Diff: Library_Cntrl/PID_Cntrl.cpp

Revision:

16:28b6bb8a4b7f

Parent:

15:9f32f64eee5b

--- a/Library_Cntrl/PID_Cntrl.cpp	Sun May 02 08:17:06 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,69 +0,0 @@
-/*  
-    PI Controller class with anti windup reset in biquad transposed direct form 2
-    see e.g.: https://www.dsprelated.com/freebooks/filters/Four_Direct_Forms.html
-    everything is calculated in double
-    
-                     Ts         z - 1             
-      G(s) = P + I ------- + D -------          D corresponds Kd/Tf in Matlab-formlism pid(...)
-                    z - 1       z - p              
-*/
-
-#include "PID_Cntrl.h"
-using namespace std;
-
-PID_Cntrl::PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax)
-{
-    setCoefficients(P, I, D, tau_f, Ts);
-    this->uMin = (double)uMin;
-    this->uMax = (double)uMax;
-    reset(0.0f);
-}
-
-PID_Cntrl::~PID_Cntrl() {}
-
-void PID_Cntrl::reset(float initValue)
-{
-    Iold = (double)initValue;
-    eold = 0.0;yold = 0.0;
-    del = 0.0;
-}
-
-void PID_Cntrl::setCoefficients(float P, float I, float D, float tau_f, float Ts)
-{
-    this->p = 1.0 - (double)Ts/(double)tau_f;
-    this->P = P;
-    this->I = I;
-    this->D = D;
-    this->Ts = Ts;
-    if(P!=0)
-        this->Ka=1/P;
-    else
-        this->Ka=1.0f;
-    
-}
-
-float PID_Cntrl::doStep(double e)
-{
-    double Ipart = Iold+I*Ts*(e-del);
-    double Dpart = D*(e-eold)+p*yold;
-    double u = P*e + Dpart  + Ipart;          // unconstrained output
-    double uc = u;                // constrained output
-    if(u > uMax) uc = uMax;
-    else if(u < uMin) uc = uMin;
-    del=(u-uc)*Ka;
-    eold=e;
-    Iold=Ipart;
-    yold=Dpart;
-    return (float)uc;
-}
-
-void PID_Cntrl::set_limits(double ll, double ul)
-{
-    this->uMin = (double)ll;
-    this->uMax = (double)ul;
-}
-
-float PID_Cntrl::get_ulimit(void)
-{
-    return (float)this->uMax;
-}