Revision 2:a45cbb512c99, committed 2017-11-25

Comitter:

tgw

Date:

Sat Nov 25 02:03:00 2017 +0000

Parent:

1:b9e11da0f2eb

Commit message:

test

Changed in this revision

diff -r b9e11da0f2eb -r a45cbb512c99 AutomationElements.h
--- a/AutomationElements.h	Thu Jan 22 12:44:37 2015 +0000
+++ b/AutomationElements.h	Sat Nov 25 02:03:00 2017 +0000
@@ -4,7 +4,7 @@
 #include "DT1.h"
 #include "I.h"
 #include "PDT1.h"
-#include "PI.h"
+#include "PI1.h"
 #include "PT1.h"
 #include "PT2.h"
 #include "PT2cc.h"

diff -r b9e11da0f2eb -r a45cbb512c99 PI.cpp
--- a/PI.cpp	Thu Jan 22 12:44:37 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,72 +0,0 @@
-#include "PI.h"
-
-PI::PI() {
-    u = y = u_p1 = y_p1 = 0;
-    setParameters(1, 1, 0.1);
-    setOutputLimits(0, 1);
-    setOperationMode(automatic);
-}
-
-PI::PI(double K_R_, double T_I_, double T_d_) {
-    u = y = u_p1 = y_p1 = 0;
-    setParameters(K_R_, T_I_, T_d_);
-    setOutputLimits(0, 1);
-    setOperationMode(automatic);
-}
-
-void PI::setParameters(double K_R_, double T_I_, double T_d_) {
-    if (T_d_ > 0)
-        T_d = T_d_;
-    else
-        T_d = 0.1;
-    if (T_I_ > 0)
-        T_I = T_I_;
-    else
-        T_I = 1;
-    K_R = K_R_;
-}
-
-void PI::setOutputLimits(double lowerOutputLimit, double upperOutputLimit) {
-    if (upperOutputLimit > lowerOutputLimit) {
-        y_min = lowerOutputLimit;
-        y_max = upperOutputLimit;
-    }
-}
-
-void PI::setOperationMode(Mode newOperationMode) {
-    // Bumpless transfer from manual to automatic mode
-    if (operationMode == manual && newOperationMode == automatic) {
-        y = y_p1 = y_manual;
-        u = u_p1 = 0;
-    }
-    // Bumpless transfer from automatic to manual mode
-    else if (operationMode == automatic && newOperationMode == manual) {
-        y_manual = y;
-    }
-    operationMode = newOperationMode;
-}
-
-void PI::setOutputManually(double u_C) {
-    y_manual = u_C;
-}
-
-double PI::out() {
-    if (operationMode == automatic) {
-        y = y_p1 + K_R * u + K_R * (T_d / T_I - 1) * u_p1;
-    } else if (operationMode == manual) {
-        y = y_manual;
-    }
-    
-    if (y > y_max)
-        y = y_max;
-    else if (y < y_min)
-        y = y_min;
-    
-    y_p1 = y;    
-    u_p1 = u;
-    return y;
-}
-
-void PI::in(double u_) {
-    u = u_;
-}
\ No newline at end of file

diff -r b9e11da0f2eb -r a45cbb512c99 PI.h
--- a/PI.h	Thu Jan 22 12:44:37 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,42 +0,0 @@
-#ifndef PI_H
-#define PI_H
-
-#include "mbed.h"
-
-/** Data type for choosing the operation mode of the controller ("automatic" or "manual"). */
-enum Mode {automatic, manual};
-
-/** Transfer function of a PI controller with output limitation, anti-windup and bumpless automatic and manual mode.
- * G_C(s) = U_C(s) / E(s) = K_C ( 1 + 1 / (T_I s) ) = K_C (1 + T_I s) / (T_I s)
- *
- * K_C is the controller gain, and T_I is the controller integral time constant in seconds.
- *
- * Author(s): TVZ Mechatronics Team
- *
- */
-class PI {
-    public:
-        /** Default constructor.
-         * K_C = 1, T_I = 1 s, sampleTime = 0.1 s.
-         */
-        PI();
-        /** PI controller gain, integral time constant in seconds and sample time in seconds. */
-        PI(double K_C, double T_I, double sampleTime);
-        /** Update PI controller gain, integral time constant and sample time. */
-        void setParameters(double K_C, double T_I, double sampleTime);
-        /** Set the controller lower and upper output limit. */
-        void setOutputLimits(double lowerOutputLimit, double upperOutputLimit);
-        /** Set the operation mode to "automatic" or "manual". */
-        void setOperationMode (Mode operationMode);
-        /** Set the controller output manually. */
-        void setOutputManually(double u_C);
-        /** Calculate the controller output u_C. */
-        double out();
-        /** Set the PI controller input e = SP - PV (setpoint - process value). */
-        void in(double e);
-    private:
-        double K_R, T_I, T_d, y, y_p1, u, u_p1, y_max, y_min, y_manual;
-        Mode operationMode;
-};
-
-#endif // PI_H
\ No newline at end of file

