MULTIBODY SIMULATION SOFTWARE - API documentation

chrono::ChControllerPID Class Reference

#include <CHcontroller.h>

Inheritance diagram for chrono::ChControllerPID:

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Collaboration diagram for chrono::ChControllerPID:

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List of all members.

Public Member Functions
	ChControllerPID ()
double	Get_Out (double mInput, double mTime)
double	Get_Out ()
double	Get_Pcomp ()
double	Get_Icomp ()
double	Get_Dcomp ()
double	Get_In_int ()
double	Get_In_dt ()
double	Get_In ()
void	Reset ()
Public Attributes
double	P
double	I
double	D

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Detailed Description

Class for a basic PID controller

A basic PID controller, used as a 'black box'. Depending on input, it produces a controlled output proportional to input, input derivative by time, input integration

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Constructor & Destructor Documentation

chrono::ChControllerPID::ChControllerPID

(

)

CLASS

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Member Function Documentation

double chrono::ChControllerPID::Get_Out	(	double	mInput,
		double	mTime
	)

COMPUTE CONTROL value! Given an input i, returns the output o=P*i+D*di/dt+I*Int(i dt) that is o = Pcomp+Icomp+Dcomp Calls to Get_Output must be done in (possibly uniform) time steps, otherwise remember to call Reset() before other sequences of calls.

double chrono::ChControllerPID::Get_Out

(

)

Same, but just returns last computed output.

void chrono::ChControllerPID::Reset

(

)

Use Reset to set accumulator to zero, at beginning. For integrative part.

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Member Data Documentation

double chrono::ChControllerPID::P

proportional coefficient

double chrono::ChControllerPID::I

integrative coefficient

double chrono::ChControllerPID::D

derivative coefficient

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CHRONO::ENGINE
C++ library for multibody simulation, (C) Alessandro Tasora
This API documentation has been generated on 17 Jul 2009 by Doxygen