涂 桂旺 / AutomationElements

test

Fork of AutomationElements by TVZ Mechatronics Team

I.h@2:a45cbb512c99, 2017-11-25 (annotated)

Committer:
tgw
Date:
Sat Nov 25 02:03:00 2017 +0000
Revision:
2:a45cbb512c99
Parent:
0:3dd7aeceee65 
test

Who changed what in which revision?

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tbjazic 0:3dd7aeceee65 1 #ifndef I_H
tbjazic 0:3dd7aeceee65 2 #define I_H
tbjazic 0:3dd7aeceee65 3
tbjazic 0:3dd7aeceee65 4 #include "mbed.h"
tbjazic 0:3dd7aeceee65 5
tbjazic 0:3dd7aeceee65 6 /** Transfer function of an integrator.
tbjazic 0:3dd7aeceee65 7 * G(s) = Y(s) / U(s) = K_I / s
tbjazic 0:3dd7aeceee65 8 *
tbjazic 0:3dd7aeceee65 9 * Author(s): TVZ Mechatronics Team
tbjazic 0:3dd7aeceee65 10 *
tbjazic 0:3dd7aeceee65 11 */
tbjazic 0:3dd7aeceee65 12 class I {
tbjazic 0:3dd7aeceee65 13 public:
tbjazic 0:3dd7aeceee65 14 /** Default constructor.
tbjazic 0:3dd7aeceee65 15 * K_I = 1, sampleTime = 0.1
tbjazic 0:3dd7aeceee65 16 */
tbjazic 0:3dd7aeceee65 17 I();
tbjazic 0:3dd7aeceee65 18 /** Integrator gain and sample time in seconds. */
tbjazic 0:3dd7aeceee65 19 I(double K_I, double sampleTime);
tbjazic 0:3dd7aeceee65 20 /** Update integrator gain and sample time. */
tbjazic 0:3dd7aeceee65 21 void setParameters(double K_I, double sampleTime);
tbjazic 0:3dd7aeceee65 22 /** Calculate the output y. */
tbjazic 0:3dd7aeceee65 23 double out();
tbjazic 0:3dd7aeceee65 24 /** Set the input u. */
tbjazic 0:3dd7aeceee65 25 void in(double u);
tbjazic 0:3dd7aeceee65 26 private:
tbjazic 0:3dd7aeceee65 27 double K_I, T_d, y, y_p1, u, u_p1;
tbjazic 0:3dd7aeceee65 28 };
tbjazic 0:3dd7aeceee65 29
tbjazic 0:3dd7aeceee65 30 #endif // I_H