Description

Simple PID controller.

Produces: out = P*in + D*d(in)/dt + I*int(in*dt)

#include <ChControllers.h>

Inheritance diagram for chrono::utils::ChControllerPID:

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Collaboration diagram for chrono::utils::ChControllerPID:

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Public Member Functions
	ChControllerPID (double P, double I, double D)

	ChControllerPID (const ChControllerPID &other)

virtual ChControllerPID *	Clone () const override
	"Virtual" copy constructor (covariant return type).

void	SetGains (double P, double I, double D)
	Set the controller gains.

double	GetOutput (double input, double time)
	Return the output of the controller. More...

double	GetOutput () const
	Return last computed output.

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

Public Member Functions inherited from chrono::ChObj
	ChObj (const ChObj &other)

int	GetIdentifier () const
	Get the unique integer identifier of this object. More...

void	SetTag (int tag)
	Set an object integer tag (default: -1). More...

int	GetTag () const
	Get the tag of this object.

void	SetName (const std::string &myname)
	Set the name of this object.

const std::string &	GetName () const
	Get the name of this object.

double	GetChTime () const
	Gets the simulation time of this object.

void	SetChTime (double m_time)
	Sets the simulation time of this object.

virtual void	ArchiveOut (ChArchiveOut &archive_out)
	Method to allow serialization of transient data to archives.

virtual void	ArchiveIn (ChArchiveIn &archive_in)
	Method to allow de-serialization of transient data from archives.

virtual std::string &	ArchiveContainerName ()

Additional Inherited Members
Protected Member Functions inherited from chrono::ChObj
int	GenerateUniqueIdentifier ()

Protected Attributes inherited from chrono::ChObj
double	ChTime
	object simulation time

std::string	m_name
	object name

int	m_identifier
	object unique identifier

int	m_tag
	user-supplied tag

Member Function Documentation

double chrono::utils::ChControllerPID::GetOutput	(	double	input,
		double	time
	)

Return the output of the controller.

Calls to GetOutput must be done in (ideally) uniform time steps.

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