TVZ Mechatronics Team / AutomationElements

Library containing essential automation elements with parameters in continuous Laplace domain, and implemented with fixed sample time. This means that "out" member functions should be called using Ticker object.

Dependents:   CurrentMeasurement Zavrsni_rad_NXP_cup HC-SR04 Nucleo_SSD1306_DS1302_ESP8266_AM2320_BME280 ... more

PDT1.cpp@1:b9e11da0f2eb, 2015-01-22 (annotated)

Committer:
tbjazic
Date:
Thu Jan 22 12:44:37 2015 +0000
Revision:
1:b9e11da0f2eb
Parent:
0:3dd7aeceee65 
Added header file "AutomationElements.h".

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tbjazic 0:3dd7aeceee65 1 #include "PDT1.h"
tbjazic 0:3dd7aeceee65 2
tbjazic 0:3dd7aeceee65 3 PDT1::PDT1() {
tbjazic 0:3dd7aeceee65 4 u = y = u_p1 = y_p1 = 0;
tbjazic 0:3dd7aeceee65 5 setParameters(1, 1, 0.5, 0.1);
tbjazic 0:3dd7aeceee65 6 }
tbjazic 0:3dd7aeceee65 7
tbjazic 0:3dd7aeceee65 8 PDT1::PDT1(double K_, double T_1_, double T_D_, double T_d_) {
tbjazic 0:3dd7aeceee65 9 u = y = u_p1 = y_p1 = 0;
tbjazic 0:3dd7aeceee65 10 setParameters(K_, T_1_, T_D_, T_d_);
tbjazic 0:3dd7aeceee65 11 }
tbjazic 0:3dd7aeceee65 12
tbjazic 0:3dd7aeceee65 13 void PDT1::setParameters(double K_, double T_1_, double T_D_, double T_d_) {
tbjazic 0:3dd7aeceee65 14 K = K_;
tbjazic 0:3dd7aeceee65 15 T_1 = T_1_;
tbjazic 0:3dd7aeceee65 16 T_D = T_D_;
tbjazic 0:3dd7aeceee65 17 if (T_d_ > 0) // only positive sample time values allowed
tbjazic 0:3dd7aeceee65 18 T_d = T_d_;
tbjazic 0:3dd7aeceee65 19 else
tbjazic 0:3dd7aeceee65 20 T_d = 0.1;
tbjazic 0:3dd7aeceee65 21 a_1 = -exp(-T_d/T_1);
tbjazic 0:3dd7aeceee65 22 b_0 = K * T_D / T_1;
tbjazic 0:3dd7aeceee65 23 b_1 = K * (1 + a_1) - b_0;
tbjazic 0:3dd7aeceee65 24 }
tbjazic 0:3dd7aeceee65 25
tbjazic 0:3dd7aeceee65 26 void PDT1::in(double u_) {
tbjazic 0:3dd7aeceee65 27 u = u_;
tbjazic 0:3dd7aeceee65 28 }
tbjazic 0:3dd7aeceee65 29
tbjazic 0:3dd7aeceee65 30 double PDT1::out() {
tbjazic 0:3dd7aeceee65 31 y = -a_1*y_p1 + b_0*u + b_1*u_p1;
tbjazic 0:3dd7aeceee65 32 y_p1 = y;
tbjazic 0:3dd7aeceee65 33 u_p1 = u;
tbjazic 0:3dd7aeceee65 34 return y;
tbjazic 0:3dd7aeceee65 35 }