TAU - APMonitor Option

Main.OptionTau History

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June 08, 2017, at 10:44 PM by -
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%width=50px%Attach:cv.png [[Main/DbsVariable|Local Options]] | %width=30px%Attach:apm.png [[Main/DbsGlobal|Global Options]]
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See also [[Main/OptionSp|SP]], [[Main/OptionSphi|SPHI]], [[Main/OptionSplo|SPLO]]
June 01, 2017, at 06:36 AM by -
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(:title TAU - APMonitor Option:)
(:keywords TAU, Optimization, Estimation, Option, Configure, Default, Description:)
(:description Time constant for controlled variable response:)


 Type: Floating Point, Input
 Default Value: 60.0
 Description: Time constant for controlled variable response

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.