motor_controller::ParallelPIDSettings Struct Reference

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

#include <PID.hpp>

Public Member Functions
	ParallelPIDSettings ()
	Constructor. More...
bool	operator== (const ParallelPIDSettings &other) const
bool	operator!= (const ParallelPIDSettings &other) const
void	setIdealCoefficients (double _K=0, double _Ti=0, double _Td=0)

Public Attributes
double	Ts
	Sampling time in seconds. More...
double	Kp
	Proportional gain. More...
double	Ki
	Integral gain. More...
double	Kd
	Derivative gain. 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 'PARALLEL' type PID.

Constructor & Destructor Documentation

motor_controller::ParallelPIDSettings::ParallelPIDSettings ( )

inline

Constructor.

Member Function Documentation

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

inline

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

inline

void ParallelPIDSettings::setIdealCoefficients	(	double	_K = 0,
		double	_Ti = 0,
		double	_Td = 0
	)

Member Data Documentation

double motor_controller::ParallelPIDSettings::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::ParallelPIDSettings::Kd

Derivative gain.

double motor_controller::ParallelPIDSettings::Ki

Integral gain.

double motor_controller::ParallelPIDSettings::Kp

Proportional gain.

double motor_controller::ParallelPIDSettings::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::ParallelPIDSettings::Ts

Sampling time in seconds.

double motor_controller::ParallelPIDSettings::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::ParallelPIDSettings::YMax

Maximum output value.

double motor_controller::ParallelPIDSettings::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