Diff: PIDcontroller.cpp

Revision:

2:a05ba9d3be55

Parent:

0:eeb41e25a490

Child:

3:c99dfa48b606

--- a/PIDcontroller.cpp	Tue Feb 09 03:31:04 2021 +0000
+++ b/PIDcontroller.cpp	Thu Aug 26 04:26:47 2021 +0000
@@ -12,6 +12,7 @@
     prevControllerOutput_ = 0.0;
 
     accError_ = 0.0;
+    accErrorMax_ = 1.0;
     Error_    = 0.0;
     prevError_= 0.0;
     Bias_     = 0.0;
@@ -63,6 +64,10 @@
     Kp_ = Kp; Ki_ = Ki; Kd_ = Kd;
 }
 
+void PID::setAccErrorMax(float maxVal) {
+    accErrorMax_ = maxVal;
+}
+
  float PID::compute(){
 
     //現在値と目標値の値を0~100%の範囲に置き換える
@@ -77,13 +82,16 @@
     if (!(prevControllerOutput_ >= 1 && Error_ > 0) && !(prevControllerOutput_ <= 0 && Error_ < 0)) {
         accError_ += (Error_ + prevError_) / 2.0 * tSample_; //偏差の積分値の計算
     }
-
+    if(accError_>  accErrorMax_){accError_=  accErrorMax_}
+    if(accError_< -accErrorMax_){accError_= -accErrorMax_}
+    
     //偏差の微分値の計算(不完全微分が有効な場合,偏差の不完全微分値を計算)
     float diffError = usingIncompleteDifferential ? calcIncompleteDifferential() : (Error_ - prevError_) / tSample_;
     
     //フィードフォワード制御が有効な場合,バイアス値の計算
     float scaledBias = usingFeedForward ? (Bias_ - outMin_) / outSpan_ : 0.0;
 
+
     //PIDの計算
     controllerOutput_ = scaledParcent(scaledBias + Kp_ * Error_ + Ki_ * accError_ + Kd_ * diffError);