Chun Feng Huang / PID

New PID library with digital anti-windup and process control

Fork of PID_modified by Chun Feng Huang

PID.h@4:e3c9cb64be44, 2016-10-26 (annotated)

Committer:
benson516
Date:
Wed Oct 26 17:56:01 2016 +0000
Revision:
4:e3c9cb64be44
Parent:
3:d8646d8c994f
Child:
5:016c99bb877f
Differential drive succeed (Ver. 1.0)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
weisnail 0:7f9b4ca968ae 1 #ifndef PID_H
weisnail 0:7f9b4ca968ae 2 #define PID_H
weisnail 0:7f9b4ca968ae 3
weisnail 0:7f9b4ca968ae 4 #include "mbed.h"
weisnail 0:7f9b4ca968ae 5
weisnail 0:7f9b4ca968ae 6 class PID{
weisnail 0:7f9b4ca968ae 7 public:
weisnail 0:7f9b4ca968ae 8
benson516 2:b9610a2d2ea0 9 PID(float Kp_in, float Ki_in, float Kd_in, float Sampletime_in);
benson516 2:b9610a2d2ea0 10 void Compute(float reference_in, float feedbackvalue_in);
benson516 4:e3c9cb64be44 11
benson516 4:e3c9cb64be44 12 //
benson516 4:e3c9cb64be44 13 void Compute_noWindUP(float reference_in, float feedbackvalue_in);
benson516 4:e3c9cb64be44 14 void Saturation_output();
benson516 4:e3c9cb64be44 15 void Anti_windup(float delta); // delta_V = Vs - V
benson516 4:e3c9cb64be44 16 //
benson516 2:b9610a2d2ea0 17
weisnail 0:7f9b4ca968ae 18 void SetOutputLimits(float setoutputLimits_H, float setoutputLimits_L);
benson516 2:b9610a2d2ea0 19 void SetInputLimits(float setinputLimits_H, float setinputLimits_L);
benson516 3:d8646d8c994f 20 void EnableAntiWindUp(float Ka_in);
weisnail 0:7f9b4ca968ae 21
weisnail 0:7f9b4ca968ae 22 float Kp;
weisnail 0:7f9b4ca968ae 23 float Ki;
weisnail 0:7f9b4ca968ae 24 float Kd;
adam_z 1:4df4895863cd 25 float Ka;
weisnail 0:7f9b4ca968ae 26
benson516 2:b9610a2d2ea0 27 float error[2];
benson516 2:b9610a2d2ea0 28 double error_I;
benson516 2:b9610a2d2ea0 29
weisnail 0:7f9b4ca968ae 30 float output;
weisnail 0:7f9b4ca968ae 31 float reference;
benson516 4:e3c9cb64be44 32 float delta_output; // Error by saturating
benson516 4:e3c9cb64be44 33
benson516 2:b9610a2d2ea0 34 float Ts;
weisnail 0:7f9b4ca968ae 35
weisnail 0:7f9b4ca968ae 36 private:
weisnail 0:7f9b4ca968ae 37
weisnail 0:7f9b4ca968ae 38 bool Outputlimit_bool;
weisnail 0:7f9b4ca968ae 39 bool Inputlimit_bool;
adam_z 1:4df4895863cd 40 bool AntiWindUp_bool;
weisnail 0:7f9b4ca968ae 41
weisnail 0:7f9b4ca968ae 42 float outputLimits_H;
weisnail 0:7f9b4ca968ae 43 float outputLimits_L;
weisnail 0:7f9b4ca968ae 44 float inputLimits_H;
weisnail 0:7f9b4ca968ae 45 float inputLimits_L;
weisnail 0:7f9b4ca968ae 46
weisnail 0:7f9b4ca968ae 47 float feedbackvalue;
weisnail 0:7f9b4ca968ae 48 // Ticker PID_timer;
weisnail 0:7f9b4ca968ae 49
weisnail 0:7f9b4ca968ae 50 };
weisnail 0:7f9b4ca968ae 51
weisnail 0:7f9b4ca968ae 52 #endif /* PID_H*/