RtjAocsFramework.Factories
Class ControllerFactory

java.lang.Object
  |
  +--RtjAocsFramework.Factories.ControllerFactory

Direct Known Subclasses:

JbedSmmControllerFactory

public abstract class ControllerFactory

extends Object

Framework-level factory for the controller component. This factory creates the controller manager and the lists that will hold the controllers associated to each operational mode.

Copyright: see the Copyright Notice.

Version:

1.0

Author:

V. Cechticky/A. Pasetti (ETH-Zurich)

Constructor Summary

ControllerFactory()
Create the controller manager and the the lists that will hold the controllers associated to each operational mode.

Method Summary

ControllerList	getControllerList(short mode) Return the controller list associated to mode mode.
ControllerManager	getControllerManager() Return the controller manager.
Controller	makeController(DataSource measurementInput, DataSource referenceInput, DataSink actuatorCommand, AbstractControlChannel compensator, RecoveryAction instabilityRecoveryAction) Construct, configure and return a minimal controller implementation.
Controller	makeController(DataSource measurementInput, DataSource referenceInput, DataSource feedforwardInput, DataSink actuatorCommand, DataSink compensatorOutput, DataSink controlError, AbstractControlChannel compensator, AbstractControlChannel measurementFilter, AbstractControlChannel referenceInputFilter, AbstractControlChannel feedforwardFilter, RecoveryAction instabilityRecoveryAction) Construct, configure and return a complete controller implementation.
AbstractControlChannel	makePID(double kp, double ki, double kd, double maximumDerivative, RecoveryAction recoveryAction) Creates a control block implementing a PID transfer function.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ControllerFactory

public ControllerFactory()

Create the controller manager and the the lists that will hold the controllers associated to each operational mode.

Method Detail

getControllerList

public ControllerList getControllerList(short mode)

Return the controller list associated to mode mode. The controller lists are constructed in the constructor.

getControllerManager

public ControllerManager getControllerManager()

Return the controller manager. The controller manager is constructed in the constructor.

makeController

public Controller makeController(DataSource measurementInput,
                                 DataSource referenceInput,
                                 DataSink actuatorCommand,
                                 AbstractControlChannel compensator,
                                 RecoveryAction instabilityRecoveryAction)

Construct, configure and return a minimal controller implementation. A minimal controller has a measurement and reference input, one single command output, and one compensator. It also has a recovery action that is associated to the failure arising from a detection of an instability.

Parameters:

measurementInput - the data source from which the measurements of the controller variable are taken

referenceInput - the data source from which the reference for the controller is taken

actuatorCommand - the data sink where the actuator command generated by the controller is written

compensator - the control channel implementing the compensator transfer function

instabilityRecoveryAction - the recovery action associated to the failure declared when an instability in the controller is detected

makeController

public Controller makeController(DataSource measurementInput,
                                 DataSource referenceInput,
                                 DataSource feedforwardInput,
                                 DataSink actuatorCommand,
                                 DataSink compensatorOutput,
                                 DataSink controlError,
                                 AbstractControlChannel compensator,
                                 AbstractControlChannel measurementFilter,
                                 AbstractControlChannel referenceInputFilter,
                                 AbstractControlChannel feedforwardFilter,
                                 RecoveryAction instabilityRecoveryAction)

Construct, configure and return a complete controller implementation.

Parameters:

measurementInput - the data source from which the measurements of the controller variable are taken

referenceInput - the data source from which the reference for the controller is taken

feedforwardInput - the data source from which the feedforward signal for the controller is taken

actuatorCommand - the data sink where the actuator command generated by the controller is written

compensatorOutput - the data sink where the output of the controller compensator is written

controlError - the data sink where the controller error is written

compensator - the control channel implementing the compensator transfer function

measurementFilter - the control channel implementing the transfer function to filter the measurements

referenceInputFilter - the control channel implementing the transfer function to filter the reference signal

feedforwardFilter - the control channel implementing the transfer function to filter the feedforward signal

instabilityRecoveryAction - the recovery action associated to the failure declared when an instability in the controller is detected

makePID

public AbstractControlChannel makePID(double kp,
                                      double ki,
                                      double kd,
                                      double maximumDerivative,
                                      RecoveryAction recoveryAction)

Creates a control block implementing a PID transfer function.

Parameters:

kp - proportional gain

kd - derivative gain

ki - integral gain

maximumDerivative - saturation value for the derivative term

recoveryAction - recovery action associated to all control channels used in the PID block