pd_lpf_1.tpp

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#include "../../include/pd/pd_lpf_1.h"
 
template <typename T>
control_system::pd::PD_LPF_1<T>::PD_LPF_1()
{
    dt = 0.0;
    e_k_1 = 0.0;
    Kd = 0.0;
    start = true;
 
    u_k_1 = 0.0;
    tau = 0.0;
}
 
template <typename T>
void control_system::pd::PD_LPF_1<T>::init(T dt_, T Kp_, T Kd_, T fc_, T u_max_)
{
    set_param(dt_, Kp_, Kd_, fc_, u_max_);
    start = true;
}
 
template <typename T>
void control_system::pd::PD_LPF_1<T>::set_param(T dt_, T Kp_, T Kd_, T fc_, T u_max_)
{
    dt = dt_;
    Kp = Kp_;
    Kd = Kd_;
    tau = 1.0 / (6.28318530717958647692528676655900576 * fc_);
    u_max = u_max_;
}
 
template <typename T>
T control_system::pd::PD_LPF_1<T>::update(T x_0, T x)
{
    T e_k = x_0 - x;
    T u_k = 0.0;
    if (start == true)
    {
        start = false;
        u_k = Kp * e_k;
    }
    else
    {
        u_k = (tau * u_k_1 + (Kp * (dt + tau) + Kd) * e_k - (Kp * tau + Kd) * e_k_1) / (tau + dt);
    }
    u_k = saturate(u_k, -u_max, u_max);
    e_k_1 = e_k;
    u_k_1 = u_k;
    return u_k;
}
 
template <typename T>
void control_system::pd::PD_LPF_1<T>::reset()
{
    e_k_1 = 0.0;
    start = true;
    u_k_1 = 0.0;
}
 
template <typename T>
void control_system::pd::PD_LPF_1<T>::merge(T u_k_1_)
{
}
 
template <typename T>
void control_system::pd::PD_LPF_1<T>::set_dt(T dt_)
{
    dt = dt_;
}
 
template <typename T>
void control_system::pd::PD_LPF_1<T>::set_Kp(T Kp_)
{
    Kp = Kp_;
}
 
template <typename T>
void control_system::pd::PD_LPF_1<T>::set_Kd(T Kd_)
{
    Kd = Kd_;
}
 
template <typename T>
void control_system::pd::PD_LPF_1<T>::set_fc(T fc_)
{
    tau = 1.0 / (6.28318530717958647692528676655900576 * fc_);
}
 
template <typename T>
void control_system::pd::PD_LPF_1<T>::set_u_max(T u_max_)
{
    u_max = u_max_;
}
 
template <typename T>
T control_system::pd::PD_LPF_1<T>::get_dt()
{
    return dt;
}
 
template <typename T>
T control_system::pd::PD_LPF_1<T>::get_Kp()
{
    return Kp;
}
 
template <typename T>
T control_system::pd::PD_LPF_1<T>::get_Kd()
{
    return Kd;
}
 
template <typename T>
T control_system::pd::PD_LPF_1<T>::get_fc()
{
    return 1.0 / (6.28318530717958647692528676655900576 * tau);
}
 
template <typename T>
T control_system::pd::PD_LPF_1<T>::get_e_k_1()
{
    return e_k_1;
}
 
template <typename T>
T control_system::pd::PD_LPF_1<T>::get_u_k_1()
{
    return u_k_1;
}
 
template <typename T>
T control_system::pd::PD_LPF_1<T>::get_u_max()
{
    return u_max;
}