discctrl.h

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/* $Header: /var/cvs/mbdyn/mbdyn/mbdyn-1.0/mbdyn/elec/discctrl.h,v 1.30 2017/01/12 14:46:22 masarati Exp $ */
/*
 * MBDyn (C) is a multibody analysis code.
 * http://www.mbdyn.org
 *
 * Copyright (C) 1996-2017
 *
 * Pierangelo Masarati  <masarati@aero.polimi.it>
 * Paolo Mantegazza     <mantegazza@aero.polimi.it>
 *
 * Dipartimento di Ingegneria Aerospaziale - Politecnico di Milano
 * via La Masa, 34 - 20156 Milano, Italy
 * http://www.aero.polimi.it
 *
 * Changing this copyright notice is forbidden.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation (version 2 of the License).
 *
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

/* Discrete Control:
 * writes the output of selected dofs to a subprocess that generates the
 * input; then applies the input to selected dofs as an abstract force
 */

#ifndef DISCCTRL_H
#define DISCCTRL_H

#include <iostream>
#include <fstream>

#include "elec.h"
#include "scalarvalue.h"

#include "id.h"
#include "gpc.h"
#include "px.h"

/* DiscreteControlProcess - begin */
/* This class provides input and output writing to and from the discrete
 * control MBDyn element and the external process that actually computes
 * the control inputs from the control outputs.
 *
 * At present, for developing and debugging purposes, the class itself
 * generates the output.
 *
 * The discrete system is thought in the form:
 *
 * y(k) = alpha_1*y(k-1)+...+alpha_p*y(k-p)
 *        +beta_0*u(k)+...+beta_p*u(k-p)
 *
 * where y(i) is the m x 1 vector of the measures at step i,
 *       alpha_v is the v-th m x m system matrix,
 *       beta_w is the w-th m x r input matrix, and
 *       u(j) is the r x 1 input vector at step j.
 *
 * The controller computes the control input at step k based on the inputs
 * and outputs at previous time steps [and on the desired value
 * for the outputs] by means of the control matrices a_v, b_w
 * [and m_d] :
 *
 * u(k) = a_1*y(k-1)+...+a_p*y(k-p)+b_1*u(k-1)+...+b_p*u(k-p)
 *
 * [ ... + m_s*yd(k+s)+...+m_0*y_d(k)
 * (Since usually the future values of y_d are unknown, the actual oves are
 * considered, that is y_d is shifted backwards by s places) [B]
 *
 * The matrices are organised as follows:
 *
 * A = [a_1,...,a_p]
 * B = [b_1,...,b_p]
 *
 * [ M = [m_s,...,m_0] ]
 *
 * The vectors are stacked as follows:
 *
 * Y = [y(k-1),...,y(k-p)]
 * U = [u(k-1),...,u(k-p)]
 *
 * as soon as a new measure set and a new control set is available,
 * it replaces the oldest one, that is not required any more, and the
 * computation of the input uses the old inputs and outputs vectors
 * as queues, maintaining a reference to the latest ones. This minimizes the
 * operations required for the computation of control inputs for large systems
 */

class DiscreteControlProcess {
public:
        enum {
                DISCPROC_UNKNOWN        = -1,

                DISCPROC_AR             = 0x1U,
                DISCPROC_MA             = 0x2U,
                DISCPROC_X                      = 0x4U,

                DISCPROC_ARX            = (DISCPROC_AR | DISCPROC_X),
                DISCPROC_ARMA           = (DISCPROC_AR | DISCPROC_MA),
                DISCPROC_ARMAX          = (DISCPROC_AR | DISCPROC_MA | DISCPROC_X),

                DISCPROC_LAST
        };

public:
        virtual ~DiscreteControlProcess(void);

        // Returns the new control input values in array dIn
        virtual void GetInput(std::vector<doublereal>& dIn) = 0;

        // Sets the new measures (and the input)
        virtual void PutOutput(const std::vector<doublereal>& dOut,
                const std::vector<doublereal>& dIn,
                const std::vector<doublereal>& dDesiredOut) = 0;
};

