motor_controller::PIDSettings Struct Reference

Structure to hold the PID parameters for 'IDEAL' type PID. More...

#include <PID.hpp>

Public Member Functions
	PIDSettings ()
	Constructor. More...
bool	operator== (const PIDSettings &other) const
bool	operator!= (const PIDSettings &other) const
void	setParallelCoefficients (double _Kp=0, double _Ki=0, double _Kd=0)

Public Attributes
double	Ts
	Sampling time in seconds. More...
double	K
	Proportional gain. More...
double	Ti
	Integral time constant, 0 to disable it. More...
double	Td
	Derivative time constant, 0 to disable it. More...
double	N
	Derivative term. More...
double	B
	Setpoint weighing term. More...
double	Tt
	Anti-integrator-windup. More...
double	YMin
	Minimum output value. More...
double	YMax
	Maximum output value. More...

Detailed Description

Structure to hold the PID parameters for 'IDEAL' type PID.

To convert from PARALLEL form to IDEAL form Ti = 1.0/Ki/Kp and Td = Kd/Kp

Constructor & Destructor Documentation

motor_controller::PIDSettings::PIDSettings ( )

inline

Constructor.

Member Function Documentation

bool motor_controller::PIDSettings::operator!= ( const PIDSettings &  other ) const

inline

bool motor_controller::PIDSettings::operator== ( const PIDSettings &  other ) const

inline

void PIDSettings::setParallelCoefficients	(	double	_Kp = 0,
		double	_Ki = 0,
		double	_Kd = 0
	)

Member Data Documentation

double motor_controller::PIDSettings::B

Setpoint weighing term.

Setpoint weighing term, generally between 0 and 1

• B = 0 reference is introduced only through integral term
• B = 1 disables setpoint weighting

double motor_controller::PIDSettings::K

Proportional gain.

double motor_controller::PIDSettings::N

Derivative term.

Derivative term filtered by a first order system with time constant Td/N

• Typical values of N are between 8 and 20
• No derivative action on frequencies above N/Td

double motor_controller::PIDSettings::Td

Derivative time constant, 0 to disable it.

double motor_controller::PIDSettings::Ti

Integral time constant, 0 to disable it.

double motor_controller::PIDSettings::Ts

Sampling time in seconds.

double motor_controller::PIDSettings::Tt

Anti-integrator-windup.

Anti-integrator-windup time constant

• < 0 disable
• = 0 and Td = 0 disable
• = 0 and Td > 0 Tt = sqrt(Ti * Td)

double motor_controller::PIDSettings::YMax

Maximum output value.

double motor_controller::PIDSettings::YMin

Minimum output value.

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

• /build/rock-master-18.09-control-motor-controller-0.20160617/src/PID.hpp
• /build/rock-master-18.09-control-motor-controller-0.20160617/src/PID.cpp