Diff: Library_Cntrl/PI_Cntrl.cpp

Revision:

16:28b6bb8a4b7f

Parent:

15:9f32f64eee5b

--- a/Library_Cntrl/PI_Cntrl.cpp	Sun May 02 08:17:06 2021 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,61 +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
-    
-                  Tn*s + 1                      
-      G(s) = Kp -------------  with s ~ (1 - z^-1)/Ts
-                    Ts*s                     
-*/
-
-#include "PI_Cntrl.h"
-
-using namespace std;
-
-PI_Cntrl::PI_Cntrl(float Kp, float Tn, float Ts)
-{
-    setCoefficients(Kp, Tn, Ts);
-    uMax = 10000000000.0;
-    uMin = -uMax;
-    reset(0.0f);
-}
-
-PI_Cntrl::PI_Cntrl(float Kp, float Tn, float Ts, float uMax)
-{
-    setCoefficients(Kp, Tn, Ts);
-    this->uMax = (double)uMax;
-    uMin = -(double)uMax;
-    reset(0.0f);
-}
-
-PI_Cntrl::PI_Cntrl(float Kp, float Tn, float Ts, float uMax, float uMin)
-{
-    setCoefficients(Kp, Tn, Ts);
-    this->uMax = (double)uMax;
-    this->uMin = (double)uMin;
-    reset(0.0f);
-}
-
-PI_Cntrl::~PI_Cntrl() {}
-
-void PI_Cntrl::reset(float initValue)
-{
-    s = (double)initValue;
-}
-
-void PI_Cntrl::setCoefficients(float Kp, float Tn, float Ts)
-{
-    b0 = (double)Kp*(1.0 + (double)Ts/(double)Tn);
-    b1 = -(double)Kp;
-    b2 = (double)Ts/(double)Tn;    
-}
-
-float PI_Cntrl::doStep(double e)
-{
-    double u = b0*e + s;          // unconstrained output
-    double uc = u;                // constrained output
-    if(u > uMax) uc = uMax;
-    else if(u < uMin) uc = uMin;
-    s = b1*e + u - b2*(u - uc);
-    return (float)uc;
-}