chrono::utils::ChControllerPID Class Reference
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:

Collaboration diagram for chrono::utils::ChControllerPID:

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. | |
| 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. | |
| void | SetTag (int tag) |
| Set an object integer tag (default: -1). | |
| 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
◆ Clone()
|
inlineoverridevirtual |
"Virtual" copy constructor (covariant return type).
Implements chrono::ChObj.
◆ GetOutput()
| 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:
- C:/M/B/src/chrono-9.0.1/src/chrono/utils/ChControllers.h
- C:/M/B/src/chrono-9.0.1/src/chrono/utils/ChControllers.cpp
Public Member Functions inherited from