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搭建PVB架构，实现前端的基础布局、菜单、表格、图示等功能
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lixiaoyuan
163
libs/pvb/include/rllib/rlcontroller.h
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163
libs/pvb/include/rllib/rlcontroller.h
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/***************************************************************************
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rlcontroller.h - description
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-------------------
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begin : Wed Jun 16 2004
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copyright : (C) 2004 by R. Lehrig
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email : lehrig@t-online.de
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***************************************************************************/
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/***************************************************************************
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* *
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* This library is free software; you can redistribute it and/or modify *
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* it under the terms of the GNU LESSER GENERAL PUBLIC LICENSE as *
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* published by the Free Software Foundation *
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* *
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***************************************************************************/
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#ifndef _RL_CONTROLLER_H_
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#define _RL_CONTROLLER_H_
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#include "rldefine.h"
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#include "rlthread.h"
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/*! <pre>
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class for closed loop control
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According to: F. Doerrscheid/W. Latzel, Grundlagen der Regelungstechnik, B.G. Teubner Stuttgart
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Page 436-437, Regelalgorithmen mit der Trapezregel
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</pre> */
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class rlController : public rlThread
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{
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public:
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enum ControllerType
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{
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P = 1,
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I = 2,
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D_T1 = 3,
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PI = 4,
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PD_T1 = 5,
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PID_T1 = 6,
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PI_SUM = 7,
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PD_T1_SUM = 8,
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PID_T1_SUM = 9
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};
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rlController(double (*_getMeasurement)() ,void (_writeOutput)(double output));
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~rlController();
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void start();
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void stop();
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/*! <pre>
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Set the reference value for the controller
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</pre> */
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void setReference (double _reference);
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/*! <pre>
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Transfer function: Gr(s) = Kp
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</pre> */
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void setP (double _T, double _Kp);
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/*! <pre>
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1
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Transfer function: Gr(s) = ------
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T1 * s
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T = cycle time in seconds
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</pre> */
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void setI (double _T, double _T1);
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/*! <pre>
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TD * s
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Transfer function: Gr(s) = ---------
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1 + Td*s
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T = cycle time in seconds
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</pre> */
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void setD_T1 (double _T, double _TD, double _Td);
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/*! <pre>
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1 + Tn*s
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Transfer function: Gr(s) = Kp * --------
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Tn*s
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T = cycle time in seconds
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</pre> */
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void setPI (double _T, double _Kp, double _Tn);
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/*! <pre>
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1 + TvP*s
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Transfer function: Gr(s) = Kp * ---------
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1 + Td*s
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T = cycle time in seconds
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</pre> */
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void setPD_T1 (double _T, double _Kp, double _TvP, double _Td);
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/*! <pre>
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1 + TnP*s 1 + TvP*s
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Transfer function: Gr(s) = Kpp * --------- * ---------
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TnP*s 1 + Td*s
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T = cycle time in seconds
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</pre> */
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void setPID_T1 (double _T, double _Kpp, double _TnP, double _TvP, double _Td);
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/*! <pre>
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1
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Transfer function: Gr(s) = Kp * ( 1 + ---- )
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Tn*s
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T = cycle time in seconds
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</pre> */
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void setPI_SUM (double _T, double _Kp, double _Tn);
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/*! <pre>
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Tv*s
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Transfer function: Gr(s) = Kp * ( 1 + -------- )
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1 + Td*s
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T = cycle time in seconds
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</pre> */
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void setPD_T1_SUM (double _T, double _Kp, double _Tv, double _Td);
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/*! <pre>
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1 Tv*s
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Transfer function: Gr(s) = Kp * ( 1 + ---- + -------- )
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Tn*s 1 + Td*s
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T = cycle time in seconds
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</pre> */
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void setPID_T1_SUM (double _T, double _Kp, double _Tn, double _Tv, double _Td);
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/*! <pre>
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Set limits for the controller output
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</pre> */
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void setLimits(double _yk_min, double _yk_max);
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/*! <pre>
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Reset limits for the controller output
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</pre> */
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void resetLimits();
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/*! <pre>
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Don't set the controller parameters directly
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Use the set methods, because they will also set the coefficients
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Controller parameters are for reading only
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</pre> */
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double Kp,Kpp,T,T1,Td,TD,Tn,TnP,TvP,Tv,reference;
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int type;
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int running;
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double d0,d1,d2,dD;
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double c1,c2,cD;
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double yk,yk_1,yk_2;
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double ek,ek_1,ek_2;
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double y1k,y1k_1,ydk,ydk_1;
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int dt;
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// callbacks
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/*! <pre>
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You have to supply this function for getting the measurement
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</pre> */
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double (*getMeasurement)();
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/*! <pre>
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You have to supply this function for writing the output
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</pre> */
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void (*writeOutput)(double output);
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/*! <pre>
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Default sleepLocally = 1
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But:
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Sleeping locally might me inaccurate.
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It might be better to have a central timer and wait for it in
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double (*_getMeasurement)();
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T = cycle time in seconds
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</pre> */
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int sleepLocally;
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/*! <pre>
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last measurement
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</pre> */
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double measurement;
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/*! <pre>
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limits
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</pre> */
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double yk_min;
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double yk_max;
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int limited;
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};
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#endif
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