chrono::ChControllerPID Class Reference
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
#include <ChController.h>
Inheritance diagram for chrono::ChControllerPID:
Collaboration diagram for chrono::ChControllerPID:
Public Member Functions | |
| ChControllerPID (const ChControllerPID &other) | |
| virtual ChControllerPID * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| double | 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 | Get_Out () const |
| Same, but just returns last computed output. | |
| double | Get_Pcomp () const |
| double | Get_Icomp () const |
| double | Get_Dcomp () const |
| double | Get_In_int () const |
| double | Get_In_dt () const |
| double | Get_In () const |
| 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 |
| Gets the numerical identifier of the object. | |
| void | SetIdentifier (int id) |
| Sets the numerical identifier of the object. | |
| double | GetChTime () const |
| Gets the simulation time of this object. | |
| void | SetChTime (double m_time) |
| Sets the simulation time of this object. | |
| const char * | GetName () const |
| Gets the name of the object as C Ascii null-terminated string -for reading only! | |
| void | SetName (const char myname[]) |
| Sets the name of this object, as ascii string. | |
| std::string | GetNameString () const |
| Gets the name of the object as C Ascii null-terminated string. | |
| void | SetNameString (const std::string &myname) |
| Sets the name of this object, as std::string. | |
| void | MFlagsSetAllOFF (int &mflag) |
| void | MFlagsSetAllON (int &mflag) |
| void | MFlagSetON (int &mflag, int mask) |
| void | MFlagSetOFF (int &mflag, int mask) |
| int | MFlagGet (int &mflag, int mask) |
| virtual void | ArchiveOut (ChArchiveOut &marchive) |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIn (ChArchiveIn &marchive) |
| Method to allow de-serialization of transient data from archives. | |
| virtual std::string & | ArchiveContainerName () |
Public Attributes | |
| double | P |
| proportional coefficient | |
| double | I |
| integrative coefficient | |
| double | D |
| derivative coefficient | |
Additional Inherited Members | |
| Protected Attributes inherited from chrono::ChObj | |
| double | ChTime |
| the time of simulation for the object | |
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/physics/ChController.h
- /builds/uwsbel/chrono/src/chrono/physics/ChController.cpp
