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 using`setMeasurement` .
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 using`setMeasurement` .
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` between`upper_bound` and`lower_bound` it is called by the`calculate` 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

inline Pid::Pid ()

function calculate

calculate a new command value according to a reference fixed using setReference method and a measuremnt fixed usingsetMeasurement .

virtual void Pid::calculate (
    void
) override

The new command value can be captured using the get_output method.

Implements Controller::calculate

function init

initialize the standard pid

virtual int8_t Pid::init (
    PidParams params
) override

Parameters:

params is a PidParams structure with all the parameters of the Pid.

Returns:

0 if ok else -EINVAL

Implements Controller::init

function reset [1/2]

reset internal states and the last command of the controller.

virtual void Pid::reset () override

Implements Controller::reset

function reset [2/2]

void Pid::reset (
    float32_t output
)

The documentation for this class was generated from the following file docs/controlLibrary/src/pid.h