src/FDM/JSBSim/models/flight_control/FGPID.h

   1 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
   2
   3  Header:       FGPID.h
   4  Author:       Jon Berndt
   5  Date started: 6/17/2006
   6
   7  ------------- Copyright (C) 2006 by Jon S. Berndt, jon@jsbsim.org -------------
   8
   9  This program is free software; you can redistribute it and/or modify it under
  10  the terms of the GNU Lesser General Public License as published by the Free Software
  11  Foundation; either version 2 of the License, or (at your option) any later
  12  version.
  13
  14  This program is distributed in the hope that it will be useful, but WITHOUT
  15  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
  16  FOR A PARTICULAR PURPOSE.  See the GNU Lesser General Public License for more
  17  details.
  18
  19  You should have received a copy of the GNU Lesser General Public License along with
  20  this program; if not, write to the Free Software Foundation, Inc., 59 Temple
  21  Place - Suite 330, Boston, MA  02111-1307, USA.
  22
  23  Further information about the GNU Lesser General Public License can also be found on
  24  the world wide web at http://www.gnu.org.
  25
  26 HISTORY
  27 --------------------------------------------------------------------------------
  28 Initial Code 6/17/2006 JSB
  29
  30 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  31 SENTRY
  32 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  33
  34 #ifndef FGPID_H
  35 #define FGPID_H
  36
  37 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  38 INCLUDES
  39 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  40
  41 #include "FGFCSComponent.h"
  42
  43 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  44 DEFINITIONS
  45 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  46
  47 #define ID_PID "$Id: FGPID.h,v 1.12 2009/10/24 22:59:30 jberndt Exp $"
  48
  49 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  50 FORWARD DECLARATIONS
  51 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  52
  53 namespace JSBSim {
  54
  55 class FGFCS;
  56 class Element;
  57
  58 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  59 CLASS DOCUMENTATION
  60 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  61
  62 /** Encapsulates a PID control component for the flight control system.
  63
  64 <h3>Configuration Format:</h3>
  65
  66 @code
  67 <pid name="{string}">
  68   <kp> {number} </kp>
  69   <ki> {number} </ki>
  70   <kd> {number} </kd>
  71   <trigger> {string} </trigger>
  72 </pid>
  73 @endcode
  74
  75 <h3>Configuration Parameters:</h3>
  76 <pre>
  77
  78   kp      - Proportional constant, default value 0.
  79   ki      - Integrative constant, default value 0.
  80   kd      - Derivative constant, default value 0.
  81   trigger - Property which is used to sense wind-up, optional.
  82
  83 </pre>
  84
  85     @author Jon S. Berndt
  86     @version $Revision: 1.12 $
  87 */
  88
  89 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  90 CLASS DECLARATION
  91 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  92
  93 class FGPID  : public FGFCSComponent
  94 {
  95 public:
  96   FGPID(FGFCS* fcs, Element* element);
  97   ~FGPID();
  98
  99   bool Run (void);
 100   void ResetPastStates(void) {Input_prev = Input_prev2 = Output = I_out_total = 0.0;}
 101
 102 private:
 103   FGPropertyManager *Trigger;
 104   double Kp, Ki, Kd;
 105   double I_out_total;
 106   double Input_prev, Input_prev2;
 107   double KpPropertySign;
 108   double KiPropertySign;
 109   double KdPropertySign;
 110   FGPropertyManager* KpPropertyNode;
 111   FGPropertyManager* KiPropertyNode;
 112   FGPropertyManager* KdPropertyNode;
 113
 114   void Debug(int from);
 115 };
 116 }
 117 #endif