lib/PIDcontroller.hh
00001 // PID蛻ｶ蠕｡蝎ｨ繧ｯ繝ｩ繧ｹ 00002 // 2011/02/16 Yuki YOKOKURA 00003 // 00004 // PID蛻ｶ蠕｡蝎ｨ G(s) = Kp + Ki/s + Kd*s*gdis/(s+gdis) (蜿御ｸ�谺｡螟画鋤) 00005 // 00006 // Copyright (C) 2011 Yuki YOKOKURA 00007 // This program is free software; 00008 // you can redistribute it and/or modify it under the terms of the GNU General Public License 00009 // as published by the Free Software Foundation; either version 3 of the License, or any later version. 00010 // This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; 00011 // without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. 00012 // See the GNU General Public License for more details <http://www.gnu.org/licenses/>. 00013 // Besides, you can negotiate about other options of licenses instead of GPL. 00014 // If you would like to get other licenses, please contact us<yuki@katsura.sd.keio.ac.jp>. 00015 00016 #ifndef PIDCTRLLER 00017 #define PIDCTRLLER 00018 00019 namespace ARCS { // ARCS蜷榊燕遨ｺ髢� 00020 class PIDcontroller { 00021 private: 00022 double Ts; // [s] 蛻ｶ蠕｡蜻ｨ譛� 00023 double Kp; // 豈比ｾ九ご繧､繝ｳ 00024 double Ki; // 遨榊�繧ｲ繧､繝ｳ 00025 double Kd; // 蠕ｮ蛻�繧ｲ繧､繝ｳ 00026 double gpd; // [rad/s] 謫ｬ莨ｼ蠕ｮ蛻�蝎ｨ縺ｮ蟶ｯ蝓� 00027 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� 00028 double uZ2; // 迥ｶ諷句､画焚2 00029 double yZ1; // 迥ｶ諷句､画焚3 00030 double yZ2; // 迥ｶ諷句､画焚4 00031 00032 public: 00033 PIDcontroller(double Pgain, double Igain, double Dgain, double Bandwidth, double SmplTime); 00034 // 繧ｳ繝ｳ繧ｹ繝医Λ繧ｯ繧ｿ 00035 // Pgain�ｼ帶ｯ比ｾ九ご繧､繝ｳ�ｼ栗gain�ｼ帷ｩ榊�繧ｲ繧､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� 00036 ~PIDcontroller(); // 繝�繧ｹ繝医Λ繧ｯ繧ｿ 00037 double GetSignal(double u); // 蜃ｺ蜉帑ｿ｡蜿ｷ縺ｮ蜿門ｾ� u�ｼ帛�･蜉帑ｿ｡蜿ｷ 00038 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 00039 void SetIgain(double Igain); // 遨榊�繧ｲ繧､繝ｳ縺ｮ蜀崎ｨｭ螳� Igain�ｼ帷ｩ榊�繧ｲ繧､繝ｳ 00040 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 00041 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� 00042 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� 00043 void ClearStateVars(void); // 縺吶∋縺ｦ縺ｮ迥ｶ諷句､画焚縺ｮ繝ｪ繧ｻ繝�繝� 00044 }; 00045 } 00046 00047 #endif 00048 00049 00050
