#include <rlcontroller.h>

Inheritance diagram for rlController:

Collaboration diagram for rlController:

[legend]

Public Types
enum	ControllerType { P = 1, I = 2, D_T1 = 3, PI = 4, PD_T1 = 5, PID_T1 = 6, PI_SUM = 7, PD_T1_SUM = 8, PID_T1_SUM = 9 }

Public Member Functions
	rlController (double(*_getMeasurement)(), void(_writeOutput)(double output))

	~rlController ()

void	start ()

void	stop ()

void	setReference (double _reference)

void	setP (double _T, double _Kp)

void	setI (double _T, double _T1)

void	setD_T1 (double _T, double _TD, double _Td)

void	setPI (double _T, double _Kp, double _Tn)

void	setPD_T1 (double _T, double _Kp, double _TvP, double _Td)

void	setPID_T1 (double _T, double _Kpp, double _TnP, double _TvP, double _Td)

void	setPI_SUM (double _T, double _Kp, double _Tn)

void	setPD_T1_SUM (double _T, double _Kp, double _Tv, double _Td)

void	setPID_T1_SUM (double _T, double _Kp, double _Tn, double _Tv, double _Td)

void	setLimits (double _yk_min, double _yk_max)

void	resetLimits ()

Public Member Functions inherited from rlThread
	rlThread (int max_semphore=1000)

virtual	~rlThread ()

int	create (void (func)(void ), void argument)

int	trylock ()

int	lock ()

int	unlock ()

int	waitSemaphore ()

int	incrementSemaphore ()

int	join (void **status)

int	cancel ()

void	threadExit (void *status)

Public Attributes
double	Kp

double	Kpp

double	T

double	T1

double	Td

double	TD

double	Tn

double	TnP

double	TvP

double	Tv

double	reference

int	type

int	running

double	d0

double	d1

double	d2

double	dD

double	c1

double	c2

double	cD

double	yk

double	yk_1

double	yk_2

double	ek

double	ek_1

double	ek_2

double	y1k

double	y1k_1

double	ydk

double	ydk_1

int	dt

double(*	getMeasurement )()

void(*	writeOutput )(double output)

int	sleepLocally

double	measurement

double	yk_min

double	yk_max

int	limited

Public Attributes inherited from rlThread
pthread_t	tid

pthread_attr_t	attr

pthread_mutex_t	mutex

WSEMAPHORE	semaphore

Detailed Description

class for closed loop control
According to: F. Doerrscheid/W. Latzel, Grundlagen der Regelungstechnik, B.G. Teubner Stuttgart
Page 436-437, Regelalgorithmen mit der Trapezregel

Definition at line 27 of file rlcontroller.h.

Member Enumeration Documentation

◆ ControllerType

enum rlController::ControllerType

Enumerator
P
I
D_T1
PI
PD_T1
PID_T1
PI_SUM
PD_T1_SUM
PID_T1_SUM

Definition at line 30 of file rlcontroller.h.

   {
     P          = 1,
     I          = 2,
     D_T1       = 3,
     PI         = 4,
     PD_T1      = 5,
     PID_T1     = 6,
     PI_SUM     = 7,
     PD_T1_SUM  = 8,
     PID_T1_SUM = 9
   };

Constructor & Destructor Documentation

◆ rlController()

rlController::rlController	(	double(*)()	_getMeasurement,
		void(_writeOutput)(double output)
	)

Definition at line 79 of file rlcontroller.cpp.

              :rlThread()
 {
   type = -1;
   running = 0;
   getMeasurement = _getMeasurement;
   writeOutput    = _writeOutput;
   ydk_1 = 0.0f;
   ydk   = 0.0f;
   y1k_1 = 0.0f;
   y1k   = 0.0f;
   yk_2  = 0.0f;
   yk_1  = 0.0f;
   yk    = 0.0f;
   ek_2  = 0.0f;
   ek_1  = 0.0f;
   ek    = 0.0f;
   limited = 0;
   yk_min = -999999;
   yk_max =  999999;
   reference = measurement = 0.0;
   sleepLocally = 1;
 }

◆ ~rlController()

rlController::~rlController ( )

Definition at line 103 of file rlcontroller.cpp.

 {
   stop();
 }

Member Function Documentation

◆ resetLimits()

void rlController::resetLimits ( )

Reset limits for the controller output

Definition at line 271 of file rlcontroller.cpp.

