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

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