hidaka sato / PID

Ultimate Gain method

Dependents:   2016_slave_MD_rorikon 2016_slave_MD_rorikon WRS_mechanamu_test

PID.h@2:405224725072, 2016-08-17 (annotated)

Committer:
sgrsn
Date:
Wed Aug 17 05:33:56 2016 +0000
Revision:
2:405224725072
Parent:
1:6939c241c6dc
Child:
4:3ca1603fbcda
chng about public and private.

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Who changed what in which revision?

UserRevisionLine numberNew contents of line
sgrsn 0:35a0b92fe34e 1 #ifndef PID_H
sgrsn 0:35a0b92fe34e 2 #define PID_H
sgrsn 0:35a0b92fe34e 3 #include "mbed.h"
sgrsn 0:35a0b92fe34e 4
sgrsn 0:35a0b92fe34e 5 class PID
sgrsn 0:35a0b92fe34e 6 {
sgrsn 0:35a0b92fe34e 7 public:
sgrsn 0:35a0b92fe34e 8 PID(Timer *T);
sgrsn 0:35a0b92fe34e 9 float control(float target, float nowrpm);
sgrsn 0:35a0b92fe34e 10 float control_P(float target, float nowrpm, float new_Kp);
sgrsn 0:35a0b92fe34e 11 void set_parameter(float new_Ku, float new_Pu);
sgrsn 0:35a0b92fe34e 12 void reset();
sgrsn 2:405224725072 13
sgrsn 2:405224725072 14 float Ku;
sgrsn 2:405224725072 15 float Pu;
sgrsn 2:405224725072 16 float Kp;
sgrsn 2:405224725072 17 float Ti;
sgrsn 2:405224725072 18 float Td;
sgrsn 2:405224725072 19 float Ki;
sgrsn 2:405224725072 20 float Kd;
sgrsn 0:35a0b92fe34e 21
sgrsn 2:405224725072 22 private:
sgrsn 0:35a0b92fe34e 23 Timer timer;
sgrsn 0:35a0b92fe34e 24 float integral;
sgrsn 0:35a0b92fe34e 25 float prev_hensa;
sgrsn 0:35a0b92fe34e 26 float nowtime;
sgrsn 0:35a0b92fe34e 27 float prev_time;
sgrsn 0:35a0b92fe34e 28
sgrsn 0:35a0b92fe34e 29 };
sgrsn 0:35a0b92fe34e 30
sgrsn 0:35a0b92fe34e 31 #endif