Diff: PI1.h

Revision:

2:a45cbb512c99

Parent:

0:3dd7aeceee65

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/PI1.h	Sat Nov 25 02:03:00 2017 +0000
@@ -0,0 +1,42 @@
+#ifndef PI1_H
+#define PI1_H
+
+#include "mbed.h"
+
+/** Data type for choosing the operation mode of the controller ("automatic" or "manual"). */
+enum Mode {automatic, manual};
+
+/** Transfer function of a PI controller with output limitation, anti-windup and bumpless automatic and manual mode.
+ * G_C(s) = U_C(s) / E(s) = K_C ( 1 + 1 / (T_I s) ) = K_C (1 + T_I s) / (T_I s)
+ *
+ * K_C is the controller gain, and T_I is the controller integral time constant in seconds.
+ *
+ * Author(s): TVZ Mechatronics Team
+ *
+ */
+class PI1 {
+    public:
+        /** Default constructor.
+         * K_C = 1, T_I = 1 s, sampleTime = 0.1 s.
+         */
+        PI1();
+        /** PI controller gain, integral time constant in seconds and sample time in seconds. */
+        PI1(double K_C, double T_I, double sampleTime);
+        /** Update PI controller gain, integral time constant and sample time. */
+        void setParameters(double K_C, double T_I, double sampleTime);
+        /** Set the controller lower and upper output limit. */
+        void setOutputLimits(double lowerOutputLimit, double upperOutputLimit);
+        /** Set the operation mode to "automatic" or "manual". */
+        void setOperationMode (Mode operationMode);
+        /** Set the controller output manually. */
+        void setOutputManually(double u_C);
+        /** Calculate the controller output u_C. */
+        double out();
+        /** Set the PI controller input e = SP - PV (setpoint - process value). */
+        void in(double e);
+    private:
+        double K_R, T_I, T_d, y, y_p1, u, u_p1, y_max, y_min, y_manual;
+        Mode operationMode;
+};
+
+#endif // PI1_H
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