pid.ClosedLoop Class Reference

A Class that implements a standard PID controller. More...

Public Member Functions
def	__init__ (self, kp=0, ki=0, kd=0, sat=100)
	A method to initialize a ClosedLoop object. More...
def	update (self, posError, velError)
	A method to update the response of the PID controller to a given error signal. More...
def	get_Kp (self)
	Get the proortional gain value, Kp. More...
def	get_Ki (self)
	Get the integral gain value, Ki. More...
def	get_Kd (self)
	Get the derivative gain value, Kd. More...
def	set_Kp (self, kp)
	Set the proortional gain value, Kp.
def	set_Ki (self, ki)
	Set the integral gain value, Ki.
def	set_Kd (self, kd)
	Set the derivative gain value, Kd.
def	get_J (self)
	Get the PID controller performance metric, J. More...
def	reset_J (self)
	Reset the performance metric, J.

Public Attributes
	kp
	The proportional gain, Kp, of the PID controller.
	ki
	kd
	The derivative gain, Kd of the PID controller.
	iError
	The integral of the position error over time (Reiman sum)
	jk
	J (performance metric) times K (number of updates)
	k
	Number of updates since self.reset_J has been called.
	sat
	The maximum absolute vlaue of the response.

Detailed Description

A Class that implements a standard PID controller.

The ClosedLoop class is used to calculate the response to an error signal using PID control. The ClosedLoop object also evlauates its performance over time using the Remon sum of the squares of the velocity and postion error over time.

Constructor & Destructor Documentation

__init__()

def pid.ClosedLoop.__init__	(		self,
			kp = 0,
			ki = 0,
			kd = 0,
			sat = 100
	)

A method to initialize a ClosedLoop object.

Parameters

kp	The proportional gain, Kp, of the PID controller.
ki	The integral gain, Ki, of the PID controller.
kd	The derivative gain, Kd of the PID controller.
sat	The maximum absolute vlaue of the response.

Member Function Documentation

get_J()

def pid.ClosedLoop.get_J

(

self

)

Get the PID controller performance metric, J.

Returns

The PID controller performance metric, J.

get_Kd()

def pid.ClosedLoop.get_Kd

(

self

)

Get the derivative gain value, Kd.

Returns

The derivative gain.

get_Ki()

def pid.ClosedLoop.get_Ki

(

self

)

Get the integral gain value, Ki.

Returns

The integral gain.

get_Kp()

def pid.ClosedLoop.get_Kp

(

self

)

Get the proortional gain value, Kp.

Returns

The proportional gain.

update()

def pid.ClosedLoop.update	(		self,
			posError,
			velError
	)

A method to update the response of the PID controller to a given error signal.

Parameters

posError	The closed loop position error: desired - measured.
velError	The closed loop velocity error: desired - measured.

Returns

The PID controller response to the given error signal.

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The documentation for this class was generated from the following file:

• pid.py