譯文 張
/
7_7Boboobooo
123
Fork of Boboobooo by
controller.h@12:a3cee7619b77, 2014-07-10 (annotated)
- Committer:
- even
- Date:
- Thu Jul 10 10:22:14 2014 +0000
- Revision:
- 12:a3cee7619b77
- Parent:
- 7:f04bde0ca846
lots of weird things
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
even | 7:f04bde0ca846 | 1 | #include "mbed.h" |
even | 7:f04bde0ca846 | 2 | |
even | 7:f04bde0ca846 | 3 | |
even | 7:f04bde0ca846 | 4 | |
even | 7:f04bde0ca846 | 5 | class PID |
even | 7:f04bde0ca846 | 6 | { |
even | 7:f04bde0ca846 | 7 | public: |
even | 7:f04bde0ca846 | 8 | |
even | 7:f04bde0ca846 | 9 | |
even | 7:f04bde0ca846 | 10 | float de_kp; |
even | 7:f04bde0ca846 | 11 | float de_ip; |
even | 7:f04bde0ca846 | 12 | float de_dp; |
even | 7:f04bde0ca846 | 13 | |
even | 7:f04bde0ca846 | 14 | |
even | 7:f04bde0ca846 | 15 | |
even | 7:f04bde0ca846 | 16 | float de_output; |
even | 7:f04bde0ca846 | 17 | |
even | 7:f04bde0ca846 | 18 | |
even | 7:f04bde0ca846 | 19 | /* |
even | 7:f04bde0ca846 | 20 | * Constructeur |
even | 7:f04bde0ca846 | 21 | * Sets default limits, calculates tuning parameters, and sets manual mode with no bias. |
even | 7:f04bde0ca846 | 22 | * @param Kc - Tuning parameter |
even | 7:f04bde0ca846 | 23 | * @param tauI - Tuning parameter |
even | 7:f04bde0ca846 | 24 | * @param tauD - Tuning parameter |
even | 7:f04bde0ca846 | 25 | * @param interval PID calculation performed every interval seconds. |
even | 7:f04bde0ca846 | 26 | */ |
even | 7:f04bde0ca846 | 27 | PID(float in_min,float in_max,float out_min,float out_max,float Kc, float tauI, float tauD, float interval); |
even | 7:f04bde0ca846 | 28 | |
even | 7:f04bde0ca846 | 29 | /* |
even | 7:f04bde0ca846 | 30 | * Scale from inputs to 0-100%. |
even | 7:f04bde0ca846 | 31 | * @param InMin The real world value corresponding to 0%. |
even | 7:f04bde0ca846 | 32 | * @param InMax The real world value corresponding to 100%. |
even | 7:f04bde0ca846 | 33 | */ |
even | 7:f04bde0ca846 | 34 | void setInputLimits(float inMin, float inMax); |
even | 7:f04bde0ca846 | 35 | |
even | 7:f04bde0ca846 | 36 | /* |
even | 7:f04bde0ca846 | 37 | * Scale from outputs to 0-100%. |
even | 7:f04bde0ca846 | 38 | * @param outMin The real world value corresponding to 0%. |
even | 7:f04bde0ca846 | 39 | * @param outMax The real world value corresponding to 100%. |
even | 7:f04bde0ca846 | 40 | */ |
even | 7:f04bde0ca846 | 41 | void setOutputLimits(float outMin, float outMax); |
even | 7:f04bde0ca846 | 42 | |
even | 7:f04bde0ca846 | 43 | /* |
even | 7:f04bde0ca846 | 44 | * Calculate PID constants. |
even | 7:f04bde0ca846 | 45 | * Allows parameters to be changed on the fly without ruining calculations. |
even | 7:f04bde0ca846 | 46 | * @param Kc - Tuning parameter |
even | 7:f04bde0ca846 | 47 | * @param tauI - Tuning parameter |
even | 7:f04bde0ca846 | 48 | * @param tauD - Tuning parameter |
even | 7:f04bde0ca846 | 49 | */ |
even | 7:f04bde0ca846 | 50 | void setTunings(float Kc, float tauI, float tauD); |
even | 7:f04bde0ca846 | 51 | |
even | 7:f04bde0ca846 | 52 | /* |
even | 7:f04bde0ca846 | 53 | * Reinitializes controller internals. Automatically |
even | 7:f04bde0ca846 | 54 | * called on a manual to auto transition. |
even | 7:f04bde0ca846 | 55 | */ |
even | 7:f04bde0ca846 | 56 | // void reset(void); |
even | 7:f04bde0ca846 | 57 | |
even | 7:f04bde0ca846 | 58 | /* |
even | 7:f04bde0ca846 | 59 | * Set how fast the PID loop is run. |
even | 7:f04bde0ca846 | 60 | * @param interval PID calculation peformed every interval seconds. |
even | 7:f04bde0ca846 | 61 | */ |
even | 7:f04bde0ca846 | 62 | // void setInterval(float interval); |
even | 7:f04bde0ca846 | 63 | |
even | 7:f04bde0ca846 | 64 | /* |
even | 7:f04bde0ca846 | 65 | * Set the bias. |
even | 7:f04bde0ca846 | 66 | * @param bias The bias for the controller output. |
