I-P-I-Pcontroller.hh

[詳解]

 
//
// Copyright (C) 2011-2019 Yuki YOKOKURA
// This program is free software;
// you can redistribute it and/or modify it under the terms of the FreeBSD License.
// For details, see the License.txt file.
 
#ifndef IPIPCONTROLLER
#define IPIPCONTROLLER
 
#include "Integrator.hh"
 
namespace ARCS {    // ARCS名前空間
    template <IntegralType T>
    class IPIPcontroller {
        public:
            IPIPcontroller(double Igain1, double Pgain1, double Igain2, double Pgain2, double SmplTime)
                : Ki1(Igain1), Kp1(Pgain1), Ki2(Igain2), Kp2(Pgain2), Ts(SmplTime), Integ1(SmplTime), Integ2(SmplTime)
            {
                
            }
            
            IPIPcontroller(IPIPcontroller&& r)
                : Ki1(r.Ki1), Kp1(r.Kp1), Ki2(r.Ki2), Kp2(r.Kp2), Ts(r.Ts), Integ1(r.Integ1), Integ2(r.Integ2)
            {
                
            }
            
            ~IPIPcontroller(){
                
            }
 
            double GetSignal(double ref, double res){
                return Integ2.GetSignal(  Integ1.GetSignal(ref - res)*Ki1 - Kp1*res  )*Ki2 - Kp2*res;
            }
        
        private:
            IPIPcontroller(const IPIPcontroller&) = delete;                     
            const IPIPcontroller& operator=(const IPIPcontroller&) = delete;    
            double Ki1;             
            double Kp1;             
            double Ki2;             
            double Kp2;             
            double Ts;              
            Integrator<T> Integ1;   
            Integrator<T> Integ2;   
    };
}
 
#endif