cinospidcontroller.h

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//******************************************************************************
//******************************************************************************
 
#ifndef INC_CINOSPIDCONTROL_H
#define INC_CINOSPIDCONTROL_H
 
//------------------------------------------------------------------------------
// defines
//------------------------------------------------------------------------------
//
#define DF_INOS_PID_CONTROLLER_NAME "CINOSPidController"    // controller name
//
//------------------------------------------------------------------------------
// includes
//------------------------------------------------------------------------------
//
// system
#include <cinosbasecontroller.h>
//
// C++
//
// project
//
//------------------------------------------------------------------------------
//--- structures ---------------------------------------------------------------
//------------------------------------------------------------------------------
//
struct SPidVal
    //; structure of PID parameters
{
    real64 m_rKp;
    real64 m_rKi;
    real64 m_rKd;
    real64 m_rAff;
    real64 m_rTi;
    real64 m_rTd;
    real64 m_rVff;
    real64 m_rBff;
    real64 m_rSff;
    real64 m_rSffoffset;
};
 
//------------------------------------------------------------------------------
// class definition
//------------------------------------------------------------------------------
//
class CINOSPidController : public CINOSBaseController
{
    //--- user interface ---------------------------------------------------
 
    // public member functions
    public :
 
        // constructor/destructor
 
        CINOSPidController(const char* apInpName, const char* apOutName);
            //; constructor
        virtual ~CINOSPidController();
            //; destructor
        virtual void SetCycleTime(real64 arCycleTime) override;
            //; set controller cycle time [sec]
        
        virtual void Activate(bool abCheckVal = true, bool abSimulateVal = false,
            bool abSimulateOut = false, bool abSimulateAct = false) override;
 
        virtual CINCOObject* GetRegister() override;
            //; do inco registration and return pointer to it
 
    //--- internals --------------------------------------------------------
 
    friend class CINCOPidCtrPar;
    
    // protected member functions
    protected:
        virtual void Reset() override;
            //; reset controller values (called whenever the controller is 
            //; switched on)
        ICACHE virtual void Control() override;
            //; do a control cycle
 
    // protected members
    protected:
        uint8 m_uActSet;
            //; actual PID set (0-halt, 1-run)
 
        // controller parameters (0-halt, 1-run forward, 2-run backward)
        SPidVal m_Pid[3];
            //; pid parameters
        real64 m_rSint;
            //; actual value integrator
        real64 m_rSintMin;
            //; min. allowed value integrator
        real64 m_rSintMax;
            //; max. allowed value integrator
        real64 m_rSignalFF;
            //; signal feed forward factor
        inosName32 m_cSignalName;
            //; signal name (analog input or analog output)
        CINOSAdcChannel* m_pAdcSignal;
            //; analog input
        CINOSDacChannel* m_pDacSignal;
            //; analog output
 
    // allow dynamic object handling (new/delete)
    DECLARE_DYNAMIC_CACHE(CINOSPidController);
};
 
 
//------------------------------------------------------------------------------
// end of file
//------------------------------------------------------------------------------
 
#endif  // INC_CINOSPIDCONTROLLER_H