PID.h

00001 #ifndef PID_H_
00002 #define PID_H_
00003 
00004 namespace PID_SPACE
00005 {
00006     class PID
00007     {
00008         private:
00009         double diff[2];
00010         double integral;
00011         double deltaTime;
00012         double dataRangeLower;
00013         double dataRangeUpper;
00014         double kp,ki,kd;
00015         double mv;
00016         
00017         public:
00018         // deltaTime:1サイクル時間( 1 / Process Frequency )
00019         PID(double deltaTime);
00020         PID(double deltaTime, double dataRangeLower, double dataRangeUpper);
00021         PID(double deltaTime, double dataRangeLower, double dataRangeUpper, double KP, double KI, double KD);
00022         
00023         //パラメータを設定
00024         void SetParam(double KP, double KI, double KD);
00025         
00026         //測定量を入力し操作量を取得
00027         double SetPV(double sensorData, double targetData);
00028         
00029         //操作量を取得
00030         double GetMV();
00031         
00032         //入力した値を制限して取得
00033         double limit(double data, double lower, double upper);
00034         
00035     };
00036     
00037     
00038 }
00039 
00040 
00041 
00042 #endif /* PID_H_ */