Diff: PID_Cntrl.h

Revision:

4:1cbd6af9836c

Child:

6:e93f67d98616

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PID_Cntrl.h	Thu Apr 22 06:57:43 2021 +0000
@@ -0,0 +1,71 @@
+#ifndef PID_CNTRL_H_
+#define PID_CNTRL_H_
+
+class PID_Cntrl
+{
+    
+public:
+
+    PID_Cntrl(float I, float Ts, float uMin, float uMax);
+    PID_Cntrl(float P, float I, float Ts, float uMin, float uMax);
+    PID_Cntrl(float P, float I, float D, float Ts, float uMin, float uMax);
+    PID_Cntrl(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax);
+    PID_Cntrl(float P, float I, float D, float tau_f, float tau_ro, float Ts, float uMin, float uMax);
+    
+    PID_Cntrl() {};
+
+    float operator()(float e)
+    {
+        return update(e);
+    }
+    float operator()(float e, float y)
+    {
+        return update(e, y);
+    }
+
+    virtual ~PID_Cntrl();
+
+    void    reset(float initValue);
+    
+    void    setCoefficients(float I, float Ts, float uMin, float uMax);
+    void    setCoefficients(float P, float I, float Ts, float uMin, float uMax);
+    void    setCoefficients(float P, float I, float D, float Ts, float uMin, float uMax);
+    void    setCoefficients(float P, float I, float D, float tau_f, float Ts, float uMin, float uMax);
+    void    setCoefficients(float P, float I, float D, float tau_f, float tau_ro, float Ts, float uMin, float uMax);
+    
+    void    setCoeff_P(float P);
+    void    setCoeff_I(float D);
+    void    setCoeff_D(float D);
+    
+    void    scale_PIDT2_param(float scale);
+    
+    float   update(float e);
+    float   update(float e, float y);
+    
+    bool    update_param(int cntrlr_param, float value);
+    
+    void    set_limits(float uMin, float uMax);
+    
+    float   get_ulimit();
+    float   get_P_gain();
+    float   get_bd();
+    float   get_ad();
+
+private:
+
+    float   IPart, Dpart, d_old, u_old, uf;
+    float   P, I, D, tau_f, tau_ro, Ts, uMin, uMax;
+    float   bi, bd, ad, bf, af;
+    float   P_init, I_init, D_init;
+
+    void    setInternalCoefficients(float P, float I, float D, float tau_f, float tau_ro, float Ts);
+    
+    void    updateCoeff_I(float I, float Ts);
+    void    updateCoeff_D(float D, float Ts, float tau_f);
+    void    updateCoeff_RO(float Ts, float tau_ro);
+    
+    float   saturate(float u, float uMin, float uMax);
+
+};
+
+#endif
\ No newline at end of file