gov.sandia.cognition.math.signals

Class PIDController

java.lang.Object

gov.sandia.cognition.util.AbstractCloneableSerializable

gov.sandia.cognition.evaluator.AbstractStatefulEvaluator<java.lang.Double,java.lang.Double,PIDController.State>

gov.sandia.cognition.math.signals.PIDController

All Implemented Interfaces:

Evaluator<java.lang.Double,java.lang.Double>, StatefulEvaluator<java.lang.Double,java.lang.Double,PIDController.State>, CloneableSerializable, java.io.Serializable, java.lang.Cloneable

@PublicationReference(author="Control Tutorial for MATLAB",title="PID Tutorial",type=WebPage,year=1997,url="http://www.engin.umich.edu/group/ctm/PID/PID.html") @PublicationReference(author="Wikipedia",title="PID Controller",type=WebPage,year=2009,url="http://en.wikipedia.org/wiki/PID_controller",notes="This article pretty much sucks")
public class PIDController
extends AbstractStatefulEvaluator<java.lang.Double,java.lang.Double,PIDController.State>

This class defines a Proportional-plus-Integral-plus-Derivative set-point controller. The goal of this PID controller is to minimize the difference between its target-value input and a given input by changing a control variable to implicitly change its given input at the next time step.

Since:

3.0

Author:

Kevin R. Dixon

See Also:

Serialized Form

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	PIDController.State State of a PIDController

Field Summary

Fields

Modifier and Type	Field and Description
static double	DEFAULT_DERIVATIVE_GAIN Default derivative-error gain, 0.25.
static double	DEFAULT_INTEGRAL_GAIN Default integral-error gain, 0.0.
static double	DEFAULT_PROPORTIONAL_GAIN Default proportional-error gain, 0.5.

Constructor Summary

Constructors

Constructor and Description
PIDController() Creates a new instance of PIDController
PIDController(double proportionalGain, double integralGain, double derivativeGain) Creates a new instance of PIDController.
PIDController(double proportionalGain, double integralGain, double derivativeGain, double targetInput) Creates a new instance of PIDController.

Method Summary

Modifier and Type	Method and Description
PIDController.State	createDefaultState() Creates a new default state object.
java.lang.Double	evaluate(java.lang.Double input) Evaluates the object using the given input and current state objects, returning the output.
double	getDerivativeGain() Getter for derivativeGain
double	getIntegralGain() Getter for integralGain.
double	getProportionalGain() Getter for proportionalGain
double	getTargetInput() Getter for targetInput.
void	setDerivativeGain(double derivativeGain) Setter for derivativeGain
void	setIntegralGain(double integralGain) Setter for integralGain
void	setProportionalGain(double proportionalGain) Setter for proportionalGain
void	setTargetInput(double targetInput) Setter for targetInput

Methods inherited from class gov.sandia.cognition.evaluator.AbstractStatefulEvaluator

clone, evaluate, getState, resetState, setState

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

DEFAULT_PROPORTIONAL_GAIN

public static final double DEFAULT_PROPORTIONAL_GAIN

Default proportional-error gain, 0.5.

See Also:

Constant Field Values

DEFAULT_INTEGRAL_GAIN

public static final double DEFAULT_INTEGRAL_GAIN

Default integral-error gain, 0.0.

See Also:

Constant Field Values

DEFAULT_DERIVATIVE_GAIN

public static final double DEFAULT_DERIVATIVE_GAIN

Default derivative-error gain, 0.25.

See Also:

Constant Field Values

Constructor Detail

PIDController

public PIDController()

Creates a new instance of PIDController

PIDController

public PIDController(double proportionalGain,
                     double integralGain,
                     double derivativeGain)

Creates a new instance of PIDController.

Parameters:

proportionalGain - Proportional-error gain.

integralGain - Integral-error gain.

derivativeGain - Derivative-error gain.

PIDController

public PIDController(double proportionalGain,
                     double integralGain,
                     double derivativeGain,
                     double targetInput)

Creates a new instance of PIDController.

Parameters:

proportionalGain - Proportional-error gain.

integralGain - Integral-error gain.

derivativeGain - Derivative-error gain.

targetInput - Set point target to achieve at steady-state.

Method Detail

getTargetInput

public double getTargetInput()

Getter for targetInput.

Returns:

Set point target to achieve at steady-state.

setTargetInput

public void setTargetInput(double targetInput)

Setter for targetInput

Parameters:

targetInput - Set point target to achieve at steady-state.

getProportionalGain

public double getProportionalGain()

Getter for proportionalGain

Returns:

Proportional-error gain.

setProportionalGain

public void setProportionalGain(double proportionalGain)

Setter for proportionalGain

Parameters:

proportionalGain - Proportional-error gain.

getIntegralGain

public double getIntegralGain()

Getter for integralGain.

Returns:

Integral-error gain.

setIntegralGain

public void setIntegralGain(double integralGain)

Setter for integralGain

Parameters:

integralGain - Integral-error gain.

getDerivativeGain

public double getDerivativeGain()

Getter for derivativeGain

Returns:

Derivative-error gain.

setDerivativeGain

public void setDerivativeGain(double derivativeGain)

Setter for derivativeGain

Parameters:

derivativeGain - Derivative-error gain.

evaluate

public java.lang.Double evaluate(java.lang.Double input)

Description copied from interface: StatefulEvaluator

Evaluates the object using the given input and current state objects, returning the output. The current state may be modified by side effect.

Parameters:

input - The input to evaluate.

Returns:

output that results from the evaluation, state is modified by side effect

createDefaultState

public PIDController.State createDefaultState()

Description copied from interface: StatefulEvaluator

Creates a new default state object.

Returns:

A new default state object.