Revision 7:52f66036f628, committed 2016-12-24

Comitter:

benson516

Date:

Sat Dec 24 09:51:00 2016 +0000

Parent:

4:e3c9cb64be44

Commit message:

Add the reset function

Changed in this revision

--- a/PID.cpp	Wed Oct 26 17:56:01 2016 +0000
+++ b/PID.cpp	Sat Dec 24 09:51:00 2016 +0000
@@ -1,27 +1,27 @@
 #include "PID.h"
 
 PID::PID(float Kp_in, float Ki_in, float Kd_in,  float Sampletime_in){
-    
+
     // Parameters
-    Outputlimit_bool = true;
+    Outputlimit_bool = false; // true
     Inputlimit_bool = false;
-    AntiWindUp_bool = true;
+    AntiWindUp_bool = false; // true
     outputLimits_H = 7.4;
     outputLimits_L = -7.4;
     inputLimits_H = 0.0;
-    inputLimits_L = 0.0; 
-    feedbackvalue = 0.0; 
-    
-    // Feedback gain 
+    inputLimits_L = 0.0;
+    feedbackvalue = 0.0;
+
+    // Feedback gain
     Kp = Kp_in;
     Ki = Ki_in;
     Kd = Kd_in;
     // Ka = 0.1; // Volt.-sec./deg.
     Ka = 0.0017;// Volt.-sec./rad
-    
+
     // Sampling time
-    Ts = Sampletime_in; 
-    
+    Ts = Sampletime_in;
+
     // Variables
     error[0] = 0.0;
     error[1] = 0.0;
@@ -29,21 +29,21 @@
     //
     reference = 0.0;
     output = 0.0;
-     
+
 
-     
+
 }
 
 void PID::SetOutputLimits(float setoutputLimits_H, float setoutputLimits_L){
     Outputlimit_bool = true;
     outputLimits_H = setoutputLimits_H;
-    outputLimits_L = setoutputLimits_L;    
+    outputLimits_L = setoutputLimits_L;
 }
 
 void PID::SetInputLimits(float setinputLimits_H, float setinputLimits_L){
     Inputlimit_bool = true;
     inputLimits_H = setinputLimits_H;
-    inputLimits_L = setinputLimits_L;     
+    inputLimits_L = setinputLimits_L;
 }
 
 void PID::EnableAntiWindUp(float Ka_in)
@@ -51,7 +51,12 @@
     AntiWindUp_bool = true;
     Ka = Ka_in;
 }
-
+void PID::Reset(void){
+    error[0] = 0.0;
+    error[1] = 0.0;
+    error_I = 0.0;
+    output = 0.0;
+}
 void PID::Compute(float reference_in, float feedbackvalue_in){
 
     if(Inputlimit_bool == true){
@@ -62,24 +67,24 @@
         }else{
             reference = reference_in;
         }
-        
+
     }else{
         reference = reference_in;
     }
-    
+
     // bypass
     feedbackvalue = feedbackvalue_in;
-    
+
     error[0] = reference - feedbackvalue;
     // output = output + ( Kp + Ki + Kd )*error[0] + ( -Kp - 2.0*Kd )*error[1] + Kd*error[2];
     output = Kp*error[0] + Ki*error_I;
-    
+
     // Delay 1
-    error[1] = error[0];  
-    
+    error[1] = error[0];
+
     // Integration
     error_I += Ts*error[0];
-    
+
     // Output satuation
     if(Outputlimit_bool && AntiWindUp_bool){
         if( output >= outputLimits_H){
@@ -94,7 +99,7 @@
     }else{
         // output = output;
     }
-            
+
 }
 void PID::Compute_noWindUP(float reference_in, float feedbackvalue_in){
 
@@ -106,24 +111,24 @@
         }else{
             reference = reference_in;
         }
-        
+
     }else{
         reference = reference_in;
     }
-    
+
     // bypass
     feedbackvalue = feedbackvalue_in;
-    
+
     error[0] = reference - feedbackvalue;
     // output = output + ( Kp + Ki + Kd )*error[0] + ( -Kp - 2.0*Kd )*error[1] + Kd*error[2];
     output = Kp*error[0] + Ki*error_I;
-    
+
     // Delay 1
-    error[1] = error[0];  
-    
+    error[1] = error[0];
+
     // Integration
     error_I += Ts*error[0];
-    
+
     // Output satuation
     /*
     if(Outputlimit_bool && AntiWindUp_bool){
@@ -140,8 +145,12 @@
         // output = output;
     }
     */
-            
+
 }
+
+// Use separately
+// Compute_noWindUP() -- [ Saturation_output(): optional, can be replaced by customized saturation function ] -- Anti_windup(delta) -- output
+//////////////////////////////////////////////////
 void PID::Saturation_output(){
         if( output >= outputLimits_H){
             delta_output = outputLimits_H - output;
@@ -156,4 +165,16 @@
 void PID::Anti_windup(float delta){ // delta_V = Vs - V
     // Anti-windup compensation
     error_I += Ka*delta; // Anti-windup
-}
\ No newline at end of file
+}
+////////////////////////////////////////////////// end Use separately
+
+// Use alone
+// Compute_noWindUP() -- Anti_windup() -- output
+//////////////////////////////////////////////////
+void PID::Anti_windup(){ // delta_V = Vs - V
+
+    PID::Saturation_output();
+    // Anti-windup compensation
+    error_I += Ka*PID::delta_output; // Anti-windup
+}
+////////////////////////////////////////////////// end Use alone

--- a/PID.h	Wed Oct 26 17:56:01 2016 +0000
+++ b/PID.h	Sat Dec 24 09:51:00 2016 +0000
@@ -6,47 +6,50 @@
 class PID{
     public:
 
-        PID(float Kp_in, float Ki_in, float Kd_in,  float Sampletime_in);   
+        PID(float Kp_in, float Ki_in, float Kd_in,  float Sampletime_in);
         void Compute(float reference_in, float feedbackvalue_in);
-        
-        // 
+        void Reset(void);
+        //
         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); 
-        
+        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;
 
     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;
 
 };
 
-#endif /* PID_H*/
\ No newline at end of file
+#endif /* PID_H*/