Pascal Keller / Mbed 2 deprecated GRT_VC_PIDT1

Regler von Kellep15

Dependencies:   mbed

PID_Cntrl.cpp@2:394782101261, 2019-05-16 (annotated)

Committer:
kellep15
Date:
Thu May 16 15:34:29 2019 +0000
Revision:
2:394782101261
Parent:
1:92f175969d90 
rEGLER TUT NICHT

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 1:92f175969d90 1 /*
pmic 1:92f175969d90 2 PID-T1 Controller class
pmic 1:92f175969d90 3
pmic 1:92f175969d90 4 1 s
pmic 1:92f175969d90 5 G(s) = Kp + Ki --- + Kd ---------
pmic 1:92f175969d90 6 s T_f*s + p
pmic 1:92f175969d90 7
pmic 1:92f175969d90 8 Eigther reseting the Nucleo via the black button or save a new software on
pmic 1:92f175969d90 9 the Nucleo sets the analog output to zero. Zero is equal to -4 Ampere!!!
pmic 1:92f175969d90 10 Therefor: NEVER !!! reset or save a new software while the VC is powered on
pmic 1:92f175969d90 11 (the green button on the VC is glowing green)
pmic 1:92f175969d90 12
altb2 0:05dd1de8cc3f 13 */
altb2 0:05dd1de8cc3f 14
altb2 0:05dd1de8cc3f 15 #include "PID_Cntrl.h"
altb2 0:05dd1de8cc3f 16 using namespace std;
altb2 0:05dd1de8cc3f 17
kellep15 2:394782101261 18 PID_Cntrl::PID_Cntrl(float Kp, float Ki, float Kd, float Tf, float Ts, float yMin, float yMax)
altb2 0:05dd1de8cc3f 19 {
pmic 1:92f175969d90 20 // link member variables
kellep15 2:394782101261 21 this->Kp = Kp;
kellep15 2:394782101261 22 this->Ki = Ki;
kellep15 2:394782101261 23 this->Tf = Tf;
kellep15 2:394782101261 24 this->Ts = Ts;
kellep15 2:394782101261 25 this->yMin = yMin;
kellep15 2:394782101261 26 this->yMax = yMax;
pmic 1:92f175969d90 27
altb2 0:05dd1de8cc3f 28 reset(0.0f);
altb2 0:05dd1de8cc3f 29 }
altb2 0:05dd1de8cc3f 30
altb2 0:05dd1de8cc3f 31 PID_Cntrl::~PID_Cntrl() {}
altb2 0:05dd1de8cc3f 32
altb2 0:05dd1de8cc3f 33 void PID_Cntrl::reset(float initValue)
altb2 0:05dd1de8cc3f 34 {
pmic 1:92f175969d90 35
pmic 1:92f175969d90 36 // implement controller reset
kellep15 2:394782101261 37 e_old = 0.0;
kellep15 2:394782101261 38 y_Dold = 0.0;
kellep15 2:394782101261 39 y_I = initValue;
altb2 0:05dd1de8cc3f 40 }
altb2 0:05dd1de8cc3f 41
kellep15 2:394782101261 42 float PID_Cntrl::update(float e)
altb2 0:05dd1de8cc3f 43 {
pmic 1:92f175969d90 44
pmic 1:92f175969d90 45 // controller update function
pmic 1:92f175969d90 46
pmic 1:92f175969d90 47 // calculate uI
kellep15 2:394782101261 48 y_I = y_I + Ki*Ts*e;
altb2 0:05dd1de8cc3f 49
pmic 1:92f175969d90 50 // saturate uI, uMin <= uI <= uMax (anti-windup for the integrator part)
kellep15 2:394782101261 51 if(y_I > yMax)
kellep15 2:394782101261 52 y_I = yMax;
kellep15 2:394782101261 53 else if(y_I < yMin)
kellep15 2:394782101261 54 y_I = yMin;
pmic 1:92f175969d90 55
pmic 1:92f175969d90 56 // calculate uD
kellep15 2:394782101261 57 y_Dold = (1.0f - Ts/Tf)*y_Dold + Kd / Tf * (e-e_old);
kellep15 2:394782101261 58
kellep15 2:394782101261 59 float y = Kp * e + y_I + y_Dold;
kellep15 2:394782101261 60
kellep15 2:394782101261 61 // update signal storage
kellep15 2:394782101261 62 e_old = e;
kellep15 2:394782101261 63
pmic 1:92f175969d90 64
pmic 1:92f175969d90 65 // calculate u
pmic 1:92f175969d90 66 // ???
pmic 1:92f175969d90 67
pmic 1:92f175969d90 68 // saturate u, uMin <= u <= uMax
kellep15 2:394782101261 69 if(y > yMax)
kellep15 2:394782101261 70 y = yMax;
kellep15 2:394782101261 71 else if(y < yMin)
kellep15 2:394782101261 72 y = yMin;
pmic 1:92f175969d90 73
pmic 1:92f175969d90 74 // update signal storage
pmic 1:92f175969d90 75 // ???
pmic 1:92f175969d90 76
kellep15 2:394782101261 77 return y;
altb2 0:05dd1de8cc3f 78 }
altb2 0:05dd1de8cc3f 79