Class ZOPIDController
Proportional Integral Derivative (PID) controller.
Inheritance
System.Object
ZOPIDController
Inherited Members
System.Object.Equals(System.Object)
System.Object.Equals(System.Object, System.Object)
System.Object.GetHashCode()
System.Object.GetType()
System.Object.MemberwiseClone()
System.Object.ReferenceEquals(System.Object, System.Object)
System.Object.ToString()
Assembly: Unity.ZeroSim.dll
Syntax
[Serializable]
public class ZOPIDController : ZOSerializationInterface
Fields
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_deadBandEpsilon
Declaration
[Tooltip("Deadband")]
public float _deadBandEpsilon
Field Value
Type |
Description |
System.Single |
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_Kd
Declaration
[Tooltip("Derivative constant (fights oscillation)")]
public float _Kd
Field Value
Type |
Description |
System.Single |
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_Ki
Declaration
[Tooltip("Integral constant (counters cumulated error)")]
public float _Ki
Field Value
Type |
Description |
System.Single |
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_Kp
Declaration
[Tooltip("Proportional constant (counters current error)")]
public float _Kp
Field Value
Type |
Description |
System.Single |
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_maximumOutputValue
Declaration
[Tooltip("Maximum Output Value")]
public float _maximumOutputValue
Field Value
Type |
Description |
System.Single |
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_name
Declaration
Field Value
Type |
Description |
System.String |
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_output
Declaration
Field Value
Type |
Description |
System.Single |
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_setPoint
Declaration
[Tooltip("Set point value")]
public float _setPoint
Field Value
Type |
Description |
System.Single |
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Properties
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DeadBandEpsilon
Deadband area where if value jump around we consider the PID converged to the set point.
Declaration
public float DeadBandEpsilon { get; set; }
Property Value
Type |
Description |
System.Single |
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IsAtDeadBand
Determines if we are within the deadband epsilon area.
DeadBandEpsilon
Declaration
public bool IsAtDeadBand { get; }
Property Value
Type |
Description |
System.Boolean |
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JSON
Declaration
public JObject JSON { get; }
Property Value
Type |
Description |
Newtonsoft.Json.Linq.JObject |
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Kd
Declaration
public float Kd { get; set; }
Property Value
Type |
Description |
System.Single |
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Ki
Declaration
public float Ki { get; set; }
Property Value
Type |
Description |
System.Single |
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Kp
Declaration
public float Kp { get; set; }
Property Value
Type |
Description |
System.Single |
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MaximumOutputValue
Maximum output value that we clamp to.
Declaration
public float MaximumOutputValue { get; set; }
Property Value
Type |
Description |
System.Single |
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Name
Declaration
public string Name { get; }
Property Value
Type |
Description |
System.String |
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SetPoint
PID set point. The value it is trying to "get" to.
Declaration
public float SetPoint { get; set; }
Property Value
Type |
Description |
System.Single |
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Type
Declaration
public string Type { get; }
Property Value
Type |
Description |
System.String |
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Methods
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Deserialize(ZOSimDocumentRoot, JObject)
Declaration
public void Deserialize(ZOSimDocumentRoot documentRoot, JObject json)
Parameters
Type |
Name |
Description |
ZOSimDocumentRoot |
documentRoot |
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Newtonsoft.Json.Linq.JObject |
json |
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Serialize(ZOSimDocumentRoot, Object)
Declaration
public JObject Serialize(ZOSimDocumentRoot documentRoot, Object parent = null)
Parameters
Returns
Type |
Description |
Newtonsoft.Json.Linq.JObject |
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Update(Single, Single)
Declaration
public float Update(float current, float dt)
Parameters
Type |
Name |
Description |
System.Single |
current |
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System.Single |
dt |
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Returns
Type |
Description |
System.Single |
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Implements