Revision 0:d735360f91f9, committed 2015-01-14

Comitter:

tbjazic

Date:

Wed Jan 14 08:49:46 2015 +0000

Commit message:

Initial commit.

Changed in this revision

--- /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;
+}
\ No newline at end of file

--- /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
\ No newline at end of file