add wcs to TorqueControlledMachine

aenarete · Dec 19, 2024 · cae5396 · cae5396
1 parent 8dc7b38
commit cae5396
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Showing 3 changed files with 6 additions and 3 deletions.
diff --git a/src/WinchModels.jl b/src/WinchModels.jl
@@ -39,7 +39,7 @@ abstract type AbstractWinchModel end
 const AWM = AbstractWinchModel
 
 include("async_generator.jl")
-include("torque_controlled_generator.jl")
 include("winch_controller.jl")
+include("torque_controlled_generator.jl")
 
 end
diff --git a/src/torque_controlled_generator.jl b/src/torque_controlled_generator.jl
@@ -32,6 +32,8 @@ Model of a winch with an torque controlled generator and a gearbox.
 """
 @with_kw mutable struct TorqueControlledMachine <: AbstractWinchModel @deftype Float64
     set::Settings
+    "winch speed controller"
+    wcs::WinchSpeedController
     "minimal speed of the winch in m/s. If v_set is lower the brake is activated."
     v_min = 0.2
     "linear acceleration of the brake [m/s²]"
@@ -43,7 +45,8 @@ Model of a winch with an torque controlled generator and a gearbox.
 end
 
 function TorqueControlledMachine(set::Settings)
-    TorqueControlledMachine(set=set)
+    wcs = WinchSpeedController(;kp=set.p_speed, ki=set.i_speed, dt=1/set.sample_freq)
+    TorqueControlledMachine(set=set, wcs=wcs)
 end
 
 # calculated the motor reactance X [Ohm]

diff --git a/src/winch_controller.jl b/src/winch_controller.jl
@@ -1,5 +1,5 @@
 using DiscretePIDs
-# low level winch controller; this code will be moved to WinchControllers.jl in the future
+# low level winch speed controller
 
 mutable struct WinchSpeedController
     kp::Float64