Michael Ernst Peter / Cntrl_Libary

Libary for control.

Dependencies:   FastPWM

Dependents:   RT2_Cuboid

PID_Cntrl.h@4:1cbd6af9836c, 2021-04-22 (annotated)

Committer:
pmic
Date:
Thu Apr 22 06:57:43 2021 +0000
Revision:
4:1cbd6af9836c
Child:
6:e93f67d98616
Succsellfully tested IIF_Filter-class and PID_Cntrl-class.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 4:1cbd6af9836c 1 #ifndef PID_CNTRL_H_
pmic 4:1cbd6af9836c 2 #define PID_CNTRL_H_
pmic 4:1cbd6af9836c 3
pmic 4:1cbd6af9836c 4 class PID_Cntrl
pmic 4:1cbd6af9836c 5 {
pmic 4:1cbd6af9836c 6
pmic 4:1cbd6af9836c 7 public:
pmic 4:1cbd6af9836c 8
pmic 4:1cbd6af9836c 9 PID_Cntrl(float I, float Ts, float uMin, float uMax);
pmic 4:1cbd6af9836c 10 PID_Cntrl(float P, float I, float Ts, float uMin, float uMax);
pmic 4:1cbd6af9836c 11 PID_Cntrl(float P, float I, float D, float Ts, float uMin, float uMax);
pmic 4:1cbd6af9836c 12 PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax);
pmic 4:1cbd6af9836c 13 PID_Cntrl(float P, float I, float D, float tau_f, float tau_ro, float Ts, float uMin, float uMax);
pmic 4:1cbd6af9836c 14
pmic 4:1cbd6af9836c 15 PID_Cntrl() {};
pmic 4:1cbd6af9836c 16
pmic 4:1cbd6af9836c 17 float operator()(float e)
pmic 4:1cbd6af9836c 18 {
pmic 4:1cbd6af9836c 19 return update(e);
pmic 4:1cbd6af9836c 20 }
pmic 4:1cbd6af9836c 21 float operator()(float e, float y)
pmic 4:1cbd6af9836c 22 {
pmic 4:1cbd6af9836c 23 return update(e, y);
pmic 4:1cbd6af9836c 24 }
pmic 4:1cbd6af9836c 25
pmic 4:1cbd6af9836c 26 virtual ~PID_Cntrl();
pmic 4:1cbd6af9836c 27
pmic 4:1cbd6af9836c 28 void reset(float initValue);
pmic 4:1cbd6af9836c 29
pmic 4:1cbd6af9836c 30 void setCoefficients(float I, float Ts, float uMin, float uMax);
pmic 4:1cbd6af9836c 31 void setCoefficients(float P, float I, float Ts, float uMin, float uMax);
pmic 4:1cbd6af9836c 32 void setCoefficients(float P, float I, float D, float Ts, float uMin, float uMax);
pmic 4:1cbd6af9836c 33 void setCoefficients(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax);
pmic 4:1cbd6af9836c 34 void setCoefficients(float P, float I, float D, float tau_f, float tau_ro, float Ts, float uMin, float uMax);
pmic 4:1cbd6af9836c 35
pmic 4:1cbd6af9836c 36 void setCoeff_P(float P);
pmic 4:1cbd6af9836c 37 void setCoeff_I(float D);
pmic 4:1cbd6af9836c 38 void setCoeff_D(float D);
pmic 4:1cbd6af9836c 39
pmic 4:1cbd6af9836c 40 void scale_PIDT2_param(float scale);
pmic 4:1cbd6af9836c 41
pmic 4:1cbd6af9836c 42 float update(float e);
pmic 4:1cbd6af9836c 43 float update(float e, float y);
pmic 4:1cbd6af9836c 44
pmic 4:1cbd6af9836c 45 bool update_param(int cntrlr_param, float value);
pmic 4:1cbd6af9836c 46
pmic 4:1cbd6af9836c 47 void set_limits(float uMin, float uMax);
pmic 4:1cbd6af9836c 48
pmic 4:1cbd6af9836c 49 float get_ulimit();
pmic 4:1cbd6af9836c 50 float get_P_gain();
pmic 4:1cbd6af9836c 51 float get_bd();
pmic 4:1cbd6af9836c 52 float get_ad();
pmic 4:1cbd6af9836c 53
pmic 4:1cbd6af9836c 54 private:
pmic 4:1cbd6af9836c 55
pmic 4:1cbd6af9836c 56 float IPart, Dpart, d_old, u_old, uf;
pmic 4:1cbd6af9836c 57 float P, I, D, tau_f, tau_ro, Ts, uMin, uMax;
pmic 4:1cbd6af9836c 58 float bi, bd, ad, bf, af;
pmic 4:1cbd6af9836c 59 float P_init, I_init, D_init;
pmic 4:1cbd6af9836c 60
pmic 4:1cbd6af9836c 61 void setInternalCoefficients(float P, float I, float D, float tau_f, float tau_ro, float Ts);
pmic 4:1cbd6af9836c 62
pmic 4:1cbd6af9836c 63 void updateCoeff_I(float I, float Ts);
pmic 4:1cbd6af9836c 64 void updateCoeff_D(float D, float Ts, float tau_f);
pmic 4:1cbd6af9836c 65 void updateCoeff_RO(float Ts, float tau_ro);
pmic 4:1cbd6af9836c 66
pmic 4:1cbd6af9836c 67 float saturate(float u, float uMin, float uMax);
pmic 4:1cbd6af9836c 68
pmic 4:1cbd6af9836c 69 };
pmic 4:1cbd6af9836c 70
pmic 4:1cbd6af9836c 71 #endif