBSim::FGJSBBase
	FGJSBBase ()
	Constructor for FGJSBBase.
virtual	~FGJSBBase ()
	Destructor for FGJSBBase.
void	PutMessage (const Message &msg)
	Places a Message structure on the Message queue.
void	PutMessage (const std::string &text)
	Creates a message with the given text and places it on the queue.
void	PutMessage (const std::string &text, bool bVal)
	Creates a message with the given text and boolean value and places it on the queue.
void	PutMessage (const std::string &text, int iVal)
	Creates a message with the given text and integer value and places it on the queue.
void	PutMessage (const std::string &text, double dVal)
	Creates a message with the given text and double value and places it on the queue.
int	SomeMessages (void) const
	Reads the message on the queue (but does not delete it).
void	ProcessMessage (void)
	Reads the message on the queue and removes it from the queue.
Message *	ProcessNextMessage (void)
	Reads the next message on the queue and removes it from the queue.
void	disableHighLighting (void)
	Disables highlighting in the console output.

Additional Inherited Members
Public Types inherited from JSBSim::FGJSBBase
enum	{ eL = 1 , eM , eN }
	Moments L, M, N. More...
enum	{ eP = 1 , eQ , eR }
	Rates P, Q, R. More...
enum	{ eU = 1 , eV , eW }
	Velocities U, V, W. More...
enum	{ eX = 1 , eY , eZ }
	Positions X, Y, Z. More...
enum	{ ePhi = 1 , eTht , ePsi }
	Euler angles Phi, Theta, Psi. More...
enum	{ eDrag = 1 , eSide , eLift }
	Stability axis forces, Drag, Side force, Lift. More...
enum	{ eRoll = 1 , ePitch , eYaw }
	Local frame orientation Roll, Pitch, Yaw. More...
enum	{ eNorth = 1 , eEast , eDown }
	Local frame position North, East, Down. More...
enum	{ eLat = 1 , eLong , eRad }
	Locations Radius, Latitude, Longitude. More...
enum	{   inNone = 0 , inDegrees , inRadians , inMeters ,   inFeet }
	Conversion specifiers. More...
static const std::string &	GetVersion (void)
	Returns the version number of JSBSim.
static constexpr double	KelvinToFahrenheit (double kelvin)
	Converts from degrees Kelvin to degrees Fahrenheit.
static constexpr double	CelsiusToRankine (double celsius)
	Converts from degrees Celsius to degrees Rankine.
static constexpr double	RankineToCelsius (double rankine)
	Converts from degrees Rankine to degrees Celsius.
static constexpr double	KelvinToRankine (double kelvin)
	Converts from degrees Kelvin to degrees Rankine.
static constexpr double	RankineToKelvin (double rankine)
	Converts from degrees Rankine to degrees Kelvin.
static constexpr double	FahrenheitToCelsius (double fahrenheit)
	Converts from degrees Fahrenheit to degrees Celsius.
static constexpr double	CelsiusToFahrenheit (double celsius)
	Converts from degrees Celsius to degrees Fahrenheit.
static constexpr double	CelsiusToKelvin (double celsius)
	Converts from degrees Celsius to degrees Kelvin.
static constexpr double	KelvinToCelsius (double kelvin)
	Converts from degrees Kelvin to degrees Celsius.
static constexpr double	FeetToMeters (double measure)
	Converts from feet to meters.
static double	PitotTotalPressure (double mach, double p)
	Compute the total pressure in front of the Pitot tube.
static double	MachFromImpactPressure (double qc, double p)
	Compute the Mach number from the differential pressure (qc) and the static pressure.
static double	VcalibratedFromMach (double mach, double p)
	Calculate the calibrated airspeed from the Mach number.
static double	MachFromVcalibrated (double vcas, double p)
	Calculate the Mach number from the calibrated airspeed.Based on the formulas in the US Air Force Aircraft Performance Flight Testing Manual (AFFTC-TIH-99-01).
static bool	EqualToRoundoff (double a, double b)
	Finite precision comparison.
static bool	EqualToRoundoff (float a, float b)
	Finite precision comparison.
static bool	EqualToRoundoff (float a, double b)
