涂 桂旺 / Mbed OS car_scr

test

Dependencies:   ESP8266 HCSR04 PID

Fork of car_test_v1 by 涂 桂旺

AutomationElement/PT2cc.h@3:9e51de1050a1, 2017-11-25 (annotated)

Committer:
tgw
Date:
Sat Nov 25 03:36:58 2017 +0000
Revision:
3:9e51de1050a1
test

Who changed what in which revision?

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tgw 3:9e51de1050a1 1 #ifndef PT2cc_H
tgw 3:9e51de1050a1 2 #define PT2cc_H
tgw 3:9e51de1050a1 3
tgw 3:9e51de1050a1 4 #include "mbed.h"
tgw 3:9e51de1050a1 5
tgw 3:9e51de1050a1 6 /** Transfer function of a general PT2 form. cc stands for conjugate-complex.
tgw 3:9e51de1050a1 7 * G(s) = Y(s) / U(s) = K w_n^2 / ( s^2 + 2 zeta w_n + w_n^2 )
tgw 3:9e51de1050a1 8 *
tgw 3:9e51de1050a1 9 * Author(s): TVZ Mechatronics Team
tgw 3:9e51de1050a1 10 *
tgw 3:9e51de1050a1 11 */
tgw 3:9e51de1050a1 12 class PT2cc {
tgw 3:9e51de1050a1 13 public:
tgw 3:9e51de1050a1 14 /** Default constructor.
tgw 3:9e51de1050a1 15 * K = 1, zeta = 0.707, w_n = 1 rad/s, sampleTime = 0.1 s.
tgw 3:9e51de1050a1 16 */
tgw 3:9e51de1050a1 17 PT2cc();
tgw 3:9e51de1050a1 18 /** PT2cc transfer function parameters K, zeta, w_n and sample time in seconds. */
tgw 3:9e51de1050a1 19 PT2cc(double K, double zeta, double w_n, double sampleTime);
tgw 3:9e51de1050a1 20 /** Update PT2cc transfer function parameters and sample time. */
tgw 3:9e51de1050a1 21 void setParameters(double K, double zeta, double w_n, double sampleTime);
tgw 3:9e51de1050a1 22 /** Calculate the output y. */
tgw 3:9e51de1050a1 23 double out();
tgw 3:9e51de1050a1 24 /** Set the input u. */
tgw 3:9e51de1050a1 25 void in(double u);
tgw 3:9e51de1050a1 26 private:
tgw 3:9e51de1050a1 27 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;
tgw 3:9e51de1050a1 28 };
tgw 3:9e51de1050a1 29
tgw 3:9e51de1050a1 30 #endif // PT2cc_H