ControllerUnitTest Class Reference

Public Member Functions
	ControllerUnitTest ()
Mdouble	f1 (Mdouble x2)
Mdouble	f2 (Mdouble x1, Mdouble x2)
Mdouble	RungeKutta (Mdouble x1, Mdouble x2, Mdouble dt)
Mdouble	SpringMassControl ()

Private Attributes
Mdouble	x1 =0.0
Mdouble	x2 =0.0
Mdouble	m =4
Mdouble	c =10
Mdouble	k =100.0
Mdouble	t =0.0
Mdouble	dt =0.01
Mdouble	xDesire =5
Mdouble	F =0.0
Mdouble	x1Error =0.0

Constructor & Destructor Documentation

ControllerUnitTest()

ControllerUnitTest::ControllerUnitTest ( )

inline

                          {
    }

Member Function Documentation

f1()

Mdouble ControllerUnitTest::f1 ( Mdouble  x2 )

inline

                          {
        Mdouble x1dot=x2;
        return x1dot;
    }

References x2.

Referenced by RungeKutta().

f2()

Mdouble ControllerUnitTest::f2 ( Mdouble  x1, Mdouble  x2  )

inline

                                     {
        Mdouble x2dot=1/m*(F-c*x2-k*x1);
        return x2dot;
    }

References c, F, k, m, x1, and x2.

Referenced by RungeKutta().

RungeKutta()

Mdouble ControllerUnitTest::RungeKutta ( Mdouble  x1, Mdouble  x2, Mdouble  dt  )

inline

                                                        {
        PIController xx(0.1,0.05);
        for (int i=0;i<200/dt;i++) {
            Mdouble k11 = dt*f1(x2);
            Mdouble k21 = dt*f2(x1,x2);
            Mdouble k12 = dt*f1(x2+0.5*k21);
            Mdouble k22 = dt*f2(x1+0.5*k11,x2+0.5*k21);
            Mdouble k13 = dt*f1(x2+0.5*k22);
            Mdouble k23 = dt*f2(x1+0.5*k12,x2+0.5*k22);
            Mdouble k14 = dt*f1(x2+k23);
            Mdouble k24 = dt*f2(x1+k13,x2+k23);
            x1 = x1+(k11+2*k12+2*k13+k14)/6;
            x2 = x2+(k21+2*k22+2*k23+k24)/6;
            t =t+ dt;
            x1Error=-(x1-xDesire);
            F = xx.apply(x1Error,dt);      // Controller Command
        }
        return x1Error;
    }

References PIController::apply(), dt, F, f1(), f2(), i, t, x1, x1Error, x2, and xDesire.

Referenced by SpringMassControl().

SpringMassControl()

Mdouble ControllerUnitTest::SpringMassControl ( )

inline

                               {
        Mdouble Err=RungeKutta(x1,x2,dt);
        return Err;
    }

References dt, RungeKutta(), x1, and x2.

Referenced by main().

Member Data Documentation

c

Mdouble ControllerUnitTest::c =10

private

Referenced by f2().

dt

Mdouble ControllerUnitTest::dt =0.01

private

Referenced by RungeKutta(), and SpringMassControl().

F

Mdouble ControllerUnitTest::F =0.0

private

Referenced by f2(), and RungeKutta().

k

Mdouble ControllerUnitTest::k =100.0

private

Referenced by f2().

m

Mdouble ControllerUnitTest::m =4

private

Referenced by f2().

t

Mdouble ControllerUnitTest::t =0.0

private

Referenced by RungeKutta().

x1

Mdouble ControllerUnitTest::x1 =0.0

private

Referenced by f2(), RungeKutta(), and SpringMassControl().

x1Error

Mdouble ControllerUnitTest::x1Error =0.0

private

Referenced by RungeKutta().

x2

Mdouble ControllerUnitTest::x2 =0.0

private

Referenced by f1(), f2(), RungeKutta(), and SpringMassControl().

xDesire

Mdouble ControllerUnitTest::xDesire =5

private

Referenced by RungeKutta().

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The documentation for this class was generated from the following file:

• ControllerUnitTest.cpp