	Finite precision comparison.
static bool	EqualToRoundoff (double a, float b)
	Finite precision comparison.
static constexpr double	Constrain (double min, double value, double max)
	Constrain a value between a minimum and a maximum value.
static constexpr double	sign (double num)
static double	GaussianRandomNumber (void)
Static Public Attributes inherited from JSBSim::FGJSBBase
static char	highint [5] = {27, '[', '1', 'm', '\0' }
	highlights text
static char	halfint [5] = {27, '[', '2', 'm', '\0' }
	low intensity text
static char	normint [6] = {27, '[', '2', '2', 'm', '\0' }
	normal intensity text
static char	reset [5] = {27, '[', '0', 'm', '\0' }
	resets text properties
static char	underon [5] = {27, '[', '4', 'm', '\0' }
	underlines text
static char	underoff [6] = {27, '[', '2', '4', 'm', '\0' }
	underline off
static char	fgblue [6] = {27, '[', '3', '4', 'm', '\0' }
	blue text
static char	fgcyan [6] = {27, '[', '3', '6', 'm', '\0' }
	cyan text
static char	fgred [6] = {27, '[', '3', '1', 'm', '\0' }
	red text
static char	fggreen [6] = {27, '[', '3', '2', 'm', '\0' }
	green text
static char	fgdef [6] = {27, '[', '3', '9', 'm', '\0' }
	default text
static short	debug_lvl = 1
Protected Member Functions inherited from JSBSim::FGFCSComponent
void	Delay (void)
void	Clip (void)
void	CheckInputNodes (size_t MinNodes, size_t MaxNodes, Element *el)
static std::string	CreateIndexedPropertyName (const std::string &Property, int index)
Protected Attributes inherited from JSBSim::FGFCSComponent
FGFCS *	fcs
FGPropertyManager *	PropertyManager
std::vector< FGPropertyNode_ptr >	OutputNodes
FGParameter_ptr	ClipMin
FGParameter_ptr	ClipMax
std::vector< FGPropertyValue_ptr >	InitNodes
std::vector< FGPropertyValue_ptr >	InputNodes
std::vector< double >	output_array
std::string	Type
std::string	Name
double	Input
double	Output
double	delay_time
unsigned int	delay
int	index
double	dt
bool	clip
bool	cyclic_clip
static Message	localMsg
static std::queue< Message >	Messages
static unsigned int	messageId = 0
static constexpr double	radtodeg = 180. / 3.14159265358979323846
static constexpr double	degtorad = 3.14159265358979323846 / 180.
static constexpr double	hptoftlbssec = 550.0
static constexpr double	psftoinhg = 0.014138
static constexpr double	psftopa = 47.88
static constexpr double	ktstofps = 1.68781
static constexpr double	fpstokts = 1.0 / ktstofps
static constexpr double	inchtoft = 1.0/12.0
static constexpr double	fttom = 0.3048
static constexpr double	m3toft3 = 1.0/(fttom*fttom*fttom)
static constexpr double	in3tom3 = inchtoft*inchtoft*inchtoft/m3toft3
static constexpr double	inhgtopa = 3386.38
static constexpr double	slugtolb = 32.174049
	Note that definition of lbtoslug by the inverse of slugtolb and not to a different constant you can also get from some tables will make lbtoslug*slugtolb == 1 up to the magnitude of roundoff.
static constexpr double	lbtoslug = 1.0/slugtolb
static constexpr double	kgtolb = 2.20462
static constexpr double	kgtoslug = 0.06852168
static const std::string	needed_cfg_version = "2.0"
static const std::string	JSBSim_version = JSBSIM_VERSION " " __DATE__ " " __TIME__
static int	gaussian_random_number_phase = 0

Detailed Description

Encapsulates an Actuator component for the flight control system.

The actuator can be modeled as a "perfect actuator", with the Output being set directly to the input. The actuator can be made more "real" by specifying any/all of the following additional effects that can be applied to the actuator. In order of application to the input signal, these are:

• System lag (input lag, really)
• Rate limiting
• Deadband
• Hysteresis (mechanical hysteresis)
• Bias (mechanical bias)
• Position limiting ("hard stops")

There are also several malfunctions that can be applied to the actuator by setting a property to true or false (or 1 or 0).

