cPidController Class Reference

PID Controller. More...

#include <pidcontroller.h>

Public Member Functions
	cPidController (double, double, double, double)
	Create a PID Controller.
double	GetTargetValue ()
double	GetPTerm ()
double	GetITerm ()
double	GetDTerm ()
void	Reset ()
	Reset the internal state (integral sum and error history).
void	SetTargetValue (double value)
double	Update (double, double)
	Calculate the new output value.

Private Attributes
double	proportionalGain = 0
	Proportional Gain (Kp) - Reaction strength.
double	integralGain = 0
	Integral Gain (Ki) - Drift correction.
double	derivativeGain = 0
	Derivative Gain (Kd) - Dampening.
double	pTerm = 0
	Proportional term.
double	iTerm = 0
	Integral term.
double	dTerm = 0
	Derivative term.
double	targetValue = 0
	The desired buffer fill level in frames.
double	integralSum = 0
	Accumulator for the I-term.
double	previousError = 0
	Error from the previous step (for D-term)
bool	firstRun = true
	Flag for first run.
double	maxOutput = 0
	Hard limit for output correction.
double	maxIntegral = 0
	Anti-windup limit for the integral term.

Detailed Description

PID Controller.

Definition at line 21 of file pidcontroller.h.

Constructor & Destructor Documentation

cPidController()

cPidController::cPidController	(	double	kp,
		double	ki,
		double	kd,
		double	maxOutput
	)

Create a PID Controller.

Parameters

kp	Proportional gain
ki	Integral gain
kd	Derivative gain
maxOutput	Max allowed output value (absolute)

Definition at line 31 of file pidcontroller.cpp.

References integralGain, maxIntegral, and maxOutput.

Member Function Documentation

GetDTerm()

double cPidController::GetDTerm ( )

inline

Definition at line 27 of file pidcontroller.h.

References dTerm.

Referenced by cSoftHdAudio::ClockDriftCompensation().

GetITerm()

double cPidController::GetITerm ( )

inline

Definition at line 26 of file pidcontroller.h.

References iTerm.

Referenced by cSoftHdAudio::ClockDriftCompensation().

GetPTerm()

double cPidController::GetPTerm ( )

inline

Definition at line 25 of file pidcontroller.h.

References pTerm.

Referenced by cSoftHdAudio::ClockDriftCompensation().

GetTargetValue()

double cPidController::GetTargetValue ( )

inline

Definition at line 24 of file pidcontroller.h.

References targetValue.

Referenced by cSoftHdAudio::ClockDriftCompensation().

Reset()

void cPidController::Reset

(

void

)

Reset the internal state (integral sum and error history).

Definition at line 94 of file pidcontroller.cpp.

References dTerm, firstRun, integralSum, iTerm, previousError, and pTerm.

Referenced by cSoftHdAudio::DropSamplesOlderThanPtsMs(), cSoftHdAudio::FlushBuffers(), and Update().

SetTargetValue()

void cPidController::SetTargetValue ( double  value )

inline

Definition at line 29 of file pidcontroller.h.

References targetValue.

Referenced by cSoftHdAudio::ClockDriftCompensation().

Update()

double cPidController::Update	(	double	currentValue,
		double	dt
	)

Calculate the new output value.

Parameters

currentValue	The current value
dt	The time elapsed since the last update (seconds)

Returns

The output value

Definition at line 51 of file pidcontroller.cpp.

References derivativeGain, dTerm, firstRun, integralGain, integralSum, iTerm, LOGWARNING, maxIntegral, maxOutput, previousError, proportionalGain, pTerm, Reset(), and targetValue.

Referenced by cSoftHdAudio::ClockDriftCompensation().

Member Data Documentation

derivativeGain

double cPidController::derivativeGain = 0

private

Derivative Gain (Kd) - Dampening.

Definition at line 35 of file pidcontroller.h.

Referenced by Update().

dTerm

double cPidController::dTerm = 0

private

Derivative term.

Definition at line 39 of file pidcontroller.h.

Referenced by GetDTerm(), Reset(), and Update().

firstRun

bool cPidController::firstRun = true

private

Flag for first run.

Definition at line 45 of file pidcontroller.h.

Referenced by Reset(), and Update().

integralGain

double cPidController::integralGain = 0

private

Integral Gain (Ki) - Drift correction.

Definition at line 34 of file pidcontroller.h.

Referenced by cPidController(), and Update().

integralSum

double cPidController::integralSum = 0

private

Accumulator for the I-term.

Definition at line 42 of file pidcontroller.h.

Referenced by Reset(), and Update().

iTerm

double cPidController::iTerm = 0

private

Integral term.

Definition at line 38 of file pidcontroller.h.

Referenced by GetITerm(), Reset(), and Update().

maxIntegral

double cPidController::maxIntegral = 0

private

Anti-windup limit for the integral term.

Definition at line 47 of file pidcontroller.h.

Referenced by cPidController(), and Update().

maxOutput

double cPidController::maxOutput = 0

private

Hard limit for output correction.

Definition at line 46 of file pidcontroller.h.

Referenced by cPidController(), and Update().

previousError

double cPidController::previousError = 0

private

Error from the previous step (for D-term)

Definition at line 43 of file pidcontroller.h.

Referenced by Reset(), and Update().

proportionalGain

double cPidController::proportionalGain = 0

private

Proportional Gain (Kp) - Reaction strength.

Definition at line 33 of file pidcontroller.h.

Referenced by Update().

pTerm

double cPidController::pTerm = 0

private

Proportional term.

Definition at line 37 of file pidcontroller.h.

Referenced by GetPTerm(), Reset(), and Update().

targetValue

double cPidController::targetValue = 0

private

The desired buffer fill level in frames.

Definition at line 41 of file pidcontroller.h.

Referenced by GetTargetValue(), SetTargetValue(), and Update().

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The documentation for this class was generated from the following files:

• pidcontroller.h
• pidcontroller.cpp