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
Diff: DT1.cpp
- Revision:
- 0:3dd7aeceee65
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/DT1.cpp Thu Jan 22 11:41:02 2015 +0000 @@ -0,0 +1,34 @@ +#include "DT1.h" + +DT1::DT1() { + u = y = u_p1 = y_p1 = 0; + setParameters(1, 0.5, 0.1); +} + +DT1::DT1(double T_1_, double T_D_, double T_d_) { + u = y = u_p1 = y_p1 = 0; + setParameters(T_1_, T_D_, T_d_); +} + +void DT1::setParameters(double T_1_, double T_D_, double T_d_) { + T_1 = T_1_; + T_D = T_D_; + if (T_d_ > 0) // only positive sample time values allowed + T_d = T_d_; + else + T_d = 0.1; + a_1 = -exp(-T_d/T_1); + b_0 = T_D / T_1; + b_1 = -b_0; +} + +void DT1::in(double u_) { + u = u_; +} + +double DT1::out() { + y = -a_1*y_p1 + b_0*u + b_1*u_p1; + y_p1 = y; + u_p1 = u; + return y; +} \ No newline at end of file