February 01, 1997
Embedded C++
February 1997/A Reusable PID Control Class/Listing 2
Listing 2: The CalculateGain function
double PidControl::CalculateGain( double position )
{
double error = Setpoint - position;
ErrorSum += error;
ProportionalGain = KProportional * error;
IntegralGain = KIntegral * ErrorSum;
if( fabs( IntegralGain ) > IntegralLimit ) {
if( IntegralGain > 0 )
IntegralGain = IntegralLimit;
else
IntegralGain = -IntegralLimit;
ErrorSum -= error;
}
if( ++DifferentialCycleCount >= DifferentialCycle ) {
DifferentialGain = KDifferential * ( error - LastError );
DifferentialCycleCount = 0;
}
LastError = error;
Gain = ProportionalGain + IntegralGain + DifferentialGain;
return Gain;
}
//End of File
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