Diff: PID.h

Revision:

7:6f0e5de35b48

Parent:

5:016c99bb877f

--- a/PID.h	Thu Dec 15 20:17:49 2016 +0000
+++ b/PID.h	Thu Mar 30 07:52:35 2017 +0000
@@ -1,55 +1,89 @@
 #ifndef PID_H
 #define PID_H
-
-#include "mbed.h"
+//
+#include "FILTER_LIB.h"
 
 class PID{
-    public:
+public:
+
+    // Sampling time
+    float Ts;
+    //
+    bool enable;
+
+    // Flags
+    bool is_limiting_command;
+    bool is_limiting_output;
+    //
+    bool is_using_integral; // Determine if the integral control is going to be used.
+    bool is_using_derivative; // Determine if the derivative control is going to be used.
+    //
+    bool is_using_outSource_d_error; // Determine whether using the signal for d_error or using numerical derivative to derive d_error from error.
+    //
+    bool is_antiWindUp;
+
+    // Parameters
+    // Feedback gain
+    float Kp;
+    float Ki;
+    float Kd;
+    //
+    // float Ka;
+
+    // States
+    float error;
+    float d_error;
+    float error_int;
+    //
+    float error_int_increment; // error_int += error_int_increment;
 
-        PID(float Kp_in, float Ki_in, float Kd_in,  float Sampletime_in);   
-        void Compute(float reference_in, float feedbackvalue_in);
-        
-        // 
-        void Compute_noWindUP(float reference_in, float feedbackvalue_in);
-        // Method 1: Separated operation for anti-windup
-        void Saturation_output();
-        void Anti_windup(float delta); // delta_V = Vs - V
-        // Method 2: Single anti-windup operation
-        void Anti_windup();
-        //
-           
-        void SetOutputLimits(float setoutputLimits_H, float setoutputLimits_L);
-        void SetInputLimits(float setinputLimits_H, float setinputLimits_L); 
-        void EnableAntiWindUp(float Ka_in); 
-        
-        float Kp;
-        float Ki;
-        float Kd;
-        float Ka;
- 
-        float error[2];
-        double error_I;
-        
-        float output;
-        float reference;
-        float delta_output; // Error by saturating
-        
-        float Ts;
+    // Input signal
+    float command;
+    float feedbackValue;
+    // Output signal
+    float output;
+    // Error by saturation
+    float delta_output; // Error by saturation
+
+
+    PID(float Kp_in, float Ki_in, float Kd_in,  float Sampletime_in);
+    // Process controller
+    void start(); // Run
+    void pause(); // Stop updating but no reset
+    void stop(); // Stop and reset
+    void reset(); // Reset all the states to initial values.
+    //
+    void EnableAntiWindUp(float Ka_in);
+    //
+    void set_PID_gains(float Kp_in, float Ki_in, float Kd_in); // Setting Kp, Ki, and Kd
+    void SetInputLimits(float inputLimits_H_in, float inputLimits_L_in);
+    void SetOutputLimits(float outputLimits_H_in, float outputLimits_L_in);
 
-    private:
-    
-        bool Outputlimit_bool;
-        bool Inputlimit_bool;
-        bool AntiWindUp_bool;
-        
-        float outputLimits_H;
-        float outputLimits_L;
-        float inputLimits_H;
-        float inputLimits_L;
-        
-        float feedbackvalue;
- //       Ticker PID_timer;
+    // Main function for computing the PID
+    void set_d_error(float d_error_in); // Insert d_error before iteration.
+    void iterateOnce(float command_in, float feedbackValue_in);
+    void iterateOnce_noAntiWindUP(float command_in, float feedbackValue_in);
+
+    // Anti-windup method
+    // Method 1: Separated operation for anti-windup
+    void Saturation_output();
+    void AntiWindUp(float delta); // delta_V = V - V_sat
+    // Method 2: Single anti-windup operation
+    void Saturation_AntiWindUp();
+    //
+
+private:
+
+    // Derivative
+    Derivative_appr derivative_error;
+
+    // Saturation
+    Saturation SAT_command;
+    Saturation SAT_output;
+
+    // Small over-bound value for numerical stability
+    float overBound_value; // Small positive value
 
 };
 
-#endif /* PID_H*/
\ No newline at end of file
+#endif /* PID_H*/