涂 桂旺 / AutomationElements

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Show/hide line numbers I.cpp Source File

I.cpp

00001 #include "I.h"
00002 
00003 I::I() {
00004     u = y = u_p1 = y_p1 = 0;
00005     setParameters(1, 0.1);
00006 }
00007 
00008 I::I(double K_I_, double T_d_) {
00009     u = y = u_p1 = y_p1 = 0;
00010     setParameters(K_I_, T_d_);
00011 }
00012 
00013 void I::setParameters(double K_I_, double T_d_) {
00014     if (T_d_ > 0)
00015         T_d = T_d_;
00016     else
00017         T_d = 0.1;
00018     K_I = K_I_;
00019 }
00020 
00021 double I::out() {
00022     y = y_p1 + K_I * T_d * u_p1;
00023     y_p1 = y;    
00024     u_p1 = u;
00025     return y;
00026 }
00027 
00028 void I::in(double u_) {
00029     u = u_;
00030 }
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