TVZ Mechatronics Team
Library containing essential automation elements with parameters in continuous Laplace domain, and implemented with fixed sample time. This means that "out" member functions should be called using Ticker object.
Dependents: CurrentMeasurement Zavrsni_rad_NXP_cup HC-SR04 Nucleo_SSD1306_DS1302_ESP8266_AM2320_BME280 ... more
Diff: PDT1.h
- Revision:
- 0:3dd7aeceee65
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PDT1.h Thu Jan 22 11:41:02 2015 +0000
@@ -0,0 +1,32 @@
+#ifndef PDT1_H
+#define PDT1_H
+
+#include "mbed.h"
+
+/** Transfer function of a PDT1 form.
+ * G(s) = Y(s) / U(s) = K * (1 + T_D s) / (1 + T_1 s)
+ *
+ * Author(s): TVZ Mechatronics Team
+ *
+ */
+class PDT1 {
+ public:
+ /** Default constructor.
+ * K = 1, T_1 = 1, T_D = 0.5, sampleTime = 0.1
+ */
+ PDT1();
+ /** PDT1 transfer function parameters and sample time in seconds. */
+ PDT1(double K, double T_1, double T_D, double sampleTime);
+ /** Update PDT1 transfer function parameters and sample time. */
+ void setParameters(double K, double T_1, double T_D, double sampleTime);
+ /** Calculate the output y. */
+ double out();
+ /** Set the input u. */
+ void in(double u);
+ private:
+ double y, y_p1;
+ double u, u_p1;
+ double K, T_1, T_D, T_d, a_1, b_0, b_1;
+};
+
+#endif // PDT1_H
\ No newline at end of file