SelfTuningController¶

public class SelfTuningController extends PI_controller ¶

A self-tuning implementation of the PI controller. It waits for 10 cycles, and over next 20 cycles generates a step pulse and measures response. From this response it estimates the P and I components of the PID controller.

Author:	Marcel Stefko

Constructors¶

SelfTuningController¶

public SelfTuningController(double max_output, double sampling_period_s)¶

Initialize a new SelfTuningController

Parameters:	max_output – max output sampling_period_s – tick rate of controller in seconds step_height – how big step pulse should be generated p_factor – scaling factor for P in tuning i_factor – scaling factor for I in tuning

Methods¶

getName¶

public String getName()¶

getStatusPanel¶

public ControllerStatusPanel getStatusPanel()¶

nextValue¶

public double nextValue(double value)¶

recalibrate¶

public final void recalibrate(double step_height, double p_factor, double i_factor)¶