Detailed Description

Defines the active DCL_NLPID controller structure.

Data Fields
float32_t	Kp
	Linear proportional gain. More...

float32_t	Ki
	Linear integral gain. More...

float32_t	Kd
	Linear derivative gain. More...

float32_t	alpha_p
	P path non-linear exponent, default is 1. More...

float32_t	alpha_i
	I path non-linear exponent, default is 1. More...

float32_t	alpha_d
	D path non-linear exponent, default is 1. More...

float32_t	delta_p
	P path linearized range, default is 0.1. More...

float32_t	delta_i
	I path linearized range, default is 0.1. More...

float32_t	delta_d
	D path linearized range, default is 0.1. More...

float32_t	gamma_p
	P path gain limit, default is 1. More...

float32_t	gamma_i
	I path gain limit, default is 1. More...

float32_t	gamma_d
	D path gain limit, default is 1. More...

float32_t	c1
	D path low-pass filter coefficient 1, default is 1. More...

float32_t	c2
	D path low-pass filter coefficient 2, default is 0. More...

float32_t	Umax
	Upper saturation limit. More...

float32_t	Umin
	Lower saturation limit. More...

float32_t	d2
	D path low-pass filter storage (Kd * c1) More...

float32_t	d3
	D path low-pass filter storage (c2) More...

float32_t	i7
	I path feedback storage. More...

float32_t	i16
	Saturation multiplier, ranges between 1*lk ~ 0, where 0 means fully saturated. More...

float32_t	i18
	No longer needed. More...

DCL_NLPID_SPS *	sps
	Pointer to shadow parameter structure. More...

DCL_CSS *	css
	Pointer to controller support structure. More...

Field Documentation

◆ Kp

float32_t dcl_nlpid::Kp

Linear proportional gain.

◆ Ki

float32_t dcl_nