libstp::autotune::control::ControlElementPID Class Reference

#include <control_elements.hpp>

Inheritance diagram for libstp::autotune::control::ControlElementPID:

Collaboration diagram for libstp::autotune::control::ControlElementPID:

Public Member Functions
	ControlElementPID (double kp, double ki, double kd, double out_max=1e30, double i_max=1e30)
std::string	getType () const override
	Short type tag, e.g. "P", "PT1", "ControlLoop".
double	getLowestTimeConstant () const override
	Lowest time constant of the element, or -1 if it has none.
void	initialize (double) override
	Reset internal state for a simulation run at sample time dt.
double	calculate (double e, double dt) override
	Advance one sample: feed input u, return output.
int	optimizeGetNumParameters () const override
	Number of tunable parameters this element consumes.
void	optimizeSetParameters (const std::vector< double > &params, int startIdx) override
	Load parameters from params starting at startIdx.
Public Member Functions inherited from libstp::autotune::control::ControlElement
virtual	~ControlElement ()=default

Detailed Description

Full dt-EXPLICIT PID controller.

Mirrors the dt-explicit STM32 firmware pid.c: iErr += e * dt; dErr = (e - prevErr) / dt; u = kP*e + kI*iErr + kD*dErr; so kI/kD are physical per-second gains and DE-optimized gains transfer directly to the firmware. This element is NOT part of Brischalle's TS toolkit — it intentionally diverges from the toolkit's separate ControlElementI/D (which use the toolkit's own discrete forms) to match the firmware exactly.

Definition at line 145 of file control_elements.hpp.

Constructor & Destructor Documentation

ControlElementPID()

libstp::autotune::control::ControlElementPID::ControlElementPID ( double kp, double ki, double kd, double out_max = 1e30, double i_max = 1e30 )

inline

Definition at line 153 of file control_elements.hpp.

Member Function Documentation

calculate()

double libstp::autotune::control::ControlElementPID::calculate ( double u, double dt )

inlineoverridevirtual

Advance one sample: feed input u, return output.

Implements libstp::autotune::control::ControlElement.

Definition at line 166 of file control_elements.hpp.

getLowestTimeConstant()

double libstp::autotune::control::ControlElementPID::getLowestTimeConstant ( ) const

inlinenodiscardoverridevirtual

Lowest time constant of the element, or -1 if it has none.

Implements libstp::autotune::control::ControlElement.

Definition at line 160 of file control_elements.hpp.

getType()

std::string libstp::autotune::control::ControlElementPID::getType ( ) const

inlinenodiscardoverridevirtual

Short type tag, e.g. "P", "PT1", "ControlLoop".

Implements libstp::autotune::control::ControlElement.

Definition at line 159 of file control_elements.hpp.

initialize()

void libstp::autotune::control::ControlElementPID::initialize ( double dt )

inlineoverridevirtual

Reset internal state for a simulation run at sample time dt.

Implements libstp::autotune::control::ControlElement.

Definition at line 161 of file control_elements.hpp.

optimizeGetNumParameters()

int libstp::autotune::control::ControlElementPID::optimizeGetNumParameters ( ) const

inlinenodiscardoverridevirtual

Number of tunable parameters this element consumes.

Implements libstp::autotune::control::ControlElement.

Definition at line 200 of file control_elements.hpp.

optimizeSetParameters()

void libstp::autotune::control::ControlElementPID::optimizeSetParameters ( const std::vector< double > & params, int startIdx )

inlineoverridevirtual

Load parameters from params starting at startIdx.

Implements libstp::autotune::control::ControlElement.

Definition at line 201 of file control_elements.hpp.

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

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-autotune/include/autotune/control/control_elements.hpp