cpp_robotics::PID2

2自由度PID制御器

#include <pid2.hpp>

Public Classes

	Name
struct	pid_param_t

Public Functions

	Name
PID2	create_PI_D(double Ts, double gpd, double Kp, double Ki, double Kd, std::optional< std::pair< double, double >> output_limit =std::nullopt)
PID2	create_I_PD(double Ts, double gpd, double Kp, double Ki, double Kd, std::optional< std::pair< double, double >> output_limit =std::nullopt)
PID2	create_feed_foward_pid2(double Ts, double gpd, double Kpff, double Kdff, double Kpfb, double Kifb, double Kdfb, std::optional< std::pair< double, double >> output_limit =std::nullopt)
	PID2(pid_param_t param)
void	set_param(pid_param_t param)
void	reset()
double	calculate(double target, double present)

Public Functions Documentation

function create_PI_D

static inline PID2 create_PI_D(
    double Ts,
    double gpd,
    double Kp,
    double Ki,
    double Kd,
    std::optional< std::pair< double, double >> output_limit =std::nullopt
)

function create_I_PD

static inline PID2 create_I_PD(
    double Ts,
    double gpd,
    double Kp,
    double Ki,
    double Kd,
    std::optional< std::pair< double, double >> output_limit =std::nullopt
)

function create_feed_foward_pid2

static inline PID2 create_feed_foward_pid2(
    double Ts,
    double gpd,
    double Kpff,
    double Kdff,
    double Kpfb,
    double Kifb,
    double Kdfb,
    std::optional< std::pair< double, double >> output_limit =std::nullopt
)

function PID2

inline PID2(
    pid_param_t param
)

function set_param

inline void set_param(
    pid_param_t param
)

function reset

inline void reset()

function calculate

inline double calculate(
    double target,
    double present
)

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Updated on 2024-05-28 at 06:55:39 +0000