Commit 348c480c by Jeroen Vreeken

`Determines current limit based on the i2t algorithm.`
parent 05017b43
 trigger { { "immediate" } } blocks (10.0, 0.0) { { "i2t", "i2t_10" } } blocks (1.0, 0.0) { { "i2t", "i2t_1" } { "test_input_float", "test_1_I" } { "test_output_float", "test_1_Ilim" } { "test_input_float", "test_10_I" } { "test_output_float", "test_10_Ilim" } } links { { "test_1_I", "value", "i2t_1", "I", true } { "i2t_1", "Ilim", "test_1_Ilim", "value", true } { "test_10_I", "value", "i2t_10", "I", true } { "i2t_10", "Ilim", "test_10_Ilim", "value", true } } params { { "i2t_1", "continuous", (float) 10.0 } { "i2t_1", "peak", (float) 30.0 } { "i2t_1", "duration", (float) 10.0 } { "i2t_10", "continuous", (float) 10.0 } { "i2t_10", "peak", (float) 30.0 } { "i2t_10", "duration", (float) 10.0 } { "test_1_I", "value", 30, (float) { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 10.0, 10.0, 10.0, 10.0, 10.0, 8.0, 8.0, 0.0, 0.0, 0.0 } } { "test_1_Ilim", "value", 30, (float) { 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 10.0, 10.0, 10.0, 10.0, 10.0, 10.0, 30.0, 30.0, 30.0, 30.0, 30.0 }, (float) { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } } { "test_10_I", "value", 30, (float) { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 30.0, 10.0, 10.0, 10.0, 10.0, 10.0, 8.0, 8.0, 0.0, 0.0, 0.0 } } { "test_10_Ilim", "value", 30, (float) { 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 300.0, 10.0, 10.0, 10.0, 10.0, 10.0, 300.0, 300.0, 300.0, 300.0, 300.0 }, (float) { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } } }
 ... ... @@ -18,6 +18,7 @@ BLOCKS := \ friction \ gain \ gain_var \ i2t \ inverse_proportional \ limit \ limit_dyn \ ... ... @@ -100,6 +101,7 @@ CTRL_TESTS += \ \$(DIR)/block_command_bool.test.output \ \$(DIR)/block_command_float.test.output \ \$(DIR)/block_gain.test.output \ \$(DIR)/block_i2t.test.output \ \$(DIR)/block_limit.test.output \ \$(DIR)/block_limit_switch.test.output \ \$(DIR)/block_limit_var.test.output \ ... ...
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