 {
   rlThread::lock();
   yk_min = -999999;
   yk_max =  999999;
   limited = 0;
   rlThread::unlock();
 }

◆ setD_T1()

void rlController::setD_T1	(	double	_T,
		double	_TD,
		double	_Td
	)

                            TD * s
Transfer function: Gr(s) = ---------
                           1 + Td*s
T = cycle time in seconds

Definition at line 159 of file rlcontroller.cpp.

 {
   rlThread::lock();
   type = D_T1;
   T  = _T;
   TD = _TD;
   Td = _Td;
   dt = (int) (1000.0 * T);
   d0 = TD / (Td + T/2.0);
   d1 = -TD / (Td + T/2.0);
   c1 = (Td-T/2.0)/(Td+T/2.0);
   rlThread::unlock();
 }

◆ setI()

void rlController::setI	(	double	_T,
		double	_T1
	)

                             1
Transfer function: Gr(s) = ------
                           T1 * s
T = cycle time in seconds

Definition at line 146 of file rlcontroller.cpp.

 {
   rlThread::lock();
   type = I;
   T  = _T;
   T1 = _T1;
   dt = (int) (1000.0 * T);
   d0 = T/(2.0*T1);
   d1 = T/(2.0*T1);
   c1 = 1.0;
   rlThread::unlock();
 }

◆ setLimits()

void rlController::setLimits	(	double	_yk_min,
		double	_yk_max
	)

Set limits for the controller output

Definition at line 262 of file rlcontroller.cpp.

 {
   rlThread::lock();
   yk_min = _yk_min;
   yk_max = _yk_max;
   limited = 1;
   rlThread::unlock();
 }

◆ setP()

void rlController::setP	(	double	_T,
		double	_Kp
	)

Transfer function: Gr(s) = Kp

Definition at line 135 of file rlcontroller.cpp.

 {
   rlThread::lock();
   type = P;
   T  = _T;
   Kp = _Kp;
   dt = (int) (1000.0 * T);
   d0 = Kp;
   rlThread::unlock();
 }

◆ setPD_T1()

void rlController::setPD_T1	(	double	_T,
		double	_Kp,
		double	_TvP,
		double	_Td
	)

                                1 + TvP*s
Transfer function: Gr(s) = Kp * ---------
                                1 + Td*s
T = cycle time in seconds

Definition at line 187 of file rlcontroller.cpp.

 {
   rlThread::lock();
   type = PD_T1;
   T   = _T;
   Kp  = _Kp;
   TvP = _TvP;
   Td  = _Td;
   dt = (int) (1000.0 * T);
   d0 = Kp * (TvP+T/2.0) / (Td + T/2.0);
   d1 = -Kp * (TvP - T/2.0) / (Td + T/2.0);
   c1 = (Td - T/2.0)/(Td + T/2.0);
   rlThread::unlock();
 }

◆ setPD_T1_SUM()

void rlController::setPD_T1_SUM	(	double	_T,
		double	_Kp,
		double	_Tv,
		double	_Td
	)

                                        Tv*s
Transfer function: Gr(s) = Kp * ( 1 + -------- )
                                      1 + Td*s
T = cycle time in seconds

Definition at line 232 of file rlcontroller.cpp.

 {
   rlThread::lock();
   type = PD_T1_SUM;
   T   = _T;
   Kp  = _Kp;
   Tv  = _Tv;
   Td  = _Td;
   dt = (int) (1000.0 * T);
   dD = Kp * (Tv/(Td+T/2.0));
   cD = (Td-T/2.0)/(Td+T/2.0);
   rlThread::unlock();
 }

◆ setPI()

void rlController::setPI	(	double	_T,
		double	_Kp,
		double	_Tn
	)

                                1 + Tn*s
Transfer function: Gr(s) = Kp * --------
                                 Tn*s
T = cycle time in seconds

Definition at line 173 of file rlcontroller.cpp.

 {
   rlThread::lock();
   type = PI;
   T  = _T;
   Kp = _Kp;
   Tn = _Tn;
   dt = (int) (1000.0 * T);
   d0 = Kp * (Tn+T/2.0) / Tn;
   d1 = -Kp * (Tn - T/2.0) / Tn;
   c1 = 1.0;
   rlThread::unlock();
 }

◆ setPI_SUM()

void rlController::setPI_SUM	(	double	_T,
		double	_Kp,
		double	_Tn
	)

                                       1
Transfer function: Gr(s) = Kp * ( 1 + ---- )
                                      Tn*s
T = cycle time in seconds

Definition at line 220 of file rlcontroller.cpp.

