three_node_thermal_model.h

Go to the documentation of this file.

#ifndef FASTCAT_THREE_NODE_THERMAL_MODEL_H_
#define FASTCAT_THREE_NODE_THERMAL_MODEL_H_
 
// Include external then project includes
#include "fastcat/device_base.h"
 
// Include c then c++ libraries
#include <cmath>
 
// Include external then project includes
#include "fastcat/signal_handling.h"
#include "fastcat/yaml_parser.h"
#include "jsd/jsd_print.h"
#include "jsd/jsd_time.h"
 
namespace fastcat
{
class ThreeNodeThermalModel : public DeviceBase
{
 public:
  ThreeNodeThermalModel();  
 
  bool ConfigFromYaml(const YAML::Node& node) override;
 
  bool Read() override;
 
  FaultType Process() override;
 
  bool Write(DeviceCmd& cmd) override;
 
 protected:
  // declare motor parameters
  double thermal_mass_node_1_on_{0.0};
  double thermal_mass_node_1_off_{0.0};
  double thermal_mass_node_2_{0.0};
  double thermal_res_nodes_1_to_2_{
      0.0};  
  double thermal_res_nodes_2_to_3_{
      0.0};  
  double winding_res_{0.0};  
  double winding_thermal_cor_{0.0};     
  double k1_{0.0}, k2_{0.0}, k3_{0.0};  
 
  // declare fault protection parameters
  std::vector<double> max_allowable_temps_{0.0, 0.0, 0.0, 0.0};
  uint32_t            persistence_limit_{
      0};  
  double ref_temp_{0.0};  
  double exp_smoothing_alpha_{1.0}; 
  bool awaiting_seed_temp_{false};  
 
  // declare variables for storing signal data and estimates
  double motor_current_{
      0.0};  
  bool motor_on_status_{
      false};  
  double motor_res_{0.0};  
  std::vector<double> node_temps_{
      0.0, 0.0, 0.0, 0.0};  
  std::vector<size_t> node_overtemp_persistences_{
      0, 0, 0, 0};  
 
  // constants
  // the required number of signals for this device
  static constexpr size_t FC_TNTM_NUM_SIGNALS = 3;
  // signal index for node 3 temperature
  static constexpr size_t NODE_3_TEMP_IDX = 0;
  // signal index for motor current
  static constexpr size_t MOTOR_CURRENT_IDX = 1;
  // signal index for motor on status (from the actuator state)
  static constexpr size_t MOTOR_ON_STATUS_IDX = 2;
};
}  // namespace fastcat
 
#endif