closedloop.ClosedLoop Class Reference

Driver class for a Closed Loop Controller. More...

Public Member Functions
def	__init__ (self, shares.Share position_signal, shares.Share deriv_signal, shares.Share target_pos, shares.Share target_deriv, float prop_gain, float deriv_gain, float int_gain, int sat_limit_low, int sat_limit_high, int integral_limit=None, int integral_influence_limit=None, shares.Share controller_signals=None, int integral_limit_region=None)
	Initializes the ClosedLoop object. More...
def	update (self)
	Returns an output signal based on the initialized share variables. More...
def	set_Kp (self, new_Kp)
	Sets the Kp to a new value. More...
def	set_Kd (self, new_Kd)
	Sets the Kd to a new value. More...
def	set_Ki (self, new_Ki)
	Sets the Ki to a new value. More...

Detailed Description

Driver class for a Closed Loop Controller.

Used to control a signal and provide output to achieve desired steady state

Constructor & Destructor Documentation

__init__()

def closedloop.ClosedLoop.__init__	(		self,
		shares.Share	position_signal,
		shares.Share	deriv_signal,
		shares.Share	target_pos,
		shares.Share	target_deriv,
		float	prop_gain,
		float	deriv_gain,
		float	int_gain,
		int	sat_limit_low,
		int	sat_limit_high,
		int	integral_limit = None,
		int	integral_influence_limit = None,
		shares.Share	controller_signals = None,
		int	integral_limit_region = None
	)

Initializes the ClosedLoop object.

Objects of this class act as a PID Controller, taking in an input signal and target value, along with a proportional, integral, and differential gain.

Parameters

position_signal	Share object containing the position input signal to the controller.
deriv_signal	Share object containing the input derivative signal for the controller.
target_pos	Share object containing the desired reference value for the controller position.
target_deriv	Share object containing the desired reference value for controller velocity.
prop_gain	Float value for the Kp for the controller.
deriv_gain	Float value for the Kd for the controller.
int_gain	Float value fot the Ki for the controller.
sat_limit_low	Minimum value to saturate the controller output at.
sat_limit_high	Maximum value to saturate the controller output at.
integral_limit	Optional parameter to specify limit to how much build-up can occur in the integral term
integral_influence_limit	Optional parameter to specify the maximum value the integral term (Ki * integral) can contribute to the output signal
controller_signals	Shared object to encapsulate the controller term values (prop, deriv, integral) to pass to user interface for easier debugging
integral_limit_region	Integer limiting the region where integral term has any effect. An input signal with absolute value greater than this value will have no integral term in the output signal.

Member Function Documentation

set_Kd()

def closedloop.ClosedLoop.set_Kd	(		self,
			new_Kd
	)

Sets the Kd to a new value.

Replaces the existing Kd with a new value.

Parameters

new_Kd

The new value of Kd (derivative gain) to be set.

set_Ki()

def closedloop.ClosedLoop.set_Ki	(		self,
			new_Ki
	)

Sets the Ki to a new value.

Replaces the existing Ki with a new value.

Parameters

new_Ki

The new value of Ki (integral gain) to be set.

set_Kp()

def closedloop.ClosedLoop.set_Kp	(		self,
			new_Kp
	)

Sets the Kp to a new value.

Replaces the existing Kp with a new value.

Parameters

new_Kp

The new value of Kp (proportional gain) to be set.

update()

def closedloop.ClosedLoop.update

(

self

)

Returns an output signal based on the initialized share variables.

Multiplies the error signal by the proportional gain and adds the velocity/derivitive error signal to obtain an output signal. If the output signal exceeds the saturation limits, return the saturation limit instead.

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

• ME305_code/Lab0xFF/closedloop.py