2528df0f75
These changes make it unnecessary to copy header files around during the build process, which tends to confuse IDEs and debuggers. The headers which comprise Cantera's external C++ interface are now in the 'include' directory. All of the samples and demos are now in the 'samples' subdirectory.
157 lines
3.5 KiB
C++
157 lines
3.5 KiB
C++
/**
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* @file PID_Controller.h
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*/
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// Copyright 2001 California Institute of Technology
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#ifndef CT_PID_H
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#define CT_PID_H
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namespace Cantera
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{
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class PID_Controller
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{
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public:
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/// Default constructor.
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PID_Controller() : m_v0(Undef), m_p(Undef), m_i(Undef), m_d(Undef),
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m_setpoint(Undef), m_last(Undef), m_time(Undef),
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m_xint(Undef), m_out(Undef), m_dt(Undef) {}
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/**
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* Copy constructor. Gains and setpoint are copied, but not
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* the internal parameters defining the state of the
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* controller. Method 'reset' must be called for the copy
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* before using it.
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*/
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PID_Controller(const PID_Controller& pid)
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: m_v0(pid.m_v0), m_p(pid.m_p), m_i(pid.m_i), m_d(pid.m_d),
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m_setpoint(pid.m_setpoint),
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m_last(Undef), m_time(Undef), m_xint(Undef) {}
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/**
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* Assignment operator. @see Copy constructor.
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*/
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PID_Controller& operator=(const PID_Controller& pid) {
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if (this == &pid) {
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return *this;
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}
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m_v0 = pid.m_v0;
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m_p = pid.m_p;
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m_i = pid.m_i;
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m_d = pid.m_d;
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m_setpoint = pid.m_setpoint;
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m_last = Undef;
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m_time = Undef;
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m_xint = Undef;
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return *this;
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}
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/**
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* Reset the start time to time, and the current value of
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* the input to input. Sets the integrated error signal to zero.
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*/
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void reset(doublereal time = 0.0, doublereal input = 0.0) {
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m_time = time;
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m_last = input;
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m_xint = 0.0;
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m_out = m_v0;
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m_dt = 1.0;
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m_maxerr = 0.0;
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}
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doublereal setpoint(doublereal y = Undef) {
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if (y != Undef) {
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m_setpoint = y;
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}
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return m_setpoint;
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}
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bool getGains(vector_fp& gains) {
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gains.resize(4);
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return getGains(4, gains.begin());
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}
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bool getGains(int n, doublereal* gains) {
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if (n < 4) {
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return false;
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}
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gains[0] = m_v0;
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gains[1] = m_p;
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gains[2] = m_i;
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gains[3] = m_d;
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return true;
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}
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bool setGains(const vector_fp& gains) {
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return setGains(int(gains.size()), gains.begin());
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}
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bool setGains(int n, const doublereal* gains) {
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if (n < 4) {
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return false;
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}
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m_v0 = gains[0];
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m_p = gains[1];
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m_i = gains[2];
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m_d = gains[3];
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if (m_p < 0.0 || m_i < 0.0 || m_d < 0.0) {
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return false;
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}
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return true;
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}
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void update(doublereal time, doublereal input) {
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if (time <= m_time) {
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return;
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}
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doublereal err = input - m_setpoint;
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if (fabs(err) > m_maxerr) {
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m_maxerr = fabs(err);
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}
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m_dt = time - m_time;
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m_xint += (0.5*(input + m_last) - m_setpoint) * m_dt;
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m_last = input;
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m_time = time;
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doublereal xdot = (input - m_last)/m_dt;
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m_out = m_v0 - m_p*(input - m_setpoint) - m_i*m_xint
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- m_d*xdot;
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}
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doublereal output(doublereal input) {
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return fmaxx(0.0,
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m_out - (m_p + m_d/m_dt + 0.5*m_i*m_dt)*(input - m_last));
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}
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doublereal maxError() {
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return m_maxerr;
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}
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bool ready() {
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return (m_time != Undef
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&& m_setpoint != Undef
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&& m_v0 != Undef);
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}
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protected:
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doublereal
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m_v0,
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m_p,
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m_i,
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m_d,
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m_setpoint,
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m_maxerr,
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m_last,
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m_time,
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m_xint,
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m_out,
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m_dt;
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};
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}
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#endif
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