Arnaud Suire / PID

pid

Dependents:   Labo_TRSE_Drone

PID.h@0:d58c1b8d63d9, 2014-02-26 (annotated)

Committer:
arnaudsuire
Date:
Wed Feb 26 08:46:04 2014 +0000
Revision:
0:d58c1b8d63d9
arnaud pid giro acc

Who changed what in which revision?

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arnaudsuire 0:d58c1b8d63d9 1 #pragma once
arnaudsuire 0:d58c1b8d63d9 2
arnaudsuire 0:d58c1b8d63d9 3 #ifndef PID_H
arnaudsuire 0:d58c1b8d63d9 4 #define PID_H
arnaudsuire 0:d58c1b8d63d9 5
arnaudsuire 0:d58c1b8d63d9 6 class PID
arnaudsuire 0:d58c1b8d63d9 7 {
arnaudsuire 0:d58c1b8d63d9 8 public:
arnaudsuire 0:d58c1b8d63d9 9
arnaudsuire 0:d58c1b8d63d9 10 /*
arnaudsuire 0:d58c1b8d63d9 11 * Constructeur
arnaudsuire 0:d58c1b8d63d9 12 * Sets default limits, calculates tuning parameters, and sets manual mode with no bias.
arnaudsuire 0:d58c1b8d63d9 13 * @param Kc - Tuning parameter
arnaudsuire 0:d58c1b8d63d9 14 * @param tauI - Tuning parameter
arnaudsuire 0:d58c1b8d63d9 15 * @param tauD - Tuning parameter
arnaudsuire 0:d58c1b8d63d9 16 * @param interval PID calculation performed every interval seconds.
arnaudsuire 0:d58c1b8d63d9 17 */
arnaudsuire 0:d58c1b8d63d9 18 PID(float Kc, float tauI, float tauD, float interval);
arnaudsuire 0:d58c1b8d63d9 19
arnaudsuire 0:d58c1b8d63d9 20 /*
arnaudsuire 0:d58c1b8d63d9 21 * Scale from inputs to 0-100%.
arnaudsuire 0:d58c1b8d63d9 22 * @param InMin The real world value corresponding to 0%.
arnaudsuire 0:d58c1b8d63d9 23 * @param InMax The real world value corresponding to 100%.
arnaudsuire 0:d58c1b8d63d9 24 */
arnaudsuire 0:d58c1b8d63d9 25 void setInputLimits(float inMin, float inMax);
arnaudsuire 0:d58c1b8d63d9 26
arnaudsuire 0:d58c1b8d63d9 27 /*
arnaudsuire 0:d58c1b8d63d9 28 * Scale from outputs to 0-100%.
arnaudsuire 0:d58c1b8d63d9 29 * @param outMin The real world value corresponding to 0%.
arnaudsuire 0:d58c1b8d63d9 30 * @param outMax The real world value corresponding to 100%.
arnaudsuire 0:d58c1b8d63d9 31 */
arnaudsuire 0:d58c1b8d63d9 32 void setOutputLimits(float outMin, float outMax);
arnaudsuire 0:d58c1b8d63d9 33
arnaudsuire 0:d58c1b8d63d9 34 /*
arnaudsuire 0:d58c1b8d63d9 35 * Calculate PID constants.
arnaudsuire 0:d58c1b8d63d9 36 * Allows parameters to be changed on the fly without ruining calculations.
arnaudsuire 0:d58c1b8d63d9 37 * @param Kc - Tuning parameter
arnaudsuire 0:d58c1b8d63d9 38 * @param tauI - Tuning parameter
arnaudsuire 0:d58c1b8d63d9 39 * @param tauD - Tuning parameter
arnaudsuire 0:d58c1b8d63d9 40 */
arnaudsuire 0:d58c1b8d63d9 41 void setTunings(float Kc, float tauI, float tauD);
arnaudsuire 0:d58c1b8d63d9 42
arnaudsuire 0:d58c1b8d63d9 43 /*
arnaudsuire 0:d58c1b8d63d9 44 * Reinitializes controller internals. Automatically
arnaudsuire 0:d58c1b8d63d9 45 * called on a manual to auto transition.
arnaudsuire 0:d58c1b8d63d9 46 */
arnaudsuire 0:d58c1b8d63d9 47 void reset(void);
arnaudsuire 0:d58c1b8d63d9 48
arnaudsuire 0:d58c1b8d63d9 49 /*
arnaudsuire 0:d58c1b8d63d9 50 * Set how fast the PID loop is run.
arnaudsuire 0:d58c1b8d63d9 51 * @param interval PID calculation peformed every interval seconds.
arnaudsuire 0:d58c1b8d63d9 52 */
arnaudsuire 0:d58c1b8d63d9 53 void setInterval(float interval);
arnaudsuire 0:d58c1b8d63d9 54
arnaudsuire 0:d58c1b8d63d9 55 /*
