test
Dependencies: ESP8266 HCSR04 PID
Fork of car_test_v1 by
AutomationElement/PDT1.cpp
- Committer:
- tgw
- Date:
- 2017-11-25
- Revision:
- 3:9e51de1050a1
File content as of revision 3:9e51de1050a1:
#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; }