Structure to hold the PID parameters for 'IDEAL' type PID.
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#include <PID.hpp>
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
| motor_controller::PIDSettings::PIDSettings |
( |
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inline |
| bool motor_controller::PIDSettings::operator!= |
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const PIDSettings & |
other | ) |
const |
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inline |
| bool motor_controller::PIDSettings::operator== |
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const PIDSettings & |
other | ) |
const |
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inline |
| void PIDSettings::setParallelCoefficients |
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double |
_Kp = 0, |
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double |
_Ki = 0, |
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double |
_Kd = 0 |
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) |
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| 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 |
| 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 |
| double motor_controller::PIDSettings::YMin |
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
