Ultimate Gain method
Dependents: 2016_slave_MD_rorikon 2016_slave_MD_rorikon WRS_mechanamu_test
Diff: PID.h
- Revision:
- 4:3ca1603fbcda
- Parent:
- 2:405224725072
- Child:
- 5:6949e401a9ad
--- a/PID.h Thu Aug 18 02:41:53 2016 +0000 +++ b/PID.h Fri Sep 30 12:31:16 2016 +0000 @@ -7,7 +7,9 @@ public: PID(Timer *T); float control(float target, float nowrpm); + float PI_lateD(float target, float nowrpm); float control_P(float target, float nowrpm, float new_Kp); + float control_PI(float target, float nowrpm); void set_parameter(float new_Ku, float new_Pu); void reset(); @@ -25,7 +27,7 @@ float prev_hensa; float nowtime; float prev_time; - + float lateD; }; #endif \ No newline at end of file