Struct Pid

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

Proportional-Integral-Derivative controller

Implementations

impl<T: Float> Pid<T>

Implementation of Pid methods

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);

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);

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

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

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

Formats the value using the given formatter.