| Quellcodebibliothek Statistik Leitseite products/Sources/formale Sprachen/VDM/VDMRT/ChessWayRT/ (Wiener Entwicklungsmethode ©) Datei vom 13.4.2020 mit Größe 946 B |
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Quelle PD.vdmrt Sprache: VDM |
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class PD is subclass of DTControl
instance variables -- design parameters protected k: real; protected tauD: real; protected beta: real; -- variables protected uD: real; protected prev_err: real operations -- constructor for PD public PD: real * real * real ==> PD PD(k_, tauD_, beta_) == ( k := k_; tauD := tauD_; beta := beta_; -- initial values uD := 0.0; prev_err := 0.0 ); -- constructor for PD public PD: real * real ==> PD PD(k_, tauD_) == PD(k_, tauD_, DEF_BETA); -- default constructor for PD public PD: () ==> PD PD() == PD(DEF_K, DEF_TAUD, DEF_BETA); -- calculates output, based on the error public Output: real ==> real Output(err) == ( dcl factor: real := 1 / (sampletime + tauD * beta); uD := factor * (tauD * uD * beta + tauD * k * (err - prev_err) + sampletime * k * err); prev_err := err; return uD ); values -- defaults DEF_K: real = 0.2; DEF_TAUD: real = 1.0; DEF_BETA: real = 0.1; end PD ¤ Dauer der Verarbeitung: 0.13 Sekunden (vorverarbeitet) ¤*© Formatika GbR, Deutschland |
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2026-03-28