diff -r b9e11da0f2eb -r a45cbb512c99 PI1.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PI1.cpp	Sat Nov 25 02:03:00 2017 +0000
@@ -0,0 +1,72 @@
+#include "PI1.h"
+
+PI1::PI1() {
+    u = y = u_p1 = y_p1 = 0;
+    setParameters(1, 1, 0.1);
+    setOutputLimits(0, 1);
+    setOperationMode(automatic);
+}
+
+PI1::PI1(double K_R_, double T_I_, double T_d_) {
+    u = y = u_p1 = y_p1 = 0;
+    setParameters(K_R_, T_I_, T_d_);
+    setOutputLimits(0, 1);
+    setOperationMode(automatic);
+}
+
+void PI1::setParameters(double K_R_, double T_I_, double T_d_) {
+    if (T_d_ > 0)
+        T_d = T_d_;
+    else
+        T_d = 0.1;
+    if (T_I_ > 0)
+        T_I = T_I_;
+    else
+        T_I = 1;
+    K_R = K_R_;
+}
+
+void PI1::setOutputLimits(double lowerOutputLimit, double upperOutputLimit) {
+    if (upperOutputLimit > lowerOutputLimit) {
+        y_min = lowerOutputLimit;
+        y_max = upperOutputLimit;
+    }
+}
+
+void PI1::setOperationMode(Mode newOperationMode) {
+    // Bumpless transfer from manual to automatic mode
+    if (operationMode == manual && newOperationMode == automatic) {
+        y = y_p1 = y_manual;
+        u = u_p1 = 0;
+    }
+    // Bumpless transfer from automatic to manual mode
+    else if (operationMode == automatic && newOperationMode == manual) {
+        y_manual = y;
+    }
+    operationMode = newOperationMode;
+}
+
+void PI1::setOutputManually(double u_C) {
+    y_manual = u_C;
+}
+
+double PI1::out() {
+    if (operationMode == automatic) {
+        y = y_p1 + K_R * u + K_R * (T_d / T_I - 1) * u_p1;
+    } else if (operationMode == manual) {
+        y = y_manual;
+    }
+    
+    if (y > y_max)
+        y = y_max;
+    else if (y < y_min)
+        y = y_min;
+    
+    y_p1 = y;    
+    u_p1 = u;
+    return y;
+}
+
+void PI1::in(double u_) {
+    u = u_;
+}
\ No newline at end of file

diff -r b9e11da0f2eb -r a45cbb512c99 PI1.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PI1.h	Sat Nov 25 02:03:00 2017 +0000
@@ -0,0 +1,42 @@
+#ifndef PI1_H
+#define PI1_H
+
+#include "mbed.h"
+
+/** Data type for choosing the operation mode of the controller ("automatic" or "manual"). */
+enum Mode {automatic, manual};
+
+/** Transfer function of a PI controller with output limitation, anti-windup and bumpless automatic and manual mode.
+ * G_C(s) = U_C(s) / E(s) = K_C ( 1 + 1 / (T_I s) ) = K_C (1 + T_I s) / (T_I s)
+ *
+ * K_C is the controller gain, and T_I is the controller integral time constant in seconds.
+ *
+ * Author(s): TVZ Mechatronics Team
+ *
+ */
+class PI1 {
+    public:
+        /** Default constructor.
+         * K_C = 1, T_I = 1 s, sampleTime = 0.1 s.
+         */
+        PI1();
+        /** PI controller gain, integral time constant in seconds and sample time in seconds. */
+        PI1(double K_C, double T_I, double sampleTime);
+        /** Update PI controller gain, integral time constant and sample time. */
+        void setParameters(double K_C, double T_I, double sampleTime);
+        /** Set the controller lower and upper output limit. */
+        void setOutputLimits(double lowerOutputLimit, double upperOutputLimit);
+        /** Set the operation mode to "automatic" or "manual". */
+        void setOperationMode (Mode operationMode);
+        /** Set the controller output manually. */
+        void setOutputManually(double u_C);
+        /** Calculate the controller output u_C. */
+        double out();
+        /** Set the PI controller input e = SP - PV (setpoint - process value). */
+        void in(double e);
+    private:
+        double K_R, T_I, T_d, y, y_p1, u, u_p1, y_max, y_min, y_manual;
+        Mode operationMode;
+};
+
+#endif // PI1_H
\ No newline at end of file