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
PT2cc.h
- Committer:
- tbjazic
- Date:
- 2015-01-22
- Revision:
- 0:3dd7aeceee65
File content as of revision 0:3dd7aeceee65:
#ifndef PT2cc_H #define PT2cc_H #include "mbed.h" /** Transfer function of a general PT2 form. cc stands for conjugate-complex. * G(s) = Y(s) / U(s) = K w_n^2 / ( s^2 + 2 zeta w_n + w_n^2 ) * * Author(s): TVZ Mechatronics Team * */ class PT2cc { public: /** Default constructor. * K = 1, zeta = 0.707, w_n = 1 rad/s, sampleTime = 0.1 s. */ PT2cc(); /** PT2cc transfer function parameters K, zeta, w_n and sample time in seconds. */ PT2cc(double K, double zeta, double w_n, double sampleTime); /** Update PT2cc transfer function parameters and sample time. */ void setParameters(double K, double zeta, double w_n, double sampleTime); /** Calculate the output y. */ double out(); /** Set the input u. */ void in(double u); private: double K, zeta, w_n, T_d, a, b, c, d, e, a_1, a_2, b_1, b_2, y, y_p1, y_p2, u, u_p1, u_p2; }; #endif // PT2cc_H