arnaudsuire 0:d58c1b8d63d9 56 * Set the bias.
arnaudsuire 0:d58c1b8d63d9 57 * @param bias The bias for the controller output.
arnaudsuire 0:d58c1b8d63d9 58 */
arnaudsuire 0:d58c1b8d63d9 59 void setBias(float bias);
arnaudsuire 0:d58c1b8d63d9 60
arnaudsuire 0:d58c1b8d63d9 61 /*
arnaudsuire 0:d58c1b8d63d9 62 * PID calculation.
arnaudsuire 0:d58c1b8d63d9 63 * @return The controller output as a float between outMin and outMax.
arnaudsuire 0:d58c1b8d63d9 64 */
arnaudsuire 0:d58c1b8d63d9 65 float compute(float pv, float sp);
arnaudsuire 0:d58c1b8d63d9 66
arnaudsuire 0:d58c1b8d63d9 67 //Getters.
arnaudsuire 0:d58c1b8d63d9 68 float getInMin();
arnaudsuire 0:d58c1b8d63d9 69 float getInMax();
arnaudsuire 0:d58c1b8d63d9 70 float getOutMin();
arnaudsuire 0:d58c1b8d63d9 71 float getOutMax();
arnaudsuire 0:d58c1b8d63d9 72 float getInterval();
arnaudsuire 0:d58c1b8d63d9 73 float getPParam();
arnaudsuire 0:d58c1b8d63d9 74 float getIParam();
arnaudsuire 0:d58c1b8d63d9 75 float getDParam();
arnaudsuire 0:d58c1b8d63d9 76
arnaudsuire 0:d58c1b8d63d9 77 private:
arnaudsuire 0:d58c1b8d63d9 78
arnaudsuire 0:d58c1b8d63d9 79 bool usingFeedForward;
arnaudsuire 0:d58c1b8d63d9 80
arnaudsuire 0:d58c1b8d63d9 81 //Actual tuning parameters used in PID calculation.
arnaudsuire 0:d58c1b8d63d9 82 float Kc_;
arnaudsuire 0:d58c1b8d63d9 83 float tauR_;
arnaudsuire 0:d58c1b8d63d9 84 float tauD_;
arnaudsuire 0:d58c1b8d63d9 85
arnaudsuire 0:d58c1b8d63d9 86 //Raw tuning parameters.
arnaudsuire 0:d58c1b8d63d9 87 float pParam_;
arnaudsuire 0:d58c1b8d63d9 88 float iParam_;
arnaudsuire 0:d58c1b8d63d9 89 float dParam_;
arnaudsuire 0:d58c1b8d63d9 90
arnaudsuire 0:d58c1b8d63d9 91 //The point we want to reach.
arnaudsuire 0:d58c1b8d63d9 92 float setPoint_;
arnaudsuire 0:d58c1b8d63d9 93 //The thing we measure.
arnaudsuire 0:d58c1b8d63d9 94 float processVariable_;
arnaudsuire 0:d58c1b8d63d9 95 float prevProcessVariable_;
arnaudsuire 0:d58c1b8d63d9 96 //The output that affects the process variable.
arnaudsuire 0:d58c1b8d63d9 97 float controllerOutput_;
arnaudsuire 0:d58c1b8d63d9 98 float prevControllerOutput_;
arnaudsuire 0:d58c1b8d63d9 99
arnaudsuire 0:d58c1b8d63d9 100 //We work in % for calculations so these will scale from
arnaudsuire 0:d58c1b8d63d9 101 //real world values to 0-100% and back again.
arnaudsuire 0:d58c1b8d63d9 102 float inMin_;
arnaudsuire 0:d58c1b8d63d9 103 float inMax_;
arnaudsuire 0:d58c1b8d63d9 104 float inSpan_;
arnaudsuire 0:d58c1b8d63d9 105 float outMin_;
arnaudsuire 0:d58c1b8d63d9 106 float outMax_;
arnaudsuire 0:d58c1b8d63d9 107 float outSpan_;
arnaudsuire 0:d58c1b8d63d9 108
arnaudsuire 0:d58c1b8d63d9 109 //The accumulated error, i.e. integral.
arnaudsuire 0:d58c1b8d63d9 110 float accError_;
arnaudsuire 0:d58c1b8d63d9 111 //The controller output bias.
arnaudsuire 0:d58c1b8d63d9 112 float bias_;
arnaudsuire 0:d58c1b8d63d9 113
arnaudsuire 0:d58c1b8d63d9 114 //The interval between samples.
arnaudsuire 0:d58c1b8d63d9 115 float tSample_;
arnaudsuire 0:d58c1b8d63d9 116
arnaudsuire 0:d58c1b8d63d9 117 //Controller output as a real world value.
arnaudsuire 0:d58c1b8d63d9 118 volatile float realOutput_;
arnaudsuire 0:d58c1b8d63d9 119
arnaudsuire 0:d58c1b8d63d9 120 };
arnaudsuire 0:d58c1b8d63d9 121
arnaudsuire 0:d58c1b8d63d9 122 #endif
arnaudsuire 0:d58c1b8d63d9 123