Diff: AutomationElement/PDT1.cpp

Revision:

3:9e51de1050a1

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/AutomationElement/PDT1.cpp	Sat Nov 25 03:36:58 2017 +0000
@@ -0,0 +1,35 @@
+#include "PDT1.h"
+
+PDT1::PDT1() {
+    u = y = u_p1 = y_p1 = 0;
+    setParameters(1, 1, 0.5, 0.1);
+}
+
+PDT1::PDT1(double K_, double T_1_, double T_D_, double T_d_) {
+    u = y = u_p1 = y_p1 = 0;
+    setParameters(K_, T_1_, T_D_, T_d_);
+}
+
+void PDT1::setParameters(double K_, double T_1_, double T_D_, double T_d_) {
+    K = K_;
+    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 = K * T_D / T_1;
+    b_1 = K * (1 + a_1) - b_0;
+}
+
+void PDT1::in(double u_) {
+    u = u_;
+}
+
+double PDT1::out() {
+    y = -a_1*y_p1 + b_0*u + b_1*u_p1;
+    y_p1 = y;
+    u_p1 = u;
+    return y;
+}
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