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//-------------------------------------------------------//
// Project Code : CodeLibrary
// File Name : PI_Ctrl.cpp
// Created on : 2019. 06. 07.
// Description : PI 제어기
// Author : KimJeongWoo
// Last modified Date :
//-------------------------------------------------------//
#include <CodeLibMath.h>
#include <DigitalCtrl/PiCtrl.h>
void sPiCtrl::Reset()
{
Err = 0;
fb = 0;
Integ = 0;
out = 0;
}
float sPiCtrl::Run()
{
Integ += Ki * (Err - Ka * (fb - out));
// Integ = LIMITER(Integ, PImax, PImin);
fb = Integ + Kp * Err + ff; // PI
out = LIMITER(fb, PiMax, PiMin);
return out;
}
void sPiCtrl::Init(float mKp, float mKi, float mKa, float mWc, float mTprd, float mPI_Max, float mPI_Min)
{
Kp = mKp;
Ki = mKi;
Ka = mKa;
Wc = mWc;
Tprd = mTprd;
PiMax = mPI_Max;
PiMin = mPI_Min;
}