Implementation of an pid (proportional integral derivative) regulator. More...

#include <pidcontroller.h>

Collaboration diagram for semf::PidController:

Public Member Functions
	PidController (double kp, double ki, double kd, double sampleTime, double yMin, double yMax, double setpoint=0, double yStart=0, double deltaMax=DBL_MAX)
	Constructor. More...

virtual	~PidController ()=default

void	setKp (double kp)
	Set the proportional gain. More...

double	kp () const
	Returns the proportional gain. More...

void	setKi (double ki)
	Set the gain of the integral. More...

double	ki () const
	Get the gain of the integral. More...

void	setKd (double kd)
	Set the gain of the derivative. More...

double	kd () const
	Returns the gain of the derivative. More...

void	setSampleTime (double sampleTime)
	Set the sample time of the controller. More...

double	sampleTime () const
	Returns the current configured sample time. More...

void	setSetpoint (double setpoint)
	Set the controller set point. More...

double	setpoint () const
	Returns the current set point. More...

void	setMaxOutput (double max)
	Limits the maximum value of the output. More...

double	maxOuput () const
	Returns the maximum value which the output is allowed to have. More...

void	setMinOutput (double min)
	Set the minimum possible output. More...

double	minOutput () const
	Returns the minimum possible output. More...

void	setMaxDelta (double delta)
	Set the max delta of the output between two samples. More...

double	maxDelta () const
	Returns Set the max delta of the output between two samples. More...

void	reset (double yStart=0)
	Resets the past sampled values which will be used for the calculation of the integral and derivative. More...

virtual double	calculate (double currentValue)
	Calculates the output value dependent to the actual value. This method must be called cyclically at the interval of the set sampling time. More...

Detailed Description

Implementation of an pid (proportional integral derivative) regulator.

Definition at line 20 of file pidcontroller.h.

Constructor & Destructor Documentation

◆ PidController()

semf::PidController::PidController	(	double	kp,
		double	ki,
		double	kd,
		double	sampleTime,
		double	yMin,
		double	yMax,
		double	setpoint = `0`,
		double	yStart = `0`,
		double	deltaMax = `DBL_MAX`
	)

Constructor.

Parameters

kp	Proportional coefficient.
ki	Integral coefficient.
kd	Derivative coefficient.
sampleTime	The sampling time [s].
yMin	The minimum output value.
yMax	The maximum output value.
setpoint	The value on which the output is to be regulated.
yStart	This value is used for the first calculation.
deltaMax	The maximum permissible change of the output value.

Definition at line 16 of file pidcontroller.cpp.

◆ ~PidController()

virtual semf::PidController::~PidController ( )

virtualdefault

Member Function Documentation

◆ calculate()

double semf::PidController::calculate ( double currentValue )

virtual

Calculates the output value dependent to the actual value. This method must be called cyclically at the interval of the set sampling time.

Parameters

currentValue The current value.

Returns: The new output value of the controller (the input to the plant).

Definition at line 146 of file pidcontroller.cpp.

◆ kd()

double semf::PidController::kd ( ) const

Returns the gain of the derivative.

Returns: The gain of the derivative.

Definition at line 71 of file pidcontroller.cpp.

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◆ ki()

double semf::PidController::ki ( ) const

Get the gain of the integral.

Returns: The gain.

Definition at line 57 of file pidcontroller.cpp.

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◆ kp()

double semf::PidController::kp ( ) const

Returns the proportional gain.

Returns: The proportional gain.

Definition at line 45 of file pidcontroller.cpp.

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◆ maxDelta()

double semf::PidController::maxDelta ( ) const

Returns Set the max delta of the output between two samples.

Returns: The max delta of the output.

Definition at line 129 of file pidcontroller.cpp.

◆ maxOuput()

double semf::PidController::maxOuput ( ) const

Returns the maximum value which the output is allowed to have.

Returns: The maximum limit of the output.

Definition at line 107 of file pidcontroller.cpp.

◆ minOutput()

double semf::PidController::minOutput ( ) const

Returns the minimum possible output.

Returns: The minimum possible output.

Definition at line 118 of file pidcontroller.cpp.

◆ reset()

void semf::PidController::reset ( double yStart = 0 )

Resets the past sampled values which will be used for the calculation of the integral and derivative.

Parameters

yStart The start value for the integral (should 0 of no integral is used).

Definition at line 134 of file pidcontroller.cpp.

◆ sampleTime()

double semf::PidController::sampleTime ( ) const

Returns the current configured sample time.

Returns: The sample time.

Definition at line 85 of file pidcontroller.cpp.

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◆ setKd()

void semf::PidController::setKd ( double kd )

Set the gain of the derivative.

Parameters

kd	The new gain.

Definition at line 62 of file pidcontroller.cpp.

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◆ setKi()

void semf::PidController::setKi ( double ki )

Set the gain of the integral.

Parameters

ki	The new gain.

Definition at line 50 of file pidcontroller.cpp.

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◆ setKp()

void semf::PidController::setKp ( double kp )

Set the proportional gain.

Parameters

kp	The new gain

Definition at line 37 of file pidcontroller.cpp.

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◆ setMaxDelta()

void semf::PidController::setMaxDelta ( double delta )

Set the max delta of the output between two samples.

Parameters

delta The max delta of the output.

Definition at line 123 of file pidcontroller.cpp.

◆ setMaxOutput()

void semf::PidController::setMaxOutput ( double max )

Limits the maximum value of the output.

Parameters

max	The maximum value of the output.

Definition at line 101 of file pidcontroller.cpp.

◆ setMinOutput()

void semf::PidController::setMinOutput ( double min )

Set the minimum possible output.

Parameters

min	The minimum possible output.

Definition at line 112 of file pidcontroller.cpp.

◆ setpoint()

double semf::PidController::setpoint ( ) const

Returns the current set point.

Returns: The current set point.

Definition at line 96 of file pidcontroller.cpp.

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◆ setSampleTime()

void semf::PidController::setSampleTime ( double sampleTime )

Set the sample time of the controller.

Parameters

sampleTime The sample time.

Definition at line 76 of file pidcontroller.cpp.

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◆ setSetpoint()

void semf::PidController::setSetpoint ( double setpoint )

Set the controller set point.

Parameters

setpoint The set point.

Definition at line 90 of file pidcontroller.cpp.

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Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ PidController()

◆ ~PidController()

Member Function Documentation

◆ calculate()

◆ kd()

◆ ki()

◆ kp()

◆ maxDelta()

◆ maxOuput()

◆ minOutput()

◆ reset()

◆ sampleTime()

◆ setKd()

◆ setKi()

◆ setKp()

◆ setMaxDelta()

◆ setMaxOutput()

◆ setMinOutput()

◆ setpoint()

◆ setSampleTime()

◆ setSetpoint()