Library containing essential automation elements with parameters in continuous Laplace domain, and implemented with fixed sample time. This means that "out" member functions should be called using Ticker object.
Dependents: CurrentMeasurement Zavrsni_rad_NXP_cup HC-SR04 Nucleo_SSD1306_DS1302_ESP8266_AM2320_BME280 ... more
PI.cpp@0:3dd7aeceee65, 2015-01-22 (annotated)
- Committer:
- tbjazic
- Date:
- Thu Jan 22 11:41:02 2015 +0000
- Revision:
- 0:3dd7aeceee65
Initial commit.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tbjazic | 0:3dd7aeceee65 | 1 | #include "PI.h" |
tbjazic | 0:3dd7aeceee65 | 2 | |
tbjazic | 0:3dd7aeceee65 | 3 | PI::PI() { |
tbjazic | 0:3dd7aeceee65 | 4 | u = y = u_p1 = y_p1 = 0; |
tbjazic | 0:3dd7aeceee65 | 5 | setParameters(1, 1, 0.1); |
tbjazic | 0:3dd7aeceee65 | 6 | setOutputLimits(0, 1); |
tbjazic | 0:3dd7aeceee65 | 7 | setOperationMode(automatic); |
tbjazic | 0:3dd7aeceee65 | 8 | } |
tbjazic | 0:3dd7aeceee65 | 9 | |
tbjazic | 0:3dd7aeceee65 | 10 | PI::PI(double K_R_, double T_I_, double T_d_) { |
tbjazic | 0:3dd7aeceee65 | 11 | u = y = u_p1 = y_p1 = 0; |
tbjazic | 0:3dd7aeceee65 | 12 | setParameters(K_R_, T_I_, T_d_); |
tbjazic | 0:3dd7aeceee65 | 13 | setOutputLimits(0, 1); |
tbjazic | 0:3dd7aeceee65 | 14 | setOperationMode(automatic); |
tbjazic | 0:3dd7aeceee65 | 15 | } |
tbjazic | 0:3dd7aeceee65 | 16 | |
tbjazic | 0:3dd7aeceee65 | 17 | void PI::setParameters(double K_R_, double T_I_, double T_d_) { |
tbjazic | 0:3dd7aeceee65 | 18 | if (T_d_ > 0) |
tbjazic | 0:3dd7aeceee65 | 19 | T_d = T_d_; |
tbjazic | 0:3dd7aeceee65 | 20 | else |
tbjazic | 0:3dd7aeceee65 | 21 | T_d = 0.1; |
tbjazic | 0:3dd7aeceee65 | 22 | if (T_I_ > 0) |
tbjazic | 0:3dd7aeceee65 | 23 | T_I = T_I_; |
tbjazic | 0:3dd7aeceee65 | 24 | else |
tbjazic | 0:3dd7aeceee65 | 25 | T_I = 1; |
tbjazic | 0:3dd7aeceee65 | 26 | K_R = K_R_; |
tbjazic | 0:3dd7aeceee65 | 27 | } |
tbjazic | 0:3dd7aeceee65 | 28 | |
tbjazic | 0:3dd7aeceee65 | 29 | void PI::setOutputLimits(double lowerOutputLimit, double upperOutputLimit) { |
tbjazic | 0:3dd7aeceee65 | 30 | if (upperOutputLimit > lowerOutputLimit) { |
tbjazic | 0:3dd7aeceee65 | 31 | y_min = lowerOutputLimit; |
tbjazic | 0:3dd7aeceee65 | 32 | y_max = upperOutputLimit; |
tbjazic | 0:3dd7aeceee65 | 33 | } |
tbjazic | 0:3dd7aeceee65 | 34 | } |
tbjazic | 0:3dd7aeceee65 | 35 | |
tbjazic | 0:3dd7aeceee65 | 36 | void PI::setOperationMode(Mode newOperationMode) { |
tbjazic | 0:3dd7aeceee65 | 37 | // Bumpless transfer from manual to automatic mode |
tbjazic | 0:3dd7aeceee65 | 38 | if (operationMode == manual && newOperationMode == automatic) { |
tbjazic | 0:3dd7aeceee65 | 39 | y = y_p1 = y_manual; |
tbjazic | 0:3dd7aeceee65 | 40 | u = u_p1 = 0; |
tbjazic | 0:3dd7aeceee65 | 41 | } |
tbjazic | 0:3dd7aeceee65 | 42 | // Bumpless transfer from automatic to manual mode |
tbjazic | 0:3dd7aeceee65 | 43 | else if (operationMode == automatic && newOperationMode == manual) { |
tbjazic | 0:3dd7aeceee65 | 44 | y_manual = y; |
tbjazic | 0:3dd7aeceee65 | 45 | } |
tbjazic | 0:3dd7aeceee65 | 46 | operationMode = newOperationMode; |
tbjazic | 0:3dd7aeceee65 | 47 | } |
tbjazic | 0:3dd7aeceee65 | 48 | |
tbjazic | 0:3dd7aeceee65 | 49 | void PI::setOutputManually(double u_C) { |
tbjazic | 0:3dd7aeceee65 | 50 | y_manual = u_C; |
tbjazic | 0:3dd7aeceee65 | 51 | } |
tbjazic | 0:3dd7aeceee65 | 52 | |
tbjazic | 0:3dd7aeceee65 | 53 | double PI::out() { |
tbjazic | 0:3dd7aeceee65 | 54 | if (operationMode == automatic) { |
tbjazic | 0:3dd7aeceee65 | 55 | y = y_p1 + K_R * u + K_R * (T_d / T_I - 1) * u_p1; |
tbjazic | 0:3dd7aeceee65 | 56 | } else if (operationMode == manual) { |
tbjazic | 0:3dd7aeceee65 | 57 | y = y_manual; |
tbjazic | 0:3dd7aeceee65 | 58 | } |
tbjazic | 0:3dd7aeceee65 | 59 | |
tbjazic | 0:3dd7aeceee65 | 60 | if (y > y_max) |
tbjazic | 0:3dd7aeceee65 | 61 | y = y_max; |
tbjazic | 0:3dd7aeceee65 | 62 | else if (y < y_min) |
tbjazic | 0:3dd7aeceee65 | 63 | y = y_min; |
tbjazic | 0:3dd7aeceee65 | 64 | |
tbjazic | 0:3dd7aeceee65 | 65 | y_p1 = y; |
tbjazic | 0:3dd7aeceee65 | 66 | u_p1 = u; |
tbjazic | 0:3dd7aeceee65 | 67 | return y; |
tbjazic | 0:3dd7aeceee65 | 68 | } |
tbjazic | 0:3dd7aeceee65 | 69 | |
tbjazic | 0:3dd7aeceee65 | 70 | void PI::in(double u_) { |
tbjazic | 0:3dd7aeceee65 | 71 | u = u_; |
tbjazic | 0:3dd7aeceee65 | 72 | } |