Rate limiter class.

Dependents:   BLDC_mainProgram L298N-Breakout-Test HBridgeDCMotor STMF302R8_MotorDrive ... more

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Comitter:
tbjazic
Date:
Wed Jan 14 08:49:46 2015 +0000
Commit message:
Initial commit.

Changed in this revision

RateLimiter.cpp Show annotated file Show diff for this revision Revisions of this file
RateLimiter.h Show annotated file Show diff for this revision Revisions of this file
diff -r 000000000000 -r d735360f91f9 RateLimiter.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RateLimiter.cpp	Wed Jan 14 08:49:46 2015 +0000
@@ -0,0 +1,53 @@
+#include "RateLimiter.h"
+
+RateLimiter::RateLimiter () {
+    setLimits(1, -1, 0, 10e-3);
+}
+
+RateLimiter::RateLimiter (float R, float F, float y0, float T_d) {
+    setLimits(R, F, y0, T_d);
+}
+
+void RateLimiter::reset() {
+    y0 = 0;
+}
+
+void RateLimiter::setLimits(float R, float F) {
+    if (R < 0) {
+        R = -R;
+    }
+    if (F > 0) {
+        F = -F;
+    }
+    this->R = R;
+    this->F = F;
+}
+ 
+void RateLimiter::setLimits(float R, float F, float y0, float T_d) {
+    if (R < 0) {
+        R = -R;
+    }
+    if (F > 0) {
+        F = -F;
+    }
+    if (T_d <= 1e-6) {
+        T_d = 1e-3;
+    }
+    this->T_d = T_d;
+    this->y0 = y0;
+    this->R = R;
+    this->F = F;
+}
+ 
+float RateLimiter::out (float u) {
+    rate = (u - y0) / T_d;
+    if (rate > R) {
+        y = R * T_d + y0;
+    } else if (rate < F) {
+        y = F * T_d + y0;
+    } else {
+        y = u;
+    }
+    y0 = y;
+    return y;
+}
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diff -r 000000000000 -r d735360f91f9 RateLimiter.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/RateLimiter.h	Wed Jan 14 08:49:46 2015 +0000
@@ -0,0 +1,29 @@
+#ifndef RATE_LIMITER_H
+#define RATE_LIMITER_H
+
+#include "mbed.h"
+
+/** A rate limiter class.
+ * 
+ * Author(s): TVZ Mechatronics Team
+ *
+ */
+class RateLimiter {
+    public:
+        /** Default constructor */
+        RateLimiter ();
+        /** Constructor receives rising (R) and falling (F) rate limits,
+         * initial condition of the output and sample time in seconds. */
+        RateLimiter (float R, float F, float initialCondition, float sampleTime);
+        /** Setting the rate limits R and F. */
+        void setLimits (float R, float F);
+        void setLimits (float R, float F, float initialCondition, float sampleTime);
+        /** Calculating the output of the rate limiter for the given input. */
+        float out (float input);
+        /** Reset the output of the rate limiter to zero. */
+        void reset();
+    private:
+        float R, F, y0, y, T_d, rate;
+};
+
+#endif // RATE_LIMITER_H
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