#include <rlcontroller.h>

Inheritance diagram for rlController:

Collaboration diagram for rlController:

Public Types
enum	ControllerType { P = 1, I = 2, D_T1 = 3, PI = 4, PD_T1 = 5, PID_T1 = 6, PI_SUM = 7, PD_T1_SUM = 8, PID_T1_SUM = 9 }
Public Member Functions
	rlController (double(*_getMeasurement)(), void(_writeOutput)(double output))
	~rlController ()
void	start ()
void	stop ()
void	setReference (double _reference)
void	setP (double _T, double _Kp)
void	setI (double _T, double _T1)
void	setD_T1 (double _T, double _TD, double _Td)
void	setPI (double _T, double _Kp, double _Tn)
void	setPD_T1 (double _T, double _Kp, double _TvP, double _Td)
void	setPID_T1 (double _T, double _Kpp, double _TnP, double _TvP, double _Td)
void	setPI_SUM (double _T, double _Kp, double _Tn)
void	setPD_T1_SUM (double _T, double _Kp, double _Tv, double _Td)
void	setPID_T1_SUM (double _T, double _Kp, double _Tn, double _Tv, double _Td)
Public Attributes
double	Kp
double	Kpp
double	T
double	T1
double	Td
double	TD
double	Tn
double	TnP
double	TvP
double	Tv
double	reference
int	type
int	running
double	d0
double	d1
double	d2
double	dD
double	c1
double	c2
double	cD
double	yk
double	yk_1
double	yk_2
double	ek
double	ek_1
double	ek_2
double	y1k
double	y1k_1
double	ydk
double	ydk_1
int	dt
double(*	getMeasurement )()
void(*	writeOutput )(double output)
int	sleepLocally
double	measurement

Detailed Description

class for closed loop control
According to: F. Doerrscheid/W. Latzel, Grundlagen der Regelungstechnik, B.G. Teubner Stuttgart
Page 436-437, Regelalgorithmen mit der Trapezregel

Definition at line 27 of file rlcontroller.h.

Member Enumeration Documentation

enum rlController::ControllerType

Enumerator:

P
I
D_T1
PI
PD_T1
PID_T1
PI_SUM
PD_T1_SUM
PID_T1_SUM

Definition at line 30 of file rlcontroller.h.

  {
    P          = 1,
    I          = 2,
    D_T1       = 3,
    PI         = 4,
    PD_T1      = 5,
    PID_T1     = 6,
    PI_SUM     = 7,
    PD_T1_SUM  = 8,
    PID_T1_SUM = 9
  };

Constructor & Destructor Documentation

rlController::rlController	(	double(*)()	_getMeasurement,
		void(_writeOutput)(double output)
	)

Definition at line 70 of file rlcontroller.cpp.

             :rlThread()
{
  type = -1;
  running = 0;
  getMeasurement = _getMeasurement;
  writeOutput    = _writeOutput;
  ydk_1 = 0.0f;
  ydk   = 0.0f;
  y1k_1 = 0.0f;
  y1k   = 0.0f;
  yk_2  = 0.0f;
  yk_1  = 0.0f;
  yk    = 0.0f;
  ek_2  = 0.0f;
  ek_1  = 0.0f;
  ek    = 0.0f;
  reference = measurement = 0.0;
  sleepLocally = 1;
}

rlController::~rlController ( )

Definition at line 91 of file rlcontroller.cpp.

{
  stop();
}

Member Function Documentation

void rlController::setD_T1	(	double	_T,
		double	_TD,
		double	_Td
	)

                              TD * s
  Transfer function: Gr(s) = ---------
                             1 + Td*s
  T = cycle time in seconds

Definition at line 147 of file rlcontroller.cpp.

{
  rlThread::lock();
  type = D_T1;
  T  = _T;
  TD = _TD;
  Td = _Td;
  dt = (int) (1000.0 * T);
  d0 = TD / (Td + T/2.0);
  d1 = -TD / (Td + T/2.0);
  c1 = (Td-T/2.0)/(Td+T/2.0);
  rlThread::unlock();
}

void rlController::setI	(	double	_T,
		double	_T1
	)

                               1
  Transfer function: Gr(s) = ------
                             T1 * s
  T = cycle time in seconds

Definition at line 134 of file rlcontroller.cpp.

