PI1.cpp

00001 #include "PI1.h"
00002 
00003 PI1::PI1() {
00004     u = y = u_p1 = y_p1 = 0;
00005     setParameters(1, 1, 0.1);
00006     setOutputLimits(0, 1);
00007     setOperationMode(automatic);
00008 }
00009 
00010 PI1::PI1(double K_R_, double T_I_, double T_d_) {
00011     u = y = u_p1 = y_p1 = 0;
00012     setParameters(K_R_, T_I_, T_d_);
00013     setOutputLimits(0, 1);
00014     setOperationMode(automatic);
00015 }
00016 
00017 void PI1::setParameters(double K_R_, double T_I_, double T_d_) {
00018     if (T_d_ > 0)
00019         T_d = T_d_;
00020     else
00021         T_d = 0.1;
00022     if (T_I_ > 0)
00023         T_I = T_I_;
00024     else
00025         T_I = 1;
00026     K_R = K_R_;
00027 }
00028 
00029 void PI1::setOutputLimits(double lowerOutputLimit, double upperOutputLimit) {
00030     if (upperOutputLimit > lowerOutputLimit) {
00031         y_min = lowerOutputLimit;
00032         y_max = upperOutputLimit;
00033     }
00034 }
00035 
00036 void PI1::setOperationMode(Mode newOperationMode) {
00037     // Bumpless transfer from manual to automatic mode
00038     if (operationMode == manual && newOperationMode == automatic) {
00039         y = y_p1 = y_manual;
00040         u = u_p1 = 0;
00041     }
00042     // Bumpless transfer from automatic to manual mode
00043     else if (operationMode == automatic && newOperationMode == manual) {
00044         y_manual = y;
00045     }
00046     operationMode = newOperationMode;
00047 }
00048 
00049 void PI1::setOutputManually(double u_C) {
00050     y_manual = u_C;
00051 }
00052 
00053 double PI1::out() {
00054     if (operationMode == automatic) {
00055         y = y_p1 + K_R * u + K_R * (T_d / T_I - 1) * u_p1;
00056     } else if (operationMode == manual) {
00057         y = y_manual;
00058     }
00059     
00060     if (y > y_max)
00061         y = y_max;
00062     else if (y < y_min)
00063         y = y_min;
00064     
00065     y_p1 = y;    
00066     u_p1 = u;
00067     return y;
00068 }
00069 
00070 void PI1::in(double u_) {
00071     u = u_;
00072 }