test
Dependencies: ESP8266 HCSR04 PID
Fork of car_test_v1 by
AutomationElement/PT2.cpp
- Committer:
- tgw
- Date:
- 2017-11-25
- Revision:
- 3:9e51de1050a1
File content as of revision 3:9e51de1050a1:
#include "PT2.h" PT2::PT2() { u = y = u_p1 = y_p1 = u_p2 = y_p2 = 0; setParameters(1, 1, 0.5, 0.1); } PT2::PT2(double K_, double T_1_, double T_2_, double T_d_) { u = y = u_p1 = y_p1 = u_p2 = y_p2 = 0; setParameters(K_, T_1_, T_2_, T_d_); } void PT2::setParameters(double K_, double T_1_, double T_2_, double T_d_) { if (T_d_ > 0) T_d = T_d_; else T_d = 0.1; K = K_; T_1 = T_1_; T_2 = T_2_; a = 1 / T_1; b = 1 / T_2; c = exp(-a * T_d); d = exp(-b * T_d); b_1 = -K * ( (a - b)*(c + d) + b*(1 + d) - a*(1 + c) ) / (a - b); b_2 = K * ( (a - b)*c*d + b*d - a*c ) / (a - b); a_1 = -(c + d); a_2 = c*d; } double PT2::out() { y = -a_1 * y_p1 - a_2 * y_p2 + b_1 * u_p1 + b_2 * u_p2; y_p2 = y_p1; y_p1 = y; u_p2 = u_p1; u_p1 = u; return y; } void PT2::in(double u_) { u = u_; }