{
  rlThread::lock();
  type = I;
  T  = _T;
  T1 = _T1;
  dt = (int) (1000.0 * T);
  d0 = T/(2.0*T1);
  d1 = T/(2.0*T1);
  c1 = 1.0;
  rlThread::unlock();
}

void rlController::setP	(	double	_T,
		double	_Kp
	)

  Transfer function: Gr(s) = Kp

Definition at line 123 of file rlcontroller.cpp.

{
  rlThread::lock();
  type = P;
  T  = _T;
  Kp = _Kp;
  dt = (int) (1000.0 * T);
  d0 = Kp;
  rlThread::unlock();
}

void rlController::setPD_T1	(	double	_T,
		double	_Kp,
		double	_TvP,
		double	_Td
	)

                                  1 + TvP*s
  Transfer function: Gr(s) = Kp * ---------
                                  1 + Td*s
  T = cycle time in seconds

Definition at line 175 of file rlcontroller.cpp.

{
  rlThread::lock();
  type = PD_T1;
  T   = _T;
  Kp  = _Kp;
  TvP = _TvP;
  Td  = _Td;
  dt = (int) (1000.0 * T);
  d0 = Kp * (TvP+T/2.0) / (Td + T/2.0);
  d1 = -Kp * (TvP - T/2.0) / (Td + T/2.0);
  c1 = (Td - T/2.0)/(Td + T/2.0);
  rlThread::unlock();
}

void rlController::setPD_T1_SUM	(	double	_T,
		double	_Kp,
		double	_Tv,
		double	_Td
	)

                                          Tv*s
  Transfer function: Gr(s) = Kp * ( 1 + -------- )
                                        1 + Td*s
  T = cycle time in seconds

Definition at line 220 of file rlcontroller.cpp.

{
  rlThread::lock();
  type = PD_T1_SUM;
  T   = _T;
  Kp  = _Kp;
  Tv  = _Tv;
  Td  = _Td;
  dt = (int) (1000.0 * T);
  dD = Kp * (Tv/(Td+T/2.0));
  cD = (Td-T/2.0)/(Td+T/2.0);
  rlThread::unlock();
}

void rlController::setPI	(	double	_T,
		double	_Kp,
		double	_Tn
	)

                                  1 + Tn*s
  Transfer function: Gr(s) = Kp * --------
                                   Tn*s
  T = cycle time in seconds

Definition at line 161 of file rlcontroller.cpp.

{
  rlThread::lock();
  type = PI;
  T  = _T;
  Kp = _Kp;
  Tn = _Tn;
  dt = (int) (1000.0 * T);
  d0 = Kp * (Tn+T/2.0) / Tn;
  d1 = -Kp * (Tn - T/2.0) / Tn;
  c1 = 1.0;
  rlThread::unlock();
}

void rlController::setPI_SUM	(	double	_T,
		double	_Kp,
		double	_Tn
	)

                                         1
  Transfer function: Gr(s) = Kp * ( 1 + ---- )
                                        Tn*s
  T = cycle time in seconds

Definition at line 208 of file rlcontroller.cpp.

{
  rlThread::lock();
  type = PI_SUM;
  T   = _T;
  Kp  = _Kp;
  Tn  = _Tn;
  dt = (int) (1000.0 * T);
  d1 = Kp * (T/2.0)/Tn;
  rlThread::unlock();
}

void rlController::setPID_T1	(	double	_T,
		double	_Kpp,
		double	_TnP,
		double	_TvP,
		double	_Td
	)

                                   1 + TnP*s   1 + TvP*s
  Transfer function: Gr(s) = Kpp * --------- * ---------
                                     TnP*s     1 + Td*s
  T = cycle time in seconds

Definition at line 190 of file rlcontroller.cpp.

{
  rlThread::lock();
  type = PID_T1;
  T   = _T;
  Kpp = _Kpp;
  TnP = _TnP;
  TvP = _TvP;
  Td  = _Td;
  dt = (int) (1000.0 * T);
  d0 = Kpp * ((TnP+T/2.0) / TnP) * ((TvP+T/2.0))/(Td+T/2.0);
  d1 = -2.0*Kpp * (TnP*TvP - (T/2.0)*(T/2.0)) / (TnP*(Td+T/2.0));
  d2 = Kpp*((TnP-T/2.0)/TnP)*((TvP-T/2.0)/(Td+T/2.0));
  c1 = 2*Td/(Td+T/2.0);
  c2 = -(Td-T/2.0)/(Td+T/2.0);
  rlThread::unlock();
}

void rlController::setPID_T1_SUM	(	double	_T,
		double	_Kp,
		double	_Tn,
		double	_Tv,
		double	_Td
	)

                                         1       Tv*s
  Transfer function: Gr(s) = Kp * ( 1 + ---- + -------- )
                                        Tn*s   1 + Td*s
  T = cycle time in seconds

Definition at line 234 of file rlcontroller.cpp.

