Ultimate Gain method
Dependents: 2016_slave_MD_rorikon 2016_slave_MD_rorikon WRS_mechanamu_test
Diff: PID.cpp
- Revision:
- 5:6949e401a9ad
- Parent:
- 4:3ca1603fbcda
--- a/PID.cpp Fri Sep 30 12:31:16 2016 +0000 +++ b/PID.cpp Wed Nov 14 02:20:07 2018 +0000 @@ -2,17 +2,17 @@ PID::PID(Timer *T) { - timer = *T; + timer = T; integral = 0; prev_hensa = 0; nowtime = 0; prev_time = 0; lateD = 0; - timer.start(); + timer->start(); } -float PID::control(float target, float nowrpm) +float PID::controlPID(float target, float nowrpm) { - nowtime = timer.read(); + nowtime = timer->read(); float hensa = target - nowrpm; float dt = nowtime - prev_time; integral += (hensa + prev_hensa) / 2 * dt; @@ -20,43 +20,46 @@ float sousaryou = Kp*hensa + Ki*integral + Kd*differential; //printf("%f %f %f\r\n", Kp*hensa, Ki*integral, Kd*differential); prev_hensa = hensa; - prev_time = timer.read(); + prev_time = nowtime; return sousaryou; } float PID::PI_lateD(float target, float nowrpm) { - nowtime = timer.read(); + nowtime = timer->read(); float hensa = target - nowrpm; float dt = nowtime - prev_time; integral += (hensa + prev_hensa) / 2 * dt; float sousaryou = Kp*hensa + Ki*integral + Kd*lateD; prev_hensa = hensa; - prev_time = timer.read(); + prev_time = timer->read(); lateD = (hensa - prev_hensa) / dt; return sousaryou; } -float PID::control_P(float target, float nowrpm, float new_Kp) +float PID::controlP(float target, float nowrpm, float new_Kp) { float hensa = target - nowrpm; float sousaryou = new_Kp*hensa; return sousaryou; } -float PID::control_PI(float target, float nowrpm) +float PID::controlPI(float target, float nowrpm) { - Kp = 0.45 * Ku; - Ti = 0.83 * Pu; - Ki = (1 / Ti) * Kp; - nowtime = timer.read(); + nowtime = timer->read(); float hensa = target - nowrpm; float dt = nowtime - prev_time; integral += (hensa + prev_hensa) / 2 * dt; float sousaryou = Kp*hensa + Ki*integral; //printf("%f %f %f\r\n", Kp*hensa, Ki*integral, Kd*differential); prev_hensa = hensa; - prev_time = timer.read(); + prev_time = timer->read(); return sousaryou; } -void PID::set_parameter(float new_Ku, float new_Pu) +void PID::setParameter(float new_Kp, float new_Ki, float new_Kd) +{ + Kp = new_Kp; + Ki = new_Ki; + Kd = new_Kd; +} +void PID::setParameter(float new_Ku, float new_Pu) { Ku = new_Ku; Pu = new_Pu; @@ -67,9 +70,15 @@ Ki = (1 / Ti) * Kp; Kd = Td * Kp; } +void PID::setParameterPI(float new_Ku, float new_Pu) +{ + Kp = 0.45 * Ku; + Ti = 0.83 * Pu; + Ki = (1 / Ti) * Kp; +} void PID::reset() { integral = 0; prev_hensa = 0; - prev_time = timer.read(); + prev_time = timer->read(); }