test
Dependencies: ESP8266 HCSR04 PID
Fork of car_test_v1 by
AutomationElement/PT2.cpp@3:9e51de1050a1, 2017-11-25 (annotated)
- Committer:
- tgw
- Date:
- Sat Nov 25 03:36:58 2017 +0000
- Revision:
- 3:9e51de1050a1
test
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tgw | 3:9e51de1050a1 | 1 | #include "PT2.h" |
tgw | 3:9e51de1050a1 | 2 | |
tgw | 3:9e51de1050a1 | 3 | PT2::PT2() { |
tgw | 3:9e51de1050a1 | 4 | u = y = u_p1 = y_p1 = u_p2 = y_p2 = 0; |
tgw | 3:9e51de1050a1 | 5 | setParameters(1, 1, 0.5, 0.1); |
tgw | 3:9e51de1050a1 | 6 | } |
tgw | 3:9e51de1050a1 | 7 | |
tgw | 3:9e51de1050a1 | 8 | PT2::PT2(double K_, double T_1_, double T_2_, double T_d_) { |
tgw | 3:9e51de1050a1 | 9 | u = y = u_p1 = y_p1 = u_p2 = y_p2 = 0; |
tgw | 3:9e51de1050a1 | 10 | setParameters(K_, T_1_, T_2_, T_d_); |
tgw | 3:9e51de1050a1 | 11 | } |
tgw | 3:9e51de1050a1 | 12 | |
tgw | 3:9e51de1050a1 | 13 | void PT2::setParameters(double K_, double T_1_, double T_2_, double T_d_) { |
tgw | 3:9e51de1050a1 | 14 | if (T_d_ > 0) |
tgw | 3:9e51de1050a1 | 15 | T_d = T_d_; |
tgw | 3:9e51de1050a1 | 16 | else |
tgw | 3:9e51de1050a1 | 17 | T_d = 0.1; |
tgw | 3:9e51de1050a1 | 18 | K = K_; |
tgw | 3:9e51de1050a1 | 19 | T_1 = T_1_; |
tgw | 3:9e51de1050a1 | 20 | T_2 = T_2_; |
tgw | 3:9e51de1050a1 | 21 | a = 1 / T_1; |
tgw | 3:9e51de1050a1 | 22 | b = 1 / T_2; |
tgw | 3:9e51de1050a1 | 23 | c = exp(-a * T_d); |
tgw | 3:9e51de1050a1 | 24 | d = exp(-b * T_d); |
tgw | 3:9e51de1050a1 | 25 | b_1 = -K * ( (a - b)*(c + d) + b*(1 + d) - a*(1 + c) ) / (a - b); |
tgw | 3:9e51de1050a1 | 26 | b_2 = K * ( (a - b)*c*d + b*d - a*c ) / (a - b); |
tgw | 3:9e51de1050a1 | 27 | a_1 = -(c + d); |
tgw | 3:9e51de1050a1 | 28 | a_2 = c*d; |
tgw | 3:9e51de1050a1 | 29 | } |
tgw | 3:9e51de1050a1 | 30 | |
tgw | 3:9e51de1050a1 | 31 | double PT2::out() { |
tgw | 3:9e51de1050a1 | 32 | y = -a_1 * y_p1 - a_2 * y_p2 + b_1 * u_p1 + b_2 * u_p2; |
tgw | 3:9e51de1050a1 | 33 | y_p2 = y_p1; |
tgw | 3:9e51de1050a1 | 34 | y_p1 = y; |
tgw | 3:9e51de1050a1 | 35 | u_p2 = u_p1; |
tgw | 3:9e51de1050a1 | 36 | u_p1 = u; |
tgw | 3:9e51de1050a1 | 37 | return y; |
tgw | 3:9e51de1050a1 | 38 | } |
tgw | 3:9e51de1050a1 | 39 | |
tgw | 3:9e51de1050a1 | 40 | void PT2::in(double u_) { |
tgw | 3:9e51de1050a1 | 41 | u = u_; |
tgw | 3:9e51de1050a1 | 42 | } |