Struct Pid

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pub struct Pid<T: Float> { /* private fields */ }
Expand description

Proportional-Integral-Derivative controller

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impl<T: Float> Pid<T>

Implementation of Pid methods

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pub fn new_ideal(kp: T, ti: T, td: T) -> Self

Create a new ideal PID controller

§Arguments
  • kp - Proportional action coefficient
  • ti - Integral time
  • td - Derivative time
§Example
use au::controller::pid::Pid;
let pid = Pid::new_ideal(4., 6., 0.1);
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pub fn new(kp: T, ti: T, td: T, n: T) -> Self

Create a new real PID controller

§Arguments
  • kp - Proportional action coefficient
  • ti - Integral time
  • td - Derivative time
  • n - Constant for additional pole
§Example
use au::controller::pid::Pid;
let pid = Pid::new(4., 6., 12., 0.1);
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pub fn tf(&self) -> Tf<T>

Calculate the transfer function of the PID controller

§Real PID
         1         Td
Kp (1 + ---- + ---------- s) =
        Ti*s   1 + Td/N*s

     N + (Ti*N +Td)s + Ti*Td(1 + N)s^2
= Kp ----------------------------------
            Ti*N*s + Ti*Td*s^2
§Ideal PID
   1 + Ti*s + Ti*Td*s^2
Kp --------------------
          Ti*s
§Example
#[macro_use] extern crate au;
use au::{controller::pid::Pid, Tf};
let pid = Pid::new_ideal(2., 2., 0.5);
let tf = Tf::new(poly![1., 2., 1.], poly![0., 1.]);
assert_eq!(tf, pid.tf());

Trait Implementations§

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impl<T: Debug + Float> Debug for Pid<T>

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fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter. Read more

Auto Trait Implementations§

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impl<T> Freeze for Pid<T>
where T: Freeze,

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impl<T> RefUnwindSafe for Pid<T>
where T: RefUnwindSafe,

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impl<T> Send for Pid<T>
where T: Send,

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impl<T> Sync for Pid<T>
where T: Sync,

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impl<T> Unpin for Pid<T>
where T: Unpin,

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impl<T> UnwindSafe for Pid<T>
where T: UnwindSafe,

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T, U> Into<U> for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> Same for T

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type Output = T

Should always be Self
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impl<SS, SP> SupersetOf<SS> for SP
where SS: SubsetOf<SP>,

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fn to_subset(&self) -> Option<SS>

The inverse inclusion map: attempts to construct self from the equivalent element of its superset. Read more
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fn is_in_subset(&self) -> bool

Checks if self is actually part of its subset T (and can be converted to it).
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fn to_subset_unchecked(&self) -> SS

Use with care! Same as self.to_subset but without any property checks. Always succeeds.
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fn from_subset(element: &SS) -> SP

The inclusion map: converts self to the equivalent element of its superset.
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impl<T, U> TryFrom<U> for T
where U: Into<T>,

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type Error = Infallible

The type returned in the event of a conversion error.
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fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>

Performs the conversion.
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impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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type Error = <U as TryFrom<T>>::Error

The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.
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impl<V, T> VZip<V> for T
where V: MultiLane<T>,

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fn vzip(self) -> V