The virtual current is a manipulable current field. Error signals are used to change the magnitude and direction of the current at various depths. The adaptation is using a PID controller with integral saturation for each error signal. The sim object
Input ports
| Name | Width | Description |
| PlanarError_L1 .. PlanarError_L<N> | 2 | Error signal to use in adaptation. One for each depth layer, in total N. |
Output ports
| Name | Width | Description |
| PlanarCurrent_L1 .. PlanarCurrent_L<N> | 2 | Estimated current at specified DepthLayersThicknesses. |
Configuration parameters
| Name | Width | Description |
| ProportionalGain | 1 | \(P_p (p_d - p_e)\). |
| IntegralGain | 1 | \(P_i\int_0^t (p_d - p_e)\). |
| IntegralSaturation | 1 | \(abs(\max(\int_0^t (p_d - p_e))) = sat\). |
| DerivativeGain | 1 | \(P_d (\dot{e})\). |
| DerivativeTimeConstant | 1 | Time contant of the dynamics of error derivative. |
| DepthLayerThickness | N | Array of depths at which the virtual inputs will manipulate the current. Between these points, linear interpolation is used (and below/above boundary depths: the closest one). |
Collaboration diagram for Virtual current:
1.9.4