 {
   rlThread::lock();
   type = PI_SUM;
   T   = _T;
   Kp  = _Kp;
   Tn  = _Tn;
   dt = (int) (1000.0 * T);
   d1 = Kp * (T/2.0)/Tn;
   rlThread::unlock();
 }

◆ setPID_T1()

void rlController::setPID_T1	(	double	_T,
		double	_Kpp,
		double	_TnP,
		double	_TvP,
		double	_Td
	)

                                 1 + TnP*s   1 + TvP*s
Transfer function: Gr(s) = Kpp * --------- * ---------
                                   TnP*s     1 + Td*s
T = cycle time in seconds

Definition at line 202 of file rlcontroller.cpp.

 {
   rlThread::lock();
   type = PID_T1;
   T   = _T;
   Kpp = _Kpp;
   TnP = _TnP;
   TvP = _TvP;
   Td  = _Td;
   dt = (int) (1000.0 * T);
   d0 = Kpp * ((TnP+T/2.0) / TnP) * ((TvP+T/2.0))/(Td+T/2.0);
   d1 = -2.0*Kpp * (TnP*TvP - (T/2.0)*(T/2.0)) / (TnP*(Td+T/2.0));
   d2 = Kpp*((TnP-T/2.0)/TnP)*((TvP-T/2.0)/(Td+T/2.0));
   c1 = 2*Td/(Td+T/2.0);
   c2 = -(Td-T/2.0)/(Td+T/2.0);
   rlThread::unlock();
 }

◆ setPID_T1_SUM()

void rlController::setPID_T1_SUM	(	double	_T,
		double	_Kp,
		double	_Tn,
		double	_Tv,
		double	_Td
	)

                                       1       Tv*s
Transfer function: Gr(s) = Kp * ( 1 + ---- + -------- )
                                      Tn*s   1 + Td*s
T = cycle time in seconds

Definition at line 246 of file rlcontroller.cpp.

 {
   rlThread::lock();
   type = PID_T1_SUM;
   T   = _T;
   Kp  = _Kp;
   Tn  = _Tn;
   Tv  = _Tv;
   Td  = _Td;
   dt = (int) (1000.0 * T);
   d1 = Kp*T/(2.0*Tn);
   dD = Kp * (Tv/(Td+T/2.0));
   cD = (Td-T/2.0)/(Td+T/2.0);
   rlThread::unlock();
 }

◆ setReference()

void rlController::setReference ( double _reference )

Set the reference value for the controller

Definition at line 130 of file rlcontroller.cpp.

 {
   reference = _reference;
 }

◆ start()

void rlController::start ( )

Definition at line 108 of file rlcontroller.cpp.

 {
   running = 1;
   ydk_1 = 0.0f;
   ydk   = 0.0f;
   y1k_1 = 0.0f;
   y1k   = 0.0f;
   yk_2  = 0.0f;
   yk_1  = 0.0f;
   yk    = 0.0f;
   ek_2  = 0.0f;
   ek_1  = 0.0f;
   ek    = 0.0f;
   rlThread::create(control,this);
 }

◆ stop()

void rlController::stop ( )

Definition at line 124 of file rlcontroller.cpp.

 {
   if(running) rlThread::cancel();
   running = 0;
 }

Member Data Documentation

◆ c1

double rlController::c1

Definition at line 127 of file rlcontroller.h.

◆ c2

double rlController::c2

Definition at line 127 of file rlcontroller.h.

◆ cD

double rlController::cD

Definition at line 127 of file rlcontroller.h.

◆ d0

double rlController::d0

Definition at line 126 of file rlcontroller.h.

◆ d1

double rlController::d1

Definition at line 126 of file rlcontroller.h.

◆ d2

double rlController::d2

Definition at line 126 of file rlcontroller.h.

◆ dD

double rlController::dD

Definition at line 126 of file rlcontroller.h.

◆ dt

int rlController::dt

Definition at line 131 of file rlcontroller.h.

