Diff: PID_Cntrl.cpp

Revision:

16:762867ba6aaa

Parent:

0:8e87cdf07037

--- a/PID_Cntrl.cpp	Fri May 29 11:34:21 2020 +0000
+++ b/PID_Cntrl.cpp	Fri May 29 15:41:58 2020 +0000
@@ -5,111 +5,9 @@
     
                   Tn*s + 1                      
       G(s) = Kp -------------  with s ~ (1 - z^-1)/Ts
-                    Ts*s              
-                    
-#include "PI_Cntrl.h"
-using namespace std;       
-
-*/
-
-
-
-/*
-    PID-T1 Controller class
-
-                      1           s
-      G(s) = Kp + Ki --- + Kd ---------
-                      s       T_f*s + p
-
-    Eigther reseting the Nucleo via the black button or save a new software on 
-    the Nucleo sets the analog output to zero. Zero is equal to -4 Ampere!!!
-    Therefor: NEVER !!! reset or save a new software while the VC is powered on
-    (the green button on the VC is glowing green)                      
-
+                    Ts*s                     
 */
 
 #include "PID_Cntrl.h"
+
 using namespace std;
-
-PID_Cntrl::PID_Cntrl(float Kp, float Ki, float Kd, float Tf, float Ts, float uMin, float uMax)
-{
-    // link member variables
-    Kp_ = Kp;
-    Ki_ = Ki;
-    Kd_ = Kd;
-    Tf_ = Tf;
-    Ts_ = Ts;
-    uMin_ = uMin;
-    uMax_ = uMax;
-    
-    
-    reset(0.0f);
-}
-
-PID_Cntrl::~PID_Cntrl() {}
-
-void PID_Cntrl::reset(float initValue)
-{
-
-    // implement controller reset
-    P_new = 0;
-    I_new = 0;
-    D_new = 0;
-    PID_output = 0;
-    P_old = 0;
-    I_old = 0;
-    D_old = 0;
-    delta_error = 0;
-    e_old = 0;
-    
-}
-
-float PID_Cntrl::update(double e)
-{
-    
-    // Controller Input Value --> e
-    
-    // controller update function 
-    
-    // Delta Error (for D-Part)
-    delta_error = e - e_old;
-    
-    // calculate I-Part Output
-    float I_new = I_old + Ts_ * Ki_ * e;
-   
-    // saturate uI, uMin <= uI <= uMax (anti-windup for the integrator part)
-    if(I_new > uMax_) {
-        I_new = uMax_;
-    }
-    if(I_new < uMin_) {
-        I_new = uMin_;
-    }
-    
-    // calculate uD
-    //D_new = (Kd_*delta_error + Tf_*D_old - Ts_*D_old)/(Tf_);
-    D_new = 0;
-        
-    // calculate u
-    P_new = Kp_ * e;
-     
-    
-    // update signal storage
-    P_old = P_new;
-    I_old = I_new;
-    D_old = D_new;
-    e_old = e;
-    
-    // PID Output
-    PID_output = P_new + I_new + D_new;
-    
-    // saturate u, uMin <= u <= uMax
-    if(PID_output > uMax_) {
-        PID_output = uMax_;
-    }
-    if(PID_output < uMin_) {
-        PID_output = uMin_;
-    }
-    
-    return PID_output;
-}
-