92 lines
2.2 KiB
Go
92 lines
2.2 KiB
Go
package device_sys
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import (
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"joylink.club/ecs"
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"joylink.club/ecs/filter"
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"joylink.club/rtsssimulation/component"
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"joylink.club/rtsssimulation/entity"
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)
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// MotorSystem 电机马达
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type MotorSystem struct {
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query *ecs.Query
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}
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func NewMotorSystem() *MotorSystem {
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return &MotorSystem{
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query: ecs.NewQuery(filter.Contains(component.UidType, component.MotorType)),
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}
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}
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func (s *MotorSystem) Update(w ecs.World) {
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wd := entity.GetWorldData(w)
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s.query.Each(w, func(entry *ecs.Entry) {
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motorId := component.UidType.Get(entry).Id
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motor := component.MotorType.Get(entry)
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if motor.Ms.OnForward() { //正转电源
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if !motor.Forward && motor.Speed == 0 {
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motor.Forward = true
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}
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} else if motor.Ms.OnReverse() { //反转电源
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if motor.Forward && motor.Speed == 0 {
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motor.Forward = false
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}
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}
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//
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model, ok := wd.Repo.FindById(motorId).(motorModel)
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if !ok {
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model = motorImpl //默认工频
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}
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//
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speed := motor.Speed + s.calculateAc(motor, model)*float32(w.Tick())
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if speed <= 0 {
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speed = 0
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}
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//变频器
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if entry.HasComponent(component.MotorFcType) {
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fc := component.MotorFcType.Get(entry)
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SPEED := 60 * float32(fc.F) //当前频率目标转速
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if speed > SPEED {
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speed = SPEED
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}
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} else {
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if speed > model.MotorMaxSpeed() {
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speed = model.MotorMaxSpeed()
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}
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}
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//
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motor.Speed = speed
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})
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}
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func (s *MotorSystem) calculateAc(motor *component.Motor, model motorModel) float32 {
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//大于0加速，小于0减速
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ac := model.MotorMaxSpeed() / float32(model.MotorAcTime())
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if motor.Ms.On() { //电源---正转或反转启动
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if motor.Ms.OnForward() && motor.RunningReverse() || motor.Ms.OnReverse() && motor.RunningForward() {
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ac = -ac
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}
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} else { //电源关闭
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ac = -ac * 2 // r/ms
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}
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return ac
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}
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var motorImpl = &motorModelImpl{maxSpeed: 3000, acTime: 2000} //默认工频
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type motorModel interface {
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//MotorMaxSpeed 电机最大转速,r/min
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MotorMaxSpeed() float32
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//MotorAcTime 电机由静止加速到最大转速的时间，ms
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MotorAcTime() uint16
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}
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type motorModelImpl struct {
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maxSpeed float32
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acTime uint16
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}
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func (m *motorModelImpl) MotorMaxSpeed() float32 {
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return m.maxSpeed
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}
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func (m *motorModelImpl) MotorAcTime() uint16 {
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return m.acTime
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}
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