/* DiscreteControlProcess - end */


/* DiscreteControlARXProcess_Debug - begin */

class DiscreteControlARXProcess_Debug : public DiscreteControlProcess {
protected:
        integer iNumOutputs;    // Number of outputs (measures)
        integer iNumInputs;     // Number of inputs (forces)
        integer iOrderA;        // Order of the system (p)
        integer iOrderB;        // Order of the input (p)
        doublereal* pdA;        // Stack of matrices a_c (r x (p*m))
        doublereal* pdY;        // Stack of output vectors at previous times (p*m)
        doublereal* pdB;        // Stack of matrices b_c (r x (p*r) )
        doublereal* pdU;        // Stack of input vectors at previous times (p*r)
        doublereal* pdU0;       // Current input vector (r)
        integer iRefA;          // Current position of most recent output
        integer iRefB;          // Current position of most recent input

        const std::string infile;

        // Reads the control matrices
        int
        ReadMatrix(std::istream& In, doublereal* pd,
                unsigned int iRows, unsigned int iCols,
                unsigned int iNumSubMats,
                const char* sMatName);

public:
        DiscreteControlARXProcess_Debug(integer iNumOut, integer iNumIn,
                integer iOrdA, integer iOrdB, const std::string& infile);
        virtual ~DiscreteControlARXProcess_Debug(void);

        // Returns the new control input values in array dIn
        void GetInput(std::vector<doublereal>& dIn);

        // Sets the new measures (and the input)
        void
        PutOutput(const std::vector<doublereal>& dOut,
                const std::vector<doublereal>& dIn,
                const std::vector<doublereal>& dDesiredOut);
};

/* DiscreteControlARXProcess_Debug - end */


/* DiscreteIdentProcess_Debug - begin */

class DiscreteIdentProcess_Debug : public DiscreteControlProcess {
protected:
        integer iNumOutputs;            /* Number of outputs (measures) */
        integer iNumInputs;             /* Number of inputs (forces) */
        integer iOrderA;                /* Order of the system (p) */
        integer iOrderB;                /* Order of the input (p) */

        IdentProcess*  pId;             /* Identifier */
        PersistentExcitation* pPx;      /* Excitation */

        // provvisorio?!?
        const std::string outfile;
        std::ofstream out;

public:
        DiscreteIdentProcess_Debug(integer iNumOut, integer iNumIn,
                integer iOrdA, integer iOrdB,
                ForgettingFactor* pf,
                PersistentExcitation* px,
                unsigned f_proc,
                const std::string& sf);
        virtual ~DiscreteIdentProcess_Debug(void);

        // Returns the new control input values in array dIn
        void GetInput(std::vector<doublereal>& dIn);

        // Sets the new measures (and the input)
        void PutOutput(const std::vector<doublereal>& dOut,
                const std::vector<doublereal>& dIn,
                const std::vector<doublereal>& dDesiredOut);
};

/* DiscreteIdentProcess_Debug - end */


/* DAC_Process_Debug - begin */

class DAC_Process_Debug : public DiscreteControlProcess {
protected:
        integer iNumOutputs;    // Number of outputs (measures)
        integer iNumInputs;     // Number of inputs (forces)
        integer iOrderA;        // Order of the system (pa)
        integer iOrderB;        // Order of the input (pb)
        integer iOrderMd;       // Order of the desired output
        doublereal* pdBase;
        doublereal* pdTheta;    // Predicted matrix
        doublereal* pdA;        // Stack of matrices a_c (r x (pa*m))
        doublereal* pdY;        // Stack of output vectors at previous times (p*m)
        doublereal* pdB;        // Stack of matrices b_c (r x (pb*r))
        doublereal* pdU;        // Stack of input vectors at previous times (p*r)
        unsigned f_proc;
        doublereal* pdC;        // Stack of matrices c_c (r x (pa*m))
        doublereal* pdE;        // Stack of error vectors at previous times
        doublereal* pdMd;       // Stack of matrices m_c (r x (pa*?))
        doublereal* pdYd;       // Stack of desired output vectors at following times
        doublereal* pdU0;       // Current input vector (r)
        integer iRefA;          // Current position of most recent output
        integer iRefB;          // Current position of most recent input
        integer iRefMd;         // Current position of most recent desired output

