TPIDController.h

/*--------------------------------------------------------------------------------*\
==========================|
 \\   /\ /\   // O pen     | OpenWAM: The Open Source 1D Gas-Dynamic Code
 \\ |  X  | //  W ave     |
 \\ \/_\/ //   A ction   | CMT-Motores Termicos / Universidad Politecnica Valencia
 \\/   \//    M odel    |
 ----------------------------------------------------------------------------------
 License

 This file is part of OpenWAM.

 OpenWAM is free software: you can redistribute it and/or modify
 it under the terms of the GNU General Public License as published by
 the Free Software Foundation, either version 3 of the License, or
 (at your option) any later version.

 OpenWAM is distributed in the hope that it will be useful,
 but WITHOUT ANY WARRANTY; without even the implied warranty of
 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 GNU General Public License for more details.

 You should have received a copy of the GNU General Public License
 along with OpenWAM.  If not, see <http://www.gnu.org/licenses/>.


 \*--------------------------------------------------------------------------------*/

//---------------------------------------------------------------------------
#ifndef TPIDControllerH
#define TPIDControllerH

#include "TController.h"

class TPIDController: public TController {
  private:
    int fID;                    

    double fKP_pos;             
    double fKI_pos;             
    double fKD_pos;             

    double fKP_neg;             
    double fKI_neg;             
    double fKD_neg;             

    double fpact;               
    double fdact;               
    double fiact;               

    double fMax_out;            
    double fMin_out;            

    double fError;              
    double fError_ant;          

    double fTime_ant;           

    double fSetPoint;           

    //double fVar_ant;
    double fI_ant;              

    double fOutput;             
    double fOutput0;            

    double fOutput_filt;        
    double fOutput_filt_ant;    
    double fOutput_ant;         
    double fTime_ant_filt;      

    double fPeriod;             
    double fGain;               
    double fDelay;              

    double fDwell;              

    bool fInicio;

    bool fSetPointControlled;               
    int fSetPointControllerID;  

    TController *fSetPointController;   

  public:

    TPIDController(int i                    
                  );

    ~TPIDController();

    double Output(double Time               
                 );

    void LeeController(const char *FileWAM,         
                       fpos_t &filepos          
                      );

    void AsignaObjetos(TSensor **Sensor,        
                       TController **Controller 
                      );

    void LeeResultadosMedControlador(const char *FileWAM,   
                                     fpos_t &filepos                
                                    );

    void LeeResultadosInsControlador(const char *FileWAM,               
                                     fpos_t &filepos                
                                    );

    void CabeceraResultadosMedControlador(stringstream& medoutput               
                                         );

    void CabeceraResultadosInsControlador(stringstream&
                                          insoutput             
                                         );

    void ImprimeResultadosMedControlador(stringstream& medoutput                
                                        );

    void ImprimeResultadosInsControlador(stringstream&
                                         insoutput              
                                        );

    void IniciaMedias();

    void ResultadosMediosController();

    void AcumulaResultadosMediosController(double Actual    
                                          );

    void ResultadosInstantController();

};

//---------------------------------------------------------------------------
#endif