C:/Active/libraries/cxutils/2.0/include/cxutils/math/pidcontroller.h
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00001 00002 00003 00004 00005 00006 00007 00008 00009 00010 00011 00012 00013 00014 00015 00016 00017 00018 00019 00020 00021 00022 00023 00024 00025 00026 00027 00028 00029 00030 00031 00032 00033 00034 00035 00036 00037 00038 00039 00040 00041 #ifndef _CXUTILS_MATH_PIDCONTROLLER_H 00042 #define _CXUTILS_MATH_PIDCONTROLLER_H 00043 00044 #include "cxutils/cxbase.h" 00045 00046 namespace CxUtils 00047 { 00062 class CX_UTILS_DLL PIDController 00063 { 00064 public: 00065 PIDController(); 00066 ~PIDController(); 00067 // Sets the value of DT (rate of change for PID). 00068 void SetRate(const double dt = 1.0); 00069 // Update the PID based on error, return next value to use. 00070 double UpdatePID(const double error); 00071 // Add an offset to the solution to taylor the 00072 // results more to your specific application. For example 00073 // if your system inputs range from 50 - 150, then you would have 00074 // an offset of 50 to offset the [-x, 0, x] range and 00075 // have max an min bounds of 50 - 150 00076 void SetOffset(const double offset); 00077 // Setting the bounds prevents the sum of error 00078 // from getting out of control. This should be set 00079 // to the max and min values your system can use. This 00080 // basically prevents you from giving 150% if your max 00081 // value is 100%. 00082 void SetBounds(const double min, const double max); 00083 void SetGains(const double p, const double i, const double d); 00084 void ClearError(); 00085 void Reset(); 00086 void Reset(const double lower, 00087 const double upper, 00088 const double offset, 00089 const double p, 00090 const double i, 00091 const double d); 00092 double GetProportionalGain()const { return mP; } 00093 double GetIntegralGrain() const { return mI; } 00094 double GetDifferentialGain() const { return mD; } 00095 double GetSumOfError()const { return mSumOfError; } 00096 double GetOffset()const { return mOffset; } 00097 double GetLowerBound()const { return mLowerBound; } 00098 double GetUpperBound()const { return mUpperBound; } 00099 protected: 00100 double mPreviousError; 00101 double mPreviousSolution; 00102 double mP; 00103 double mI; 00104 double mD; 00105 double mSumOfError; 00106 double mOffset; 00107 double mUpperBound; 00108 double mLowerBound; 00109 double mDT; 00110 }; 00111 } 00112 00113 #endif 00114 /* End of File */
