mirror of
https://git.rwth-aachen.de/acs/public/villas/node/
synced 2025-03-16 00:00:02 +01:00
Steffen Vogel
e743b42c6f
- Use C++ style comments - Harmonize indentions - Harmonize comment capitalization Signed-off-by: Steffen Vogel <post@steffenvogel.de>
42 lines
955 B
C++
42 lines
955 B
C++
/** A PID controller.
|
|
*
|
|
* @file
|
|
* @author Steffen Vogel <svogel2@eonerc.rwth-aachen.de>
|
|
* @copyright 2014-2022, Institute for Automation of Complex Power Systems, EONERC
|
|
* @license Apache License 2.0
|
|
*********************************************************************************/
|
|
|
|
#pragma once
|
|
|
|
namespace villas {
|
|
namespace dsp {
|
|
|
|
class PID {
|
|
|
|
protected:
|
|
double dt;
|
|
double max;
|
|
double min;
|
|
double Kp;
|
|
double Kd;
|
|
double Ki;
|
|
double pre_error;
|
|
double integral;
|
|
|
|
public:
|
|
/**
|
|
* Kp - proportional gain
|
|
* Ki - Integral gain
|
|
* Kd - derivative gain
|
|
* dt - loop interval time
|
|
* max - maximum value of manipulated variable
|
|
* min - minimum value of manipulated variable
|
|
*/
|
|
PID(double _dt, double _max, double _min, double _Kp, double _Kd, double _Ki);
|
|
|
|
/** Returns the manipulated variable given a setpoint and current process value */
|
|
double calculate(double setpoint, double pv);
|
|
};
|
|
|
|
} // namespace dsp
|
|
} // namespace villas
|