Thijs Rakels
/
NR_method
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Dependencies: QEI biquadFilter mbed HIDScope
Diff: PID_controler.h
- Revision:
- 1:fafea1d00d0c
- Child:
- 2:f68fd7b1c655
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/PID_controler.h Thu Nov 01 09:42:53 2018 +0000
@@ -0,0 +1,20 @@
+double PID_controller(double error, double Kp, double Ki, double Kd, double Ts)
+{
+ static double error_integral = 0;
+ static double error_prev = error;
+ static BiQuad LowPassFilter(0.0640, 0.1279, 0.0640, -1.1683, 0.4241);
+
+ //proportional part
+ double u_k = Kp * error;
+
+ //Integral part
+ error_integral = error_integral + error * Ts;
+ double u_i = Ki * error_integral;
+
+ // Derivative part
+ double error_derivative = (error - error_prev)/Ts;
+ double filtered_error_derivative = LowPassFilter.step(error_derivative);
+ double u_d = Kd * filtered_error_derivative;
+ error_prev = error;
+ return ((u_k + u_i + u_d)/10000);
+}
\ No newline at end of file