Class Pid
Pid in a standard form taking into account saturation.More...
#include <pid.h>
Inherits the following classes: Controller
Public Functions
Type | Name |
---|---|
Pid () |
|
virtual void | calculate (void) override calculate a new command value according to a reference fixed using setReference method and a measuremnt fixed usingsetMeasurement . |
virtual int8_t | init (PidParams params) override initialize the standard pid |
virtual void | reset () override reset internal states and the last command of the controller. |
void | reset (float32_t output) |
Public Functions inherited from Controller
See Controller
Type | Name |
---|---|
virtual void | calculate (void) = 0 calculate a new command value according to a reference fixed using setReference method and a measuremnt fixed usingsetMeasurement . |
virtual outputs_T | calculateWithReturn (refs_T yref, meas_T y) calculate a new command value according the argument values |
virtual outputs_T | getOutput () retrieve the last command value calculated. |
virtual int8_t | init (params_T parameters) = 0 initialize the controller. |
virtual void | reset (void) = 0 reset internal states and the last command of the controller. |
virtual outputs_T | saturate (outputs_T u) limit the argument u betweenupper_bound andlower_bound it is called by thecalculate method. |
virtual void | setMeasurement (meas_T measure) capture a new measurement. |
virtual void | setReference (refs_T reference) capture a new reference. |
Protected Attributes inherited from Controller
See Controller
Type | Name |
---|---|
float32_t | _Ts |
outputs_T | _lower_bound |
meas_T | _measure |
outputs_T | _output |
refs_T | _reference |
outputs_T | _upper_bound |
Detailed Description
out = Kp * (error + 1 / Ti * error / s + 1 / (1 + Td / N * s) * Td * s * error )
It uses backward euler integration method.
Example of use:
Pid mypid; PidParams params(Ts, Kp, Ti, Td, N, lower_bound, upper_bound); mypid.init(params); mypid.setMeasurement(y); mypid.setReference(yref); mypid.calculate(); mypid.getOutput();
Public Functions Documentation
function Pid
function calculate
calculate a new command value according to a reference fixed using setReference
method and a measuremnt fixed usingsetMeasurement
.
The new command value can be captured using the get_output
method.
Implements Controller::calculate
function init
initialize the standard pid
Parameters:
Returns:
0 if ok else -EINVAL
Implements Controller::init
function reset [1/2]
Implements Controller::reset
function reset [2/2]
The documentation for this class was generated from the following file docs/controlLibrary/src/pid.h