Diff: controller.cpp

Revision:

10:03d5aa2511c4

Parent:

9:33b99cb45e99

--- a/controller.cpp	Tue Jun 24 10:06:54 2014 +0000
+++ b/controller.cpp	Thu Jun 26 09:15:35 2014 +0000
@@ -2,14 +2,10 @@
 #include "controller.h"
 
 
+
+
 PID::PID(float in_min,float in_max,float out_min,float out_max,float Kc, float tauI, float tauD, float interval) {
  
-    usingFeedForward = false;
-    //inAuto = false;
- 
-    //Default the limits to the full range of I/O.
-    //Make sure to set these to more appropriate limits for your application.
- 
  //BX tune
     setInputLimits(in_min,in_max);
     setOutputLimits(out_min,out_max);
@@ -24,10 +20,7 @@
     controllerOutput_ = 0.0;
     prevControllerOutput_ = 0.0;
  
-    accError_ = 0.0;
-    bias_ = 0.0;
- 
-    realOutput_ = 0.0;
+    
  
 }
  
@@ -38,21 +31,16 @@
         return;
     }
  
-    //Rescale the working variables to reflect the changes.
-    prevProcessVariable_ *= (inMax - inMin) / inSpan_;
-    accError_ *= (inMax - inMin) / inSpan_;
+   
  
-    //Make sure the working variables are within the new limits.
-    if (prevProcessVariable_ > 1) {
-        prevProcessVariable_ = 1;
-    }
-    else if (prevProcessVariable_ < 0) {
-        prevProcessVariable_ = 0;
-    }
+   
  
     inMin_ = inMin;
     inMax_ = inMax;
-    inSpan_ = inMax - inMin;
+    inSpan_ = (inMax - inMin);
+ 
+ 
+ 
  
 }
  
@@ -63,20 +51,20 @@
         return;
     }
  
-    //Rescale the working variables to reflect the changes.
-    prevControllerOutput_ *= (outMax - outMin) / outSpan_;
+    
  
-    //Make sure the working variables are within the new limits.
-    if (prevControllerOutput_ > 1) {
-        prevControllerOutput_ = 1;
-    }
-    else if (prevControllerOutput_ < 0) {
-        prevControllerOutput_ = 0;
-    }
+   //ppp
  
     outMin_ = outMin;
     outMax_ = outMax;
-    outSpan_ = outMax - outMin;
+    outMid_ = (outMin+outMax)/2;
+    
+    outSpan_ = (outMax - outMin);
+   
+    
+    
+    
+    
  
 }
  
@@ -98,99 +86,28 @@
     iParam_ = tauI;
     dParam_ = tauD;
  
-    float tempTauR;
- 
-    if (tauI == 0.0) {
-        tempTauR = 0.0;
-    }
-    else {
-        tempTauR = (1.0 / tauI) * tSample_;
-    }
+   
  
-    //For "bumpless transfer" we need to rescale the accumulated error.
-    //if (inAuto) {
-        //if (tempTauR == 0.0) {
-            //accError_ = 0.0;
-        //}
-        //else {
-            accError_ *= (Kc_ * tauR_) / (Kc * tempTauR);
-        //}
-    //}
+  
  
     Kc_ = Kc;
-    tauR_ = tempTauR;
-    tauD_ = tauD / tSample_;
- 
-}
- 
-void PID::reset(void) {
- 
-    float scaledBias = 0.0;
- 
-    if (usingFeedForward) {
-        scaledBias = (bias_ - outMin_) / outSpan_;
-    }
-    else {
-        scaledBias = (realOutput_ - outMin_) / outSpan_;
-    }
- 
-    prevControllerOutput_ = scaledBias;
-    prevProcessVariable_ = (processVariable_ - inMin_) / inSpan_;
- 
-    //Clear any error in the integral.
-    accError_ = 0;
+    tauI_=tauI;
+    tauD_=tauD;
  
 }
-/*
-void PID::setMode(int mode) {
- 
-    //We were in manual, and we just got set to auto.
-    //Reset the controller internals.
-    if (mode != 0 && !inAuto) {
-        reset();
-    }
- 
-    inAuto = (mode != 0);
- 
-}*/
- 
-void PID::setInterval(float interval) {
- 
-    if (interval > 0) {
-        //Convert the time-based tunings to reflect this change.
-        tauR_ *= (interval / tSample_);
-        accError_ *= (tSample_ / interval);
-        tauD_ *= (interval / tSample_);
-        tSample_ = interval;
-    }
- 
-}
-/*
-void PID::setSetPoint(float sp) {
- 
-    setPoint_ = sp;
- 
-}
- 
-void PID::setProcessValue(float pv) {
- 
-    processVariable_ = pv;
- 
-}
-*/
-void PID::setBias(float bias){
- 
-    bias_ = bias;
-    usingFeedForward = 1;
- 
-}
- 
+
+
 float PID::compute(float pv,  float sp) {
  
-    //enregistrer variables dans var interne
+    
     processVariable_ = pv; //ce que l'on mesure
     setPoint_ = sp;  // ce que l'on veut atteindre
  
+ 
+ 
+ 
+ 
+ 
     //Pull in the input and setpoint, and scale them into percent span.
     float scaledPV = (processVariable_ - inMin_) / inSpan_;
  
@@ -209,44 +126,43 @@
         scaledSP = 0;
     }
  
-    float error = scaledSP - scaledPV;
+    float error = (scaledSP - scaledPV)*2;
+// 100~ -100%
+    
+
 
-    //Check and see if the output is pegged at a limit and only
-    //integrate if it is not. This is to prevent reset-windup.
-    if (!(prevControllerOutput_ >= 1 && error > 0) && !(prevControllerOutput_ <= 0 && error < 0)) {
-        accError_ += error;
+
+// if error add
+ if ( (-1<error && error <1)             ) {
+        accError_ = (accError_*0.66)+ error;
     }
- 
-    //Compute the current slope of the input signal.
-    float dMeas = (scaledPV - prevProcessVariable_) / tSample_;
-    //float dMeas = (scaledPV - prevProcessVariable_);
- 
-    float scaledBias = 0.0;
- 
-    if (usingFeedForward) {
-        scaledBias = (bias_ - outMin_) / outSpan_;
-    }
- 
-    //Perform the PID calculation.
-    controllerOutput_ = scaledBias + Kc_ * (error + (tauR_ * accError_) - (tauD_ * dMeas));
-    //controllerOutput_ = Kc_ * error + tauR_ * accError_ + tauD_ * dMeas;
- 
-    //Make sure the computed output is within output constraints.
-    if (controllerOutput_ < outMin_) {
+
+     float dMeas = (scaledPV - prevProcessVariable_) / tSample_;
+  
+     controllerOutput_= Kc_* error+(tauI_*accError_)+tauD_*dMeas+outMid_;
+     de_ip=accError_;
+     de_dp=dMeas;
+     de_kp=error;
+   
+   
+   
+   
+     
+        
+      if (controllerOutput_ < outMin_) {
         controllerOutput_ = outMin_;
     }
-    else if (controllerOutput_ >outMax_ ) {
+    else if (controllerOutput_ > outMax_) {
         controllerOutput_ = outMax_;
     }
- 
-    //Remember this output for the windup check next time.
-    prevControllerOutput_ = controllerOutput_;
-    //Remember the input for the derivative calculation next time.
-    prevProcessVariable_ = scaledPV;
+   
+   
+   
+   
+   prevProcessVariable_ = scaledPV;
     
      
-    //Scale the output from percent span back out to a real world number.
-    return (controllerOutput_ );
+    return (controllerOutput_);
  
 }