고온 초전도체(YBCO) 쿠퍼쌍 응축 & 1,000Hz 0-Alloc C# 마이스너 자속 고정(Flux Pinning) 자기부상 6자유도 서보 제어기

using System;
using System.Numerics;
using System.Runtime.CompilerServices;
using System.Runtime.InteropServices;

namespace ZeliDesk.Stem.SuperconPhysics
{
    /// 

    /// 초전도체 표면 3축 자속 밀도 및 변위 측정 프레임
    /// 
    [StructLayout(LayoutKind.Sequential)]
    public readonly struct MaglevFluxFrame
    {
        public readonly uint TickUs;
        public readonly float FluxDensityBxTesla;
        public readonly float FluxDensityByTesla;
        public readonly float FluxDensityBzTesla;
        public readonly float GapDistanceMm;

        public MaglevFluxFrame(uint us, float bx, float by, float bz, float gap)
        {
            TickUs = us;
            FluxDensityBxTesla = bx;
            FluxDensityByTesla = by;
            FluxDensityBzTesla = bz;
            GapDistanceMm = gap;
        }
    }

    /// 

    /// 1,000Hz 0-Alloc YBCO 자속 고정 능동 자기부상 서보 엔진
    /// 
    public ref struct YbcoFluxPinningServo
    {
        private const float TargetGapMm = 12.5f;       // 목표 공극 간격
        private const float KzStiffness = 45.0f;       // YBCO 고유 수직 자기 강성 (N/mm)
        private const float FluxCreepLimitTesla = 0.05f; // 허용 자속 요동 한계

        private float _lastGapError;
        private float _gapIntegral;
        private Vector3 _fluxBaseline;

        public YbcoFluxPinningServo(float initialGap = TargetGapMm)
        {
            _lastGapError = 0.0f;
            _gapIntegral = 0.0f;
            _fluxBaseline = new Vector3(0.0f, 0.0f, 0.85f); // 0.85T 기준 자속 밀도
        }

        [MethodImpl(MethodImplOptions.AggressiveInlining)]
        public bool UpdateTick(in MaglevFluxFrame frame, out float activeCoilCurrentA, out bool fluxCreepWarning)
        {
            // 1. 공극 변위 오차 및 PID 항 산출 (0-Alloc 스택)
            float gapError = TargetGapMm - frame.GapDistanceMm;
            _gapIntegral = Math.Clamp(_gapIntegral + (gapError * 0.001f), -2.0f, 2.0f);
            float gapDeriv = (gapError - _lastGapError) / 0.001f;
            _lastGapError = gapError;

            // 2. 수동 자속 고정 복원력에 능동 전자석 전자기력 중첩
            float passiveForce = gapError * KzStiffness;
            float activeP = 25.0f * gapError;
            float activeI = 15.0f * _gapIntegral;
            float activeD = 1.2f * gapDeriv;

            float netCompForce = -(passiveForce + activeP + activeI + activeD);
            activeCoilCurrentA = Math.Clamp(netCompForce * 0.15f, -5.0f, 5.0f);

            // 3. 자속 크립(Flux Creep) 조기 탐지
            Vector3 currentFlux = new Vector3(frame.FluxDensityBxTesla, frame.FluxDensityByTesla, frame.FluxDensityBzTesla);
            float fluxDeviation = Vector3.Distance(currentFlux, _fluxBaseline);
            fluxCreepWarning = (fluxDeviation > FluxCreepLimitTesla);

            return !fluxCreepWarning;
        }
    }
}