RtjAocsFramework.SequentialDataProcessing
Class D_Block

java.lang.Object
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  +--RtjAocsFramework.BasicObjects.RootObject
        |
        +--RtjAocsFramework.BasicObjects.AocsObject
              |
              +--RtjAocsFramework.SequentialDataProcessing.AbstractControlChannel
                    |
                    +--RtjAocsFramework.SequentialDataProcessing.ControlChannelBlock
                          |
                          +--RtjAocsFramework.SequentialDataProcessing.D_Block

All Implemented Interfaces:

Configurable, DataSink, DataSource, Resettable, Telemeterable

public class D_Block

extends ControlChannelBlock

Control block to implement a derivative action with a fixed gain. The block implements the following single-input-single-output transfer function:

 y(k+1) = gain*( u(k+1)-u(k) )/DT  

There is a rough filtering action on the derivative value in the sense that the absolute value of y(k+1) is constrained to lie between -maximumDerivative and +maximumDerivative.

There is also a filtering action on the time difference DT. If this is smaller than minimumDeltaT, it is assumed that the target and lastPropagationTime are identical and that no derivation is required.

Copyright: see the Copyright Notice.

Change Record: Version 1.1: added the property minimumDeltaT and the filtering on the minimum delta-T. Done by A. Pasetti on 17.02.03

Version:

1.1

Author:

Alessandro Pasetti (University of Konstanz), Vaclav Cechticky (IfA ETHZ)

See Also:

The Sequential Data Processing Framelet Document

Field Summary

Fields inherited from class RtjAocsFramework.SequentialDataProcessing.ControlChannelBlock

dataSourceOutputPosition, initFlag, input, inputLink, onHold, output, outputBuffer, p, state, validityTime

Fields inherited from class RtjAocsFramework.SequentialDataProcessing.AbstractControlChannel

ccLink, channelPropagation, enclosingControlChannel, lastPropagatedTime, m, n, noPropagation, propagationToken, recoveryAction, totalPropagation

Fields inherited from interface RtjAocsFramework.TelemetryManagement.Telemeterable

DEBUG_TM, LONG_TM, NORMAL_TM, NTMFORMATS, SHORT_TM

Constructor Summary

D_Block()
Creates a new D_Block object.

Method Summary

int	getTelemetryImageLength() Return the length in bits of the telemetry image that would be written by the object in response to a call to method writeToTelemetry.
protected void	propagationAlgorithm(int t) The propagation algorithm of the block implementing a derivation.
void	resetConfiguration() Resets configuration of the super object and performs the local reset of the configuration.
void	setGain(double newGain) Setter method for the gain.
void	setMaximumDerivative(double newMaximumDerivative) Setter method for the maximum derivate.
void	setMinimumDeltaT(double newMinimumDeltaT) Setter method for the minimal distance between the target time and the lastPropagationTime.
void	writeToTelemetry(TelemetryStream stream) Causes the object to write its own state to the telemetry stream.

Methods inherited from class RtjAocsFramework.SequentialDataProcessing.ControlChannelBlock

getNumberOfStates, getOutput, getState, getValidityTime, isConfigured, isOnHold, linkInput, linkInput, propagate, reset, resetMemory, setInput, setInputSize, setOnHold, setOutputSize, setState, setStateSize

Methods inherited from class RtjAocsFramework.SequentialDataProcessing.AbstractControlChannel

getEnclosingControlChannel, getIllegalTimeRecoveryAction, getLastPropagatedTime, getNumberOfInputs, getNumberOfOutputs, getPropagationToken, reset, setEnclosingControlChannel, setIllegalTimeRecoveryAction, setNumberOfInputs, setNumberOfOutputs, setPropagationToken

Methods inherited from class RtjAocsFramework.BasicObjects.AocsObject

addConfigurationListener, addFailureListener, finalize, getAocsClock, getConfigurationListenerList, getCycle, getDestructionRecoveryAction, getFailureListenerList, getSystemManager, getTelemetryFormat, getTime, removeConfigurationListener, removeFailureListener, reportConfigurationEvent, reportFailure, resetStaticConfiguration, setAocsClock, setDestructionRecoveryAction, setMaxNumberOfConfigurationListeners, setMaxNumberOfFailureListeners, setSystemManager, setTelemetryFormat

Methods inherited from class RtjAocsFramework.BasicObjects.RootObject

getClassId, getInstanceId, setClassId

Methods inherited from class java.lang.Object

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

Constructor Detail

D_Block

public D_Block()

Creates a new D_Block object.

Method Detail

propagationAlgorithm

protected void propagationAlgorithm(int t)

The propagation algorithm of the block implementing a derivation.

Specified by:

propagationAlgorithm in class ControlChannelBlock

Parameters:

t - the target time

setGain

public void setGain(double newGain)

Setter method for the gain.

Parameters:

newGain - the new value of the gain

setMaximumDerivative

public void setMaximumDerivative(double newMaximumDerivative)

Setter method for the maximum derivate.

Parameters:

newMaximumDerivative - the new value of the maximum derivative

setMinimumDeltaT

public void setMinimumDeltaT(double newMinimumDeltaT)

Setter method for the minimal distance between the target time and the lastPropagationTime.

Parameters:

newMinimumDeltaT - the new value of the minimal distance between the target time and the lastPropagationTime

resetConfiguration

public void resetConfiguration()

Resets configuration of the super object and performs the local reset of the configuration.

Specified by:

resetConfiguration in interface Configurable

Overrides:

resetConfiguration in class ControlChannelBlock

getTelemetryImageLength

public int getTelemetryImageLength()

Return the length in bits of the telemetry image that would be written by the object in response to a call to method writeToTelemetry.

Specified by:

getTelemetryImageLength in interface Telemeterable

Overrides:

getTelemetryImageLength in class AocsObject

Returns:

the length in bits of the telemetry image

writeToTelemetry

public void writeToTelemetry(TelemetryStream stream)

Causes the object to write its own state to the telemetry stream.

Specified by:

writeToTelemetry in interface Telemeterable

Overrides:

writeToTelemetry in class AocsObject

Parameters:

stream - the telemetry stream