Ruprecht Altenburger / Cntrl_Lib

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Show/hide line numbers PID_Cntrl.h Source File

PID_Cntrl.h

00001 class PID_Cntrl
00002 {
00003 public:
00004 
00005     PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax);
00006 
00007     float operator()(float error) {
00008         return doStep((double)error);
00009     }
00010 
00011     virtual     ~PID_Cntrl();
00012 
00013     void        reset(float initValue);
00014     float       doStep(double error);
00015     void        set_limits(double ,double );
00016     float       get_ulimit(void);
00017     
00018 private:
00019 
00020     double Iold;
00021     double eold,yold,del;
00022     double uMax;
00023     double uMin;
00024     double Ts;
00025     double P,I,D;
00026     double p, Ka;
00027     void setCoefficients(float P, float I, float D, float tau_f, float Ts);
00028 
00029 };
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