TVZ Mechatronics Team / AutomationElements

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.

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Diff: PT1.h

Revision:
0:3dd7aeceee65
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PT1.h	Thu Jan 22 11:41:02 2015 +0000
@@ -0,0 +1,30 @@
+#ifndef PT1_H
+#define PT1_H
+
+#include "mbed.h"
+
+/** Transfer function of a PT1 form.
+ * G(s) = Y(s) / U(s) = K / (1 + T_1 s)
+ *
+ * Author(s): TVZ Mechatronics Team
+ *
+ */
+class PT1 {
+    public:
+        /** Default constructor.
+         * K = 1, T_1 = 1, sampleTime = 0.1
+         */
+        PT1();
+        /** PT1 transfer function parameters and sample time in seconds. */
+        PT1(double K, double T_1, double sampleTime);
+        /** Update PT1 transfer function parameters and sample time. */
+        void setParameters(double K, double T_1, double sampleTime);
+        /** Calculate the output y. */
+        double out();
+        /** Set the input u. */
+        void in(double u);
+    private:
+        double K, T_1, T_d, a_1, b_1, y, y_p1, u, u_p1;
+};
+
+#endif // PT1_H
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