Main

## Main.OptionTau History

March 24, 2018, at 04:18 AM by 45.56.3.173 -
Changed lines 11-12 from:
The time constant is a tuning parameter for the speed of response of a reference trajectory. When the set point is stepped to a new value, the time constant (TAU) adjusts the speed of response with
to:
The time constant is a tuning parameter for the speed of response of a reference trajectory. When the set point is stepped to a new value, the time constant (''TAU'') adjusts the speed of response with
Changed line 15 from:
where SPold is the prior set point, SPnew is the new set point, t is the time, TAU is the time constant, and SP_tr is the resultant trajectory.
to:
where ''SP'_old_''' is the prior set point, ''SP'_new_''' is the new set point, ''t'' is the time, ''TAU'' is the time constant, and ''SP'_tr_''' is the resultant trajectory.
March 24, 2018, at 04:17 AM by 45.56.3.173 -
Changed line 13 from:
{$SP_{tr} = (1-\exp{\left(-\frac{t}{TAU}\right)}) (SP_{new} - SP_{old}) + SP_{old}$}
to:
{$SP_{tr} = \left(1-\exp{\left(-\frac{t}{TAU}\right)}\right) (SP_{new} - SP_{old}) + SP_{old}$}
March 24, 2018, at 04:17 AM by 45.56.3.173 -
Changed lines 11-15 from:
The time constant is a tuning parameter for the speed of response of a reference trajectory. When the set point is stepped to a new value, the time constant (TAU) adjusts the speed of response with SP_tr = (1-exp(-t/TAU)) (SPnew - SPold) + SPold where SPold is the prior set point, SPnew is the new set point, t is the time, TAU is the time constant, and SP_tr is the resultant trajectory.
to:
The time constant is a tuning parameter for the speed of response of a reference trajectory. When the set point is stepped to a new value, the time constant (TAU) adjusts the speed of response with

{$SP_{tr} = (1-\exp{\left(-\frac{t}{TAU}\right)}) (SP_{new} - SP_{old}) + SP_{old}$}

where SPold is the prior set point, SPnew is the new set point, t is the time, TAU is the time constant, and SP_tr is the resultant trajectory.
March 24, 2018, at 04:14 AM by 45.56.3.173 -
Changed line 8 from:
Default Value: 60.0
to:
Default Value: 1.0
June 08, 2017, at 10:44 PM by 10.5.113.159 -
Changed lines 5-6 from:
%width=50px%Attach:cv.png
to:
%width=50px%Attach:cv.png [[Main/DbsVariable|Local Options]] | %width=30px%Attach:apm.png [[Main/DbsGlobal|Global Options]]

June 01, 2017, at 06:36 AM by 45.56.3.173 -