{
  rlThread::lock();
  type = PID_T1_SUM;
  T   = _T;
  Kp  = _Kp;
  Tn  = _Tn;
  Tv  = _Tv;
  Td  = _Td;
  dt = (int) (1000.0 * T);
  d1 = Kp*T/(2.0*Tn);
  dD = Kp * (Tv/(Td+T/2.0));
  cD = (Td-T/2.0)/(Td+T/2.0);
  rlThread::unlock();
}

void rlController::setReference ( double _reference )

  Set the reference value for the controller

Definition at line 118 of file rlcontroller.cpp.

{
  reference = _reference;
}

void rlController::start ( )

Definition at line 96 of file rlcontroller.cpp.

{
  running = 1;
  ydk_1 = 0.0f;
  ydk   = 0.0f;
  y1k_1 = 0.0f;
  y1k   = 0.0f;
  yk_2  = 0.0f;
  yk_1  = 0.0f;
  yk    = 0.0f;
  ek_2  = 0.0f;
  ek_1  = 0.0f;
  ek    = 0.0f;
  rlThread::create(control,this);
}

void rlController::stop ( )

Definition at line 112 of file rlcontroller.cpp.

{
  if(running) rlThread::cancel();
  running = 0;
}

Member Data Documentation

double rlController::c1

Definition at line 119 of file rlcontroller.h.

double rlController::c2

Definition at line 119 of file rlcontroller.h.

double rlController::cD

Definition at line 119 of file rlcontroller.h.

double rlController::d0

Definition at line 118 of file rlcontroller.h.

double rlController::d1

Definition at line 118 of file rlcontroller.h.

double rlController::d2

Definition at line 118 of file rlcontroller.h.

double rlController::dD

Definition at line 118 of file rlcontroller.h.

int rlController::dt

Definition at line 123 of file rlcontroller.h.

double rlController::ek

Definition at line 121 of file rlcontroller.h.

double rlController::ek_1

Definition at line 121 of file rlcontroller.h.

double rlController::ek_2

Definition at line 121 of file rlcontroller.h.

double(* rlController::getMeasurement)()

  You have to supply this function for getting the measurement

Definition at line 128 of file rlcontroller.h.

double rlController::Kp

  Don't set the controller parameters directly
  Use the set methods, because they will also set the coefficients
  Controller parameters are for reading only

Definition at line 115 of file rlcontroller.h.

double rlController::Kpp

Definition at line 115 of file rlcontroller.h.

double rlController::measurement

  last measurement

Definition at line 146 of file rlcontroller.h.

double rlController::reference

Definition at line 115 of file rlcontroller.h.

int rlController::running

Definition at line 117 of file rlcontroller.h.

int rlController::sleepLocally

  Default sleepLocally = 1
  But:
  Sleeping locally might me inaccurate.
  It might be better to have a central timer and wait for it in
  double (*_getMeasurement)();
  T = cycle time in seconds

Definition at line 142 of file rlcontroller.h.

double rlController::T

Definition at line 115 of file rlcontroller.h.

double rlController::T1

Definition at line 115 of file rlcontroller.h.

double rlController::Td

Definition at line 115 of file rlcontroller.h.

double rlController::TD

Definition at line 115 of file rlcontroller.h.

double rlController::Tn

Definition at line 115 of file rlcontroller.h.

double rlController::TnP

Definition at line 115 of file rlcontroller.h.

double rlController::Tv

Definition at line 115 of file rlcontroller.h.

double rlController::TvP

Definition at line 115 of file rlcontroller.h.

int rlController::type

Definition at line 116 of file rlcontroller.h.

void(* rlController::writeOutput)(double output)

  You have to supply this function for writing the output

Definition at line 132 of file rlcontroller.h.

double rlController::y1k

Definition at line 122 of file rlcontroller.h.

double rlController::y1k_1

Definition at line 122 of file rlcontroller.h.

double rlController::ydk

Definition at line 122 of file rlcontroller.h.

double rlController::ydk_1

Definition at line 122 of file rlcontroller.h.

double rlController::yk

Definition at line 120 of file rlcontroller.h.

double rlController::yk_1

Definition at line 120 of file rlcontroller.h.

double rlController::yk_2

Definition at line 120 of file rlcontroller.h.

The documentation for this class was generated from the following files:

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation