涂 桂旺 / AutomationElements

test

Fork of AutomationElements by TVZ Mechatronics Team

PT2.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 PT2_H
tbjazic 0:3dd7aeceee65 2 #define PT2_H
tbjazic 0:3dd7aeceee65 3
tbjazic 0:3dd7aeceee65 4 #include "mbed.h"
tbjazic 0:3dd7aeceee65 5
tbjazic 0:3dd7aeceee65 6 /** Transfer function of a PT2 form.
tbjazic 0:3dd7aeceee65 7 * G(s) = Y(s) / U(s) = K / ( (1 + T_1 s) * (1 + T_2 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 PT2 {
tbjazic 0:3dd7aeceee65 13 public:
tbjazic 0:3dd7aeceee65 14 /** Default constructor.
tbjazic 0:3dd7aeceee65 15 * K = 1, T_1 = 1 s, T_2 = 0.5 s, sampleTime = 0.1 s.
tbjazic 0:3dd7aeceee65 16 */
tbjazic 0:3dd7aeceee65 17 PT2();
tbjazic 0:3dd7aeceee65 18 /** PT2 transfer function parameters and sample time in seconds. */
tbjazic 0:3dd7aeceee65 19 PT2(double K, double T_1, double T_2, double sampleTime);
tbjazic 0:3dd7aeceee65 20 /** Update PT2 transfer function parameters and sample time. */
tbjazic 0:3dd7aeceee65 21 void setParameters(double K, double T_1, double T_2, 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, T_1, T_2, T_d, a, b, c, d, a_1, a_2, b_1, b_2, y, y_p1, y_p2, u, u_p1, u_p2;
tbjazic 0:3dd7aeceee65 28 };
tbjazic 0:3dd7aeceee65 29
tbjazic 0:3dd7aeceee65 30 #endif // PT2_H