Rate limits can be specified either as a single number or property. If a single <rate_limit> is supplied (with no "sense" attribute) then the actuator is rate limited at +/- the specified rate limit. If the <rate_limit> element is supplied with a "sense" attribute of either "incr[easing]" or "decr[easing]" then the actuator is limited to the provided numeric or property value) exactly as provided.

Lag filter's numerical integration assumes that the lag parameter is constant. So a continuously varying parameter via a property will introduce a non negligible error that will accumulate as the simulation progresses.

Syntax:

<actuator name="name">
  <input> {[-]property} </input>
  <lag> {property name | value} </lag>
  [<rate_limit> {property name | value} </rate_limit>]
  [<rate_limit sense="incr"> {property name | value} </rate_limit>
   <rate_limit sense="decr"> {property name | value} </rate_limit>]
  <bias> number </bias>
  <deadband_width> number </deadband_width>
  <hysteresis_width> number </hysteresis_width>
  [<clipto>
    <min> {property name | value} </min>
    <max> {property name | value} </max>
   </clipto>]
  [<output> {property} </output>]
</actuator>

Example:

<actuator name="fcs/gimbal_pitch_position_radians">
  <input> fcs/gimbal_pitch_command </input>
  <lag> 60 </lag>
  <rate_limit> 0.085 </rate_limit> <!-- 0.085 radians/sec -->
  <bias> 0.002 </bias>
  <deadband_width> 0.002 </deadband_width>
  <hysteresis_width> 0.05 </hysteresis_width>
  <clipto> <!-- +/- 0.17 radians -->
    <min> -0.17 </min>
    <max>  0.17 </max>
   </clipto>
</actuator>

Author

Jon S. Berndt

Version

Revision

1.20

Definition at line 127 of file FGActuator.h.

Constructor & Destructor Documentation

FGActuator()

JSBSim::FGActuator::FGActuator	(	FGFCS *	fcs,
		Element *	element )

Constructor.

Definition at line 53 of file FGActuator.cpp.

~FGActuator()

JSBSim::FGActuator::~FGActuator

(

)

Destructor.

Definition at line 120 of file FGActuator.cpp.

Member Function Documentation

GetFailHardover()

bool JSBSim::FGActuator::GetFailHardover ( void ) const

inline

Definition at line 150 of file FGActuator.h.

GetFailStuck()

bool JSBSim::FGActuator::GetFailStuck ( void ) const

inline

Definition at line 151 of file FGActuator.h.

GetFailZero()

bool JSBSim::FGActuator::GetFailZero ( void ) const

inline

Definition at line 149 of file FGActuator.h.

IsSaturated()

bool JSBSim::FGActuator::IsSaturated ( void ) const

inline

Definition at line 152 of file FGActuator.h.

ResetPastStates()

void JSBSim::FGActuator::ResetPastStates ( void )

overridevirtual

Reimplemented from JSBSim::FGFCSComponent.

Definition at line 133 of file FGActuator.cpp.

Run()

bool JSBSim::FGActuator::Run ( void )

overridevirtual

This function processes the input.

It calls private functions if needed to perform the hysteresis, lag, limiting, etc. functions.

Reimplemented from JSBSim::FGFCSComponent.

Definition at line 143 of file FGActuator.cpp.

SetFailHardover()

void JSBSim::FGActuator::SetFailHardover ( bool set )

inline

Definition at line 146 of file FGActuator.h.

SetFailStuck()

void JSBSim::FGActuator::SetFailStuck ( bool set )

inline

Definition at line 147 of file FGActuator.h.

SetFailZero()

void JSBSim::FGActuator::SetFailZero ( bool set )

inline

This function fails the actuator to zero.

The motion to zero will flow through the lag, hysteresis, and rate limiting functions if those are activated.

Definition at line 145 of file FGActuator.h.

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

• FGActuator.h
• FGActuator.cpp