# Differential---tracker (TD)

Source: Internet
Author: User

Method Reference from
--The research and application of differential tracking device
Mia
Zhang Hongli
The traditional PID is extracted from the noise-containing signal, which has the characteristics of increasing the drops noise and increasing the overshoot. By applying the differential tracker to the PID, the optimal approximation of the original signal can be obtained.
Advantages: TD and PID effectively extracted the original signal, to overcome the negative factors, there is a strong ability to resist noise, no overshoot tracking the original signal.

The TD control formula is as follows:

``floatFstfloatX1,floatX2,floatV) {floatTd_y =0;floata0 =0;floatA =0;floatFhan =0;floatD =0;floatD0 =0;    D = r*h;    D0 = h*d;    td_y = x1-v + h*x2; a0 =sqrt(D*d +8* r*fabs(td_y));if(fabs(td_y) >d0) A = x2 +0.5* (a0-d) *sign (td_y);ElseA = x2 + td_y/h;if(fabs(a) >d) Fhan =-r*sign (a);ElseFhan =-r*a/d;return(Fhan);}``
``floatADRC (floatVfloatY//V is the input of the control system and Y is the output of the control system{floatu0;floatE =0;floate1 =0;floatE2 =0;//********** TD ************td_x1 = td_x1 + h*td_x2;//td_x1=v1;td_x2 = td_x2 + h*fst (td_x1, td_x2, V);//td_x2=v2;e1 = td_x1-y;        e2 = td_x2; u0 = p* E1 + D * E2;if(U0 >Ten) u0 =Ten;if(U0 <-Ten) u0 =-Ten;return(u0);``

After the actual detection!

Differential---tracker (TD)

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