        IdentProcess*  pId;     // Identifier
        GPCDesigner* pCD;       // control designer
        PersistentExcitation* pPx;      // excitation
        DriveOwner Trigger;     // control trigger

        std::vector<DriveOwner*> vDesiredOut;

        // provvisorio?!?
        const std::string outfile;
        std::ofstream out;

public:
        DAC_Process_Debug(integer iNumOut, integer iNumIn,
                integer iOrdA, integer iOrdB,
                ForgettingFactor* pf,
                GPCDesigner* pd,
                PersistentExcitation* px,
                DriveCaller* PTrig,
                std::vector<DriveCaller *>& vDesOut,
                const std::string& sf,
                unsigned f_proc);
        virtual ~DAC_Process_Debug(void);

        // Returns the new control input values in array dIn
        void GetInput(std::vector<doublereal>& dIn);

        // Sets the new measures (and the input)
        void PutOutput(const std::vector<doublereal>& dOut,
                const std::vector<doublereal>& dIn,
                const std::vector<doublereal>& dDesiredOut);
};

/* DAC_Process_Debug - end */


/* DiscreteControlElem - begin */

class DiscreteControlElem : virtual public Elem, public Electric {
protected:
        DiscreteControlProcess* pDCP;
        bool bNewStep;          // Decides whether to read data from control process
        integer iNumIter;       // The control acts at iNumIter*dt time steps
        integer iCurrIter;

        integer iNumOutputs;
        std::vector<ScalarValue *> vOutputs;
        std::vector<DriveOwner*> vOutScaleFact;
        std::vector<doublereal> dOut;

        integer iNumInputs;
        ScalarDof* pInputs;
        std::vector<doublereal> dIn;

public:
        DiscreteControlElem(unsigned int uL, const DofOwner* pDO,
                integer iNumOut,
                std::vector<ScalarValue *>& vOut,
                std::vector<DriveCaller *>& vOutSF,
                integer iNumIn,
                ScalarDof* ppIn,
                DiscreteControlProcess* p,
                integer iNIt,
                flag fOut);
        virtual ~DiscreteControlElem(void);

        virtual Electric::Type GetElectricType(void) const;

        /* Scrive il contributo dell'elemento al file di restart */
        virtual std::ostream& Restart(std::ostream& out) const;

        virtual void
        AfterConvergence(const VectorHandler& X, const VectorHandler& XP);

        /* ritorna il numero di Dofs per gli elementi che sono anche DofOwners */
        virtual unsigned int iGetNumDof(void) const;

        /* esegue operazioni sui dof di proprieta' dell'elemento */
        virtual DofOrder::Order GetDofType(unsigned int /* i */ ) const;

        /* Dimensioni del workspace */
        virtual void WorkSpaceDim(integer* piNumRows, integer* piNumCols) const;

        /* assemblaggio jacobiano */
        virtual VariableSubMatrixHandler&
        AssJac(VariableSubMatrixHandler& WorkMat,
                doublereal /* dCoef */ ,
                const VectorHandler& /* XCurr */ ,
                const VectorHandler& /* XPrimeCurr */ );

        /* assemblaggio residuo */
        virtual SubVectorHandler&
        AssRes(SubVectorHandler& WorkVec,
                doublereal dCoef,
                const VectorHandler& XCurr,
                const VectorHandler& XPrimeCurr);

        /* Dati privati */
        virtual unsigned int iGetNumPrivData(void) const;
        virtual unsigned int iGetPrivDataIdx(const char *s) const;
        virtual doublereal dGetPrivData(unsigned int i) const;   

        /* *******PER IL SOLUTORE PARALLELO******** */
        /* Fornisce il tipo e la label dei nodi che sono connessi all'elemento
         * utile per l'assemblaggio della matrice di connessione fra i dofs */
        virtual void
        GetConnectedNodes(std::vector<const Node *>& connectedNodes) const;
        /* ************************************************ */
};

/* DiscreteControlElem - end */

#endif /* DISCCTRL_H */