fsfb_control.FSFB Class Reference

This class implements a full state feedback regulator. More...

Public Member Functions
def	__init__ (self, ID, K, sat_lim, dead_band=(0, 0), conv=1)
	Creates a FSFB regulator object based on a given gain matrix and saturation limits. More...
def	feedback (self, x, dt=0)
	Computes actuation values using current state vector. More...
def	get_K (self)
	Returns the current gain of the controller. More...
def	set_K (self, K)
	Sets the gain of the controller. More...

Public Attributes
	ID
	The unique ID string for the object, used for trace output. More...
	K
	The controller's gain matrix. More...
	n
	The controller's integral gain. More...
	sat_lim
	The controller's output saturation limits. More...
	dead_band
	The actuator dead_band limits. More...
	conv
	The conversion factor for the control signal should have units of the form, [actuator input]/[controller output]. More...
	ctrl_signal
	The control signal. More...

Detailed Description

This class implements a full state feedback regulator.

This controller is initialized by passing in a feedback gain matrix. The size of this matrix configures the controller. This class currently has one method, feedback(), which takes a state vector and uses the internal gain matrix to compute the actuation signal.

Constructor & Destructor Documentation

__init__()

def fsfb_control.FSFB.__init__	(		self,
			ID,
			K,
			sat_lim,
			dead_band = (0,0),
			conv = 1
	)

Creates a FSFB regulator object based on a given gain matrix and saturation limits.

Parameters

ID	The ID string for the object
K	FSFB gain matrix
sat_lim	Saturation limits for the system
dead_band	A tuple describing the actuator deadband
conv	Control signal conversion factor. Use if output does not match actuator input

Member Function Documentation

feedback()

def fsfb_control.FSFB.feedback	(		self,
			x,
			dt = 0
	)

Computes actuation values using current state vector.

Parameters

x	The state vector

Returns

ctrl_signal The actuation signal

get_K()

def fsfb_control.FSFB.get_K

(

self

)

Returns the current gain of the controller.

Returns

Current gain matrix

set_K()

def fsfb_control.FSFB.set_K	(		self,
			K
	)

Sets the gain of the controller.

Parameters

KP	New proportional gain

Member Data Documentation

conv

fsfb_control.FSFB.conv

The conversion factor for the control signal should have units of the form, [actuator input]/[controller output].

For ME 405 our units are [PWM%]/[Nm]

ctrl_signal

fsfb_control.FSFB.ctrl_signal

The control signal.

dead_band

fsfb_control.FSFB.dead_band

The actuator dead_band limits.

ID

fsfb_control.FSFB.ID

The unique ID string for the object, used for trace output.

K

fsfb_control.FSFB.K

The controller's gain matrix.

n

fsfb_control.FSFB.n

The controller's integral gain.

sat_lim

fsfb_control.FSFB.sat_lim

The controller's output saturation limits.

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

• me405 Term Project/fsfb_control.py