even | 7:f04bde0ca846 | 67 | */ |
even | 7:f04bde0ca846 | 68 | // void setBias(float bias); |
even | 7:f04bde0ca846 | 69 | |
even | 7:f04bde0ca846 | 70 | /* |
even | 7:f04bde0ca846 | 71 | * PID calculation. |
even | 7:f04bde0ca846 | 72 | * @return The controller output as a float between outMin and outMax. |
even | 7:f04bde0ca846 | 73 | */ |
even | 7:f04bde0ca846 | 74 | float compute(float center, float sp); |
even | 7:f04bde0ca846 | 75 | |
even | 7:f04bde0ca846 | 76 | //Getters. |
even | 7:f04bde0ca846 | 77 | float getInMin(); |
even | 7:f04bde0ca846 | 78 | float getInMax(); |
even | 7:f04bde0ca846 | 79 | float getOutMin(); |
even | 7:f04bde0ca846 | 80 | float getOutMax(); |
even | 7:f04bde0ca846 | 81 | float getInterval(); |
even | 7:f04bde0ca846 | 82 | float getPParam(); |
even | 7:f04bde0ca846 | 83 | float getIParam(); |
even | 7:f04bde0ca846 | 84 | float getDParam(); |
even | 7:f04bde0ca846 | 85 | |
even | 7:f04bde0ca846 | 86 | private: |
even | 7:f04bde0ca846 | 87 | |
even | 7:f04bde0ca846 | 88 | // bool usingFeedForward; |
even | 7:f04bde0ca846 | 89 | |
even | 7:f04bde0ca846 | 90 | //Actual tuning parameters used in PID calculation. |
even | 7:f04bde0ca846 | 91 | float Kp; |
even | 7:f04bde0ca846 | 92 | float Ki; |
even | 7:f04bde0ca846 | 93 | float Kd; |
even | 7:f04bde0ca846 | 94 | float Kc_; |
even | 7:f04bde0ca846 | 95 | float tauI_; |
even | 7:f04bde0ca846 | 96 | float tauD_; |
even | 7:f04bde0ca846 | 97 | |
even | 7:f04bde0ca846 | 98 | |
even | 7:f04bde0ca846 | 99 | |
even | 7:f04bde0ca846 | 100 | float pParam_; |
even | 7:f04bde0ca846 | 101 | float iParam_; |
even | 7:f04bde0ca846 | 102 | float dParam_; |
even | 7:f04bde0ca846 | 103 | |
even | 7:f04bde0ca846 | 104 | float accError_; |
even | 7:f04bde0ca846 | 105 | |
even | 7:f04bde0ca846 | 106 | //Raw tuning parameters. |
even | 7:f04bde0ca846 | 107 | |
even | 7:f04bde0ca846 | 108 | //The point we want to reach. |
even | 7:f04bde0ca846 | 109 | float setPoint_; |
even | 7:f04bde0ca846 | 110 | //The thing we measure. |
even | 7:f04bde0ca846 | 111 | float processVariable_; |
even | 7:f04bde0ca846 | 112 | float prevProcessVariable_; |
even | 7:f04bde0ca846 | 113 | //The output that affects the process variable. |
even | 7:f04bde0ca846 | 114 | float controllerOutput_; |
even | 7:f04bde0ca846 | 115 | float prevControllerOutput_; |
even | 7:f04bde0ca846 | 116 | |
even | 7:f04bde0ca846 | 117 | //We work in % for calculations so these will scale from |
even | 7:f04bde0ca846 | 118 | //real world values to 0-100% and back again. |
even | 7:f04bde0ca846 | 119 | float inMin_; |
even | 7:f04bde0ca846 | 120 | float inMax_; |
even | 7:f04bde0ca846 | 121 | float inSpan_; |
even | 7:f04bde0ca846 | 122 | |
even | 7:f04bde0ca846 | 123 | float outMin_; |
even | 7:f04bde0ca846 | 124 | float outMid_; |
even | 7:f04bde0ca846 | 125 | float outMax_; |
even | 7:f04bde0ca846 | 126 | float outSpan_; |
even | 7:f04bde0ca846 | 127 | |
even | 7:f04bde0ca846 | 128 | float ctrl_Lbound; |
even | 7:f04bde0ca846 | 129 | float ctrl_Ubound; |
even | 7:f04bde0ca846 | 130 | |
even | 7:f04bde0ca846 | 131 | |
even | 7:f04bde0ca846 | 132 | |
even | 7:f04bde0ca846 | 133 | |
even | 7:f04bde0ca846 | 134 | //The accumulated error, i.e. integral. |
even | 7:f04bde0ca846 | 135 | //float accError_; |
even | 7:f04bde0ca846 | 136 | //The controller output bias. |
even | 7:f04bde0ca846 | 137 | // float bias_; |
even | 7:f04bde0ca846 | 138 | |
even | 7:f04bde0ca846 | 139 | //The interval between samples. |
even | 7:f04bde0ca846 | 140 | float tSample_; |
even | 7:f04bde0ca846 | 141 | |
even | 7:f04bde0ca846 | 142 | //Controller output as a real world value. |
even | 7:f04bde0ca846 | 143 | // volatile float realOutput_; |
even | 7:f04bde0ca846 | 144 | |
even | 7:f04bde0ca846 | 145 | }; |