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PIDController

numrs2::new_modules::control::pid

Struct PIDController 

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pub struct PIDController { /* private fields */ }
Expand description

PID controller

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impl PIDController

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pub fn new(kp: f64, ki: f64, kd: f64, sample_time: f64) -> Self

Create a new PID controller

§Arguments
  • kp - Proportional gain
  • ki - Integral gain
  • kd - Derivative gain
  • sample_time - Sample time in seconds
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pub fn set_output_limits(&mut self, min: f64, max: f64) -> ControlResult<()>

Set output limits

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pub fn set_integral_limits(&mut self, min: f64, max: f64) -> ControlResult<()>

Set integral limits

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pub fn set_anti_windup(&mut self, method: AntiWindup)

Set anti-windup method

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pub fn set_derivative_filter(&mut self, alpha: f64) -> ControlResult<()>

Set derivative filter coefficient (0-1)

Higher values provide more filtering but slower response

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pub fn reset(&mut self)

Reset the controller state

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pub fn update(&mut self, error: f64) -> f64

Update the controller with new error value

§Arguments
  • error - Current error (setpoint - measurement)
§Returns

Control output

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pub fn gains(&self) -> (f64, f64, f64)

Get current gains

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pub fn set_gains(&mut self, kp: f64, ki: f64, kd: f64)

Set gains manually

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pub fn tune_ziegler_nichols( &mut self, ultimate_gain: f64, ultimate_period: f64, ) -> ControlResult<()>

Auto-tune using Ziegler-Nichols method

§Arguments
  • ultimate_gain - Ultimate gain Ku (gain at stability limit)
  • ultimate_period - Ultimate period Pu (oscillation period at Ku)
§Tuning Rules
  • Kp = 0.6 * Ku
  • Ki = 1.2 * Ku / Pu
  • Kd = 0.075 * Ku * Pu
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pub fn tune_cohen_coon( &mut self, process_gain: f64, time_constant: f64, dead_time: f64, ) -> ControlResult<()>

Auto-tune using Cohen-Coon method

§Arguments
  • process_gain - Steady-state process gain K
  • time_constant - Process time constant τ
  • dead_time - Process dead time θ
§Tuning Rules
Kp = (1/K) * (τ/θ) * (1 + θ/(3*τ))
Ki = Kp * (30 + 3*θ/τ) / (9 + 20*θ/τ) / τ
Kd = Kp * 4 / (11 + 2*θ/τ) * θ
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pub fn to_transfer_function(&self) -> ControlResult<TransferFunction>

Convert PID to transfer function representation

C(s) = Kp + Ki/s + Kd*s

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pub fn simulate_step_response( &mut self, plant_tf: &TransferFunction, setpoint: f64, time_span: (f64, f64), num_points: usize, ) -> ControlResult<(Vec<f64>, Vec<f64>, Vec<f64>)>

Simulate step response of closed-loop system

§Arguments
  • plant_tf - Plant transfer function G(s)
  • setpoint - Desired setpoint
  • time_span - (start_time, end_time)
  • num_points - Number of simulation points

Trait Implementations§

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impl Clone for PIDController

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fn clone(&self) -> PIDController

Returns a duplicate of the value. Read more
1.0.0 (const: unstable) · Source§

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for PIDController

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

Formats the value using the given formatter. Read more

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unsafe fn clone_to_uninit(&self, dest: *mut u8)

🔬This is a nightly-only experimental API. (clone_to_uninit)
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