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Framkvæmdi test á hegðun PI_controller

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helgie22
2026-10-01 10:58:06 +00:00
parent 11df24f592
commit bf389cd012
4 changed files with 53 additions and 20 deletions
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test/test_pi_controller/test_main.cpp
+40 -14
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@@ -1,21 +1,25 @@
#include <unity.h>
// #ifdef ARDUINO
#include <Arduino.h>
// #endif
#include "p_controller.h"
#include "pi_controller.h"
static const double KP = 2.0;
static const double TI = 1.0;
static const double T = 0.1;
static const double TOL = 1e-6;
static const double TOL = 1e-4; // double er 32-bita float a AVR
void setUp(void) {}
void tearDown(void) {}
// void setUp(void) {}
// void tearDown(void) {}
// Normal flow: engin villa -> ekkert úttak
void test_zero_error_gives_zero_output(void)
{
PI_controller c(KP, TI, T);
TEST_ASSERT_DOUBLE_WITHIN(TOL, 0.0, c.update(10.0, 10.0));
TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(10.0, 10.0));
}
// Normal flow: fyrsta skref u = Kp * (e + e*T/Ti)
@@ -23,7 +27,7 @@ void test_first_step(void)
{
PI_controller c(KP, TI, T);
double e = 5.0;
TEST_ASSERT_DOUBLE_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
}
// Normal flow: stöðug villa safnast upp, u_n = Kp * (e + n*e*T/Ti)
@@ -35,7 +39,7 @@ void test_integral_accumulates(void)
for (int n = 1; n <= 5; n++)
{
u = c.update(e, 0.0);
TEST_ASSERT_DOUBLE_WITHIN(TOL, KP * (e + n * e * T / TI), u);
TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + n * e * T / TI), u);
}
}
@@ -49,21 +53,21 @@ void test_output_held_when_error_zero(void)
c.update(e, 0.0);
}
double E = 5 * e * T;
TEST_ASSERT_DOUBLE_WITHIN(TOL, KP * E / TI, c.update(0.0, 0.0));
TEST_ASSERT_FLOAT_WITHIN(TOL, KP * E / TI, c.update(0.0, 0.0));
}
// Alt flow: villa langt utan getu -> mettun í +100 %
void test_saturates_high(void)
{
PI_controller c(KP, TI, T);
TEST_ASSERT_DOUBLE_WITHIN(TOL, 100.0, c.update(10000.0, 0.0));
TEST_ASSERT_FLOAT_WITHIN(TOL, 100.0, c.update(10000.0, 0.0));
}
// Alt flow: mettun í -100 %
void test_saturates_low(void)
{
PI_controller c(KP, TI, T);
TEST_ASSERT_DOUBLE_WITHIN(TOL, -100.0, c.update(-10000.0, 0.0));
TEST_ASSERT_FLOAT_WITHIN(TOL, -100.0, c.update(-10000.0, 0.0));
}
// Alt flow: anti-windup. Eftir langa mettun á lítil neikvæð villa
@@ -88,7 +92,7 @@ void test_reset_clears_integral(void)
c.update(5.0, 0.0);
}
c.reset();
TEST_ASSERT_DOUBLE_WITHIN(TOL, 0.0, c.update(0.0, 0.0));
TEST_ASSERT_FLOAT_WITHIN(TOL, 0.0, c.update(0.0, 0.0));
}
// Polymorphism: kall í gegnum P_controller& gefur PI hegðun
@@ -97,18 +101,20 @@ void test_polymorphic_update(void)
PI_controller pi(KP, TI, T);
P_controller& c = pi;
double e = 5.0;
TEST_ASSERT_DOUBLE_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
TEST_ASSERT_FLOAT_WITHIN(TOL, KP * (e + e * T / TI), c.update(e, 0.0));
}
// P_controller hegðar sér óbreytt
void test_p_controller_unchanged(void)
{
P_controller c(KP);
TEST_ASSERT_DOUBLE_WITHIN(TOL, KP * 5.0, c.update(5.0, 0.0));
TEST_ASSERT_FLOAT_WITHIN(TOL, KP * 5.0, c.update(5.0, 0.0));
}
int main(int argc, char** argv)
void setup()
{
// init();
delay(2000);
UNITY_BEGIN();
RUN_TEST(test_zero_error_gives_zero_output);
RUN_TEST(test_first_step);
@@ -120,5 +126,25 @@ int main(int argc, char** argv)
RUN_TEST(test_reset_clears_integral);
RUN_TEST(test_polymorphic_update);
RUN_TEST(test_p_controller_unchanged);
return UNITY_END();
// return UNITY_END();
UNITY_END();
}
void loop() {}
// #ifdef ARDUINO
// void setup()
// {
// delay(2000); // bida eftir serial tengingu eftir reset
// run_tests();
// }
// void loop()
// {
// }
// #else
// int main(int argc, char** argv)
// {
// return run_tests();
// }
// #endif