lib/PDcontroller.hh

// PD蛻ｶ蠕｡蝎ｨ繧ｯ繝ｩ繧ｹ
// 2011/02/14 Yuki YOKOKURA
//
// PD蛻ｶ蠕｡蝎ｨ G(s) = Kp + Kd*s*gdis/(s+gdis) (蜿御ｸ�谺｡螟画鋤)
//
// Copyright (C) 2011 Yuki YOKOKURA
// This program is free software;
// you can redistribute it and/or modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation; either version 3 of the License, or any later version.
// This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY;
// without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
// See the GNU General Public License for more details <http://www.gnu.org/licenses/>.
// Besides, you can negotiate about other options of licenses instead of GPL.
// If you would like to get other licenses, please contact us<yuki@katsura.sd.keio.ac.jp>.

#ifndef PDCTRLLER
#define PDCTRLLER

namespace ARCS {        // ARCS蜷榊燕遨ｺ髢�
        class PDcontroller {
                private:
                        double Ts;      // [s]          蛻ｶ蠕｡蜻ｨ譛�
                        double Kp;      //                      豈比ｾ九ご繧､繝ｳ
                        double Kd;      //                      蠕ｮ蛻�繧ｲ繧､繝ｳ
                        double gpd;     // [rad/s]      謫ｬ莨ｼ蠕ｮ蛻�蝎ｨ縺ｮ蟶ｯ蝓�
                        double uZ1;     //                      迥ｶ諷句､画焚1 螟画焚蜷校1縺ｮ諢丞袖縺ｯz螟画鋤縺ｮz^(-1)繧堤､ｺ縺�
                        double yZ1;     //                      迥ｶ諷句､画焚2
                
                public:
                        PDcontroller(double Pgain, double Dgain, double Bandwidth, double SmplTime);
                        // 繧ｳ繝ｳ繧ｹ繝医Λ繧ｯ繧ｿ
                        // Pgain�ｼ帶ｯ比ｾ九ご繧､繝ｳ�ｼ轡gain�ｼ帛ｾｮ蛻�繧ｲ繧､繝ｳ�ｼ沓andwidth�ｼ媼rad/s] 蟶ｯ蝓滂ｼ郡mplTime�ｼ媼s] 蛻ｶ蠕｡蜻ｨ譛�
                        ~PDcontroller();                                        // 繝�繧ｹ繝医Λ繧ｯ繧ｿ
                        double GetSignal(double u);                     // 蜃ｺ蜉帑ｿ｡蜿ｷ縺ｮ蜿門ｾ� u�ｼ帛�･蜉帑ｿ｡蜿ｷ
                        void SetPgain(double Pgain);            // 豈比ｾ九ご繧､繝ｳ縺ｮ蜀崎ｨｭ螳� Pgain�ｼ帶ｯ比ｾ九ご繧､繝ｳ
                        void SetDgain(double Dgain);            // 蠕ｮ蛻�繧ｲ繧､繝ｳ縺ｮ蜀崎ｨｭ螳� Dgain�ｼ帛ｾｮ蛻�繧ｲ繧､繝ｳ
                        void SetBandwidth(double Bandwidth);// 謫ｬ莨ｼ蠕ｮ蛻�縺ｮ蟶ｯ蝓溘�ｮ蜀崎ｨｭ螳� Bandwidth�ｼ媼rad/s] 蟶ｯ蝓�
                        void SetSmplTime(double SmplTime);      // 蛻ｶ蠕｡蜻ｨ譛溘�ｮ蜀崎ｨｭ螳� SmplTime�ｼ媼s] 蛻ｶ蠕｡蜻ｨ譛�
                        void ClearStateVars(void);                      // 縺吶∋縺ｦ縺ｮ迥ｶ諷句､画焚縺ｮ繝ｪ繧ｻ繝�繝�
        };
}

#endif