public class PID extends DETransformer
The proportional component of the output is immediately available, such that yp[n]=Kp*x[n], where yp is the proportional component of the output, Kp is the proportional gain, and x is the input value.
For integral gain, the output is available after two input symbols have been received, such that yi[n]=Ki*(yi[n-1]+(x[n] + x[n-1])*dt[n]/2), where yi is the integral component of the output, Ki is the integral gain, and dt[n] is the time differential between input events x[n] and x[n-1].
For derivative gain, the output is available after two input symbols have been received, such that yd[n] = Kd*(x[n]-x[n-1])/dt, where yd is the derivative component of the output, Kd is the derivative gain, and dt is the time differential between input events events x[n] and x[n-1].
The output of this actor is constrained to be a double, and input must be castable to a double. If the input signal is not left-continuous and the derivative constant is nonzero, then this actor will throw an exception as the derivative will be either infinite or undefined. If the derivative constant is zero, then this actor may receive discontinuous input.
y[0]=Kp*x[0]
y[n] = yp[n] + yi[n] + yd[n]
y[n] = Kp*x[n] + Ki*sum{x=1}{n}{(x[n]+x[n-1])/2*dt[n]} + Kd*(x[n]-x[n-1]/dt[n])
In postfire(), if an event is present on the reset port, this actor resets to its initial state, where integral and derivative components of output will not be present until two subsequent inputs have been consumed. This is useful if the input signal is switched on and off, in which case the time gap between events becomes large and would otherwise effect the value of the derivative (for one sample) and the integral.
Integrator,
DerivativeEntity.ContainedObjectsIterator| Modifier and Type | Field and Description |
|---|---|
Parameter |
Kd
Derivative gain of the controller.
|
Parameter |
Ki
Integral gain of the controller.
|
Parameter |
Kp
Proportional gain of the controller.
|
TypedIOPort |
reset
The reset port, which has undeclared type.
|
input, output_typesValid_actorFiringListeners, _initializables, _notifyingActorFiring, _stopRequested_changeListeners, _changeLock, _changeRequests, _debugging, _debugListeners, _deferChangeRequests, _elementName, _isPersistent, _verbose, _workspace, ATTRIBUTES, CLASSNAME, COMPLETE, CONTENTS, DEEP, FULLNAME, LINKSCOMPLETED, NOT_READY, STOP_ITERATING| Constructor and Description |
|---|
PID(CompositeEntity container,
java.lang.String name)
Construct an actor with the given container and name.
|
| Modifier and Type | Method and Description |
|---|---|
void |
attributeChanged(Attribute attribute)
If the attribute is Kp, Ki, or Kd then ensure
that the value is numeric.
|
java.lang.Object |
clone(Workspace workspace)
Clone the actor into the specified workspace.
|
void |
fire()
Consume at most one token from the input port and output
the PID control.
|
void |
initialize()
Reset to indicate that no input has yet been seen.
|
boolean |
postfire()
Record the most recent input as the latest input.
|
_containedTypeConstraints, _customTypeConstraints, _defaultTypeConstraints, _fireAt, _fireAt, attributeTypeChanged, clone, isBackwardTypeInferenceEnabled, newPort, typeConstraintList, typeConstraints_actorFiring, _actorFiring, _declareDelayDependency, addActorFiringListener, addInitializable, connectionsChanged, createReceivers, declareDelayDependency, getCausalityInterface, getDirector, getExecutiveDirector, getManager, inputPortList, isFireFunctional, isStrict, iterate, newReceiver, outputPortList, prefire, preinitialize, pruneDependencies, recordFiring, removeActorFiringListener, removeDependency, removeInitializable, setContainer, stop, stopFire, terminate, wrapup_adjustDeferrals, _checkContainer, _getContainedObject, _propagateExistence, getContainer, instantiate, isAtomic, isOpaque, moveDown, moveToFirst, moveToIndex, moveToLast, moveUp, propagateExistence, setName_addPort, _description, _exportMoMLContents, _removePort, _validateSettables, connectedPortList, connectedPorts, containedObjectsIterator, getAttribute, getPort, getPorts, linkedRelationList, linkedRelations, portList, removeAllPorts, setClassDefinition, uniqueName_setParent, exportMoML, getChildren, getElementName, getParent, getPrototypeList, isClassDefinition, isWithinClassDefinition_addAttribute, _adjustOverride, _attachText, _cloneFixAttributeFields, _containedDecorators, _copyChangeRequestList, _debug, _debug, _debug, _debug, _debug, _executeChangeRequests, _getIndentPrefix, _isMoMLSuppressed, _markContentsDerived, _notifyHierarchyListenersAfterChange, _notifyHierarchyListenersBeforeChange, _propagateValue, _removeAttribute, _splitName, _stripNumericSuffix, addChangeListener, addDebugListener, addHierarchyListener, attributeDeleted, attributeList, attributeList, decorators, deepContains, depthInHierarchy, description, description, event, executeChangeRequests, exportMoML, exportMoML, exportMoML, exportMoML, exportMoMLPlain, getAttribute, getAttributes, getChangeListeners, getClassName, getDecoratorAttribute, getDecoratorAttributes, getDerivedLevel, getDerivedList, getDisplayName, getFullName, getModelErrorHandler, getName, getName, getSource, handleModelError, isDeferringChangeRequests, isOverridden, isPersistent, lazyContainedObjectsIterator, message, notifyOfNameChange, propagateValue, propagateValues, removeAttribute, removeChangeListener, removeDebugListener, removeHierarchyListener, requestChange, setClassName, setDeferringChangeRequests, setDerivedLevel, setDisplayName, setModelErrorHandler, setPersistent, setSource, sortContainedObjects, toplevel, toString, validateSettables, workspaceequals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, waitcreateReceivers, getCausalityInterface, getDirector, getExecutiveDirector, getManager, inputPortList, newReceiver, outputPortListisFireFunctional, isStrict, iterate, prefire, stop, stopFire, terminateaddInitializable, preinitialize, removeInitializable, wrapupdescription, getContainer, getDisplayName, getFullName, getName, getName, setNamegetDerivedLevel, getDerivedList, propagateValuepublic TypedIOPort reset
public Parameter Kp
public Parameter Ki
public Parameter Kd
public PID(CompositeEntity container, java.lang.String name) throws NameDuplicationException, IllegalActionException
container - The container.name - The name of this actor.IllegalActionException - If the actor cannot be contained
by the proposed container.NameDuplicationException - If the container already has an
actor with this name.public java.lang.Object clone(Workspace workspace) throws java.lang.CloneNotSupportedException
clone in class TypedAtomicActorworkspace - The workspace for the new object.java.lang.CloneNotSupportedException - If a derived class has
has an attribute that cannot be cloned.NamedObj.exportMoML(Writer, int, String),
NamedObj.setDeferringChangeRequests(boolean)public void attributeChanged(Attribute attribute) throws IllegalActionException
attributeChanged in class NamedObjattribute - The attribute that changed.IllegalActionException - If the value is non-numeric.public void initialize()
throws IllegalActionException
initialize in interface Initializableinitialize in class AtomicActor<TypedIOPort>IllegalActionException - If the parent class throws it.public void fire()
throws IllegalActionException
fire in interface Executablefire in class AtomicActor<TypedIOPort>IllegalActionException - If addition, multiplication,
subtraction, or division is not supported by the supplied tokens.public boolean postfire()
throws IllegalActionException
postfire in interface Executablepostfire in class AtomicActor<TypedIOPort>IllegalActionException - If the base class throws it.