◆ ek

double rlController::ek

Definition at line 129 of file rlcontroller.h.

◆ ek_1

double rlController::ek_1

Definition at line 129 of file rlcontroller.h.

◆ ek_2

double rlController::ek_2

Definition at line 129 of file rlcontroller.h.

◆ getMeasurement

double(* rlController::getMeasurement) ()

You have to supply this function for getting the measurement

Definition at line 136 of file rlcontroller.h.

◆ Kp

double rlController::Kp

Don't set the controller parameters directly
Use the set methods, because they will also set the coefficients
Controller parameters are for reading only

Definition at line 123 of file rlcontroller.h.

◆ Kpp

double rlController::Kpp

Definition at line 123 of file rlcontroller.h.

◆ limited

int rlController::limited

Definition at line 160 of file rlcontroller.h.

◆ measurement

double rlController::measurement

last measurement

Definition at line 154 of file rlcontroller.h.

◆ reference

double rlController::reference

Definition at line 123 of file rlcontroller.h.

◆ running

int rlController::running

Definition at line 125 of file rlcontroller.h.

◆ sleepLocally

int rlController::sleepLocally

Default sleepLocally = 1
But:
Sleeping locally might me inaccurate.
It might be better to have a central timer and wait for it in
double (*_getMeasurement)();
T = cycle time in seconds

Definition at line 150 of file rlcontroller.h.

◆ T

double rlController::T

Definition at line 123 of file rlcontroller.h.

◆ T1

double rlController::T1

Definition at line 123 of file rlcontroller.h.

◆ Td

double rlController::Td

Definition at line 123 of file rlcontroller.h.

◆ TD

double rlController::TD

Definition at line 123 of file rlcontroller.h.

◆ Tn

double rlController::Tn

Definition at line 123 of file rlcontroller.h.

◆ TnP

double rlController::TnP

Definition at line 123 of file rlcontroller.h.

◆ Tv

double rlController::Tv

Definition at line 123 of file rlcontroller.h.

◆ TvP

double rlController::TvP

Definition at line 123 of file rlcontroller.h.

◆ type

int rlController::type

Definition at line 124 of file rlcontroller.h.

◆ writeOutput

void(* rlController::writeOutput) (double output)

You have to supply this function for writing the output

Definition at line 140 of file rlcontroller.h.

◆ y1k

double rlController::y1k

Definition at line 130 of file rlcontroller.h.

◆ y1k_1

double rlController::y1k_1

Definition at line 130 of file rlcontroller.h.

◆ ydk

double rlController::ydk

Definition at line 130 of file rlcontroller.h.

◆ ydk_1

double rlController::ydk_1

Definition at line 130 of file rlcontroller.h.

◆ yk

double rlController::yk

Definition at line 128 of file rlcontroller.h.

◆ yk_1

double rlController::yk_1

Definition at line 128 of file rlcontroller.h.

◆ yk_2

double rlController::yk_2

Definition at line 128 of file rlcontroller.h.

◆ yk_max

double rlController::yk_max

Definition at line 159 of file rlcontroller.h.

◆ yk_min

double rlController::yk_min

limits

Definition at line 158 of file rlcontroller.h.

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

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Enumeration Documentation

◆ ControllerType

Constructor & Destructor Documentation

◆ rlController()

◆ ~rlController()

Member Function Documentation

◆ resetLimits()

◆ setD_T1()

◆ setI()

◆ setLimits()

◆ setP()

◆ setPD_T1()

◆ setPD_T1_SUM()

◆ setPI()

◆ setPI_SUM()

◆ setPID_T1()

◆ setPID_T1_SUM()

◆ setReference()

◆ start()

◆ stop()

Member Data Documentation

◆ c1

◆ c2

◆ cD

◆ d0

◆ d1

◆ d2

◆ dD

◆ dt

◆ ek

◆ ek_1

◆ ek_2

◆ getMeasurement

◆ Kp

◆ Kpp

◆ limited

◆ measurement

◆ reference

◆ running

◆ sleepLocally

◆ T

◆ T1

◆ Td

◆ TD

◆ Tn

◆ TnP

◆ Tv

◆ TvP

◆ type

◆ writeOutput

◆ y1k

◆ y1k_1

◆ ydk

◆ ydk_1

◆ yk

◆ yk_1

◆ yk_2

◆ yk_max

◆ yk_min