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, jsb@hal-pc.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 #include <input_output/FGXMLElement.h>
  43 #include <string>
  44
  45 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  46 DEFINITIONS
  47 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  48
  49 #define ID_PID "$Id$"
  50
  51 using std::string;
  52
  53 using std::string;
  54
  55 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  56 FORWARD DECLARATIONS
  57 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  58
  59 namespace JSBSim {
  60
  61 class FGFCS;
  62
  63 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  64 CLASS DOCUMENTATION
  65 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  66
  67 /** Encapsulates a PID control component for the flight control system.
  68
  69 <h3>Configuration Format:</h3>
  70
  71 @code
  72 <pid name="{string}">
  73   <kp> {number} </kp>
  74   <ki> {number} </ki>
  75   <kd> {number} </kd>
  76   <trigger> {string} </trigger>
  77 </pid>
  78 @endcode
  79
  80 <h3>Configuration Parameters:</h3>
  81 <pre>
  82
  83   kp      - Proportional constant, default value 0.
  84   ki      - Integrative constant, default value 0.
  85   kd      - Derivative constant, default value 0.
  86   trigger - Property which is used to sense wind-up, optional.
  87
  88 </pre>
  89
  90     @author Jon S. Berndt
  91     @version $Revision$
  92 */
  93
  94 /*%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
  95 CLASS DECLARATION
  96 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%*/
  97
  98 class FGPID  : public FGFCSComponent
  99 {
 100 public:
 101   FGPID(FGFCS* fcs, Element* element);
 102   ~FGPID();
 103
 104   bool Run (void);
 105   void ResetPastStates(void) {Input_prev = Input_prev2 = Output = I_out_total = 0.0;}
 106
 107 private:
 108   double dt;
 109   FGPropertyManager *Trigger;
 110   double Kp, Ki, Kd;
 111   double I_out_total;
 112   double Input_prev, Input_prev2;
 113   double KpPropertySign;
 114   double KiPropertySign;
 115   double KdPropertySign;
 116   FGPropertyManager* KpPropertyNode;
 117   FGPropertyManager* KiPropertyNode;
 118   FGPropertyManager* KdPropertyNode;
 119
 120   void Debug(int from);
 121 };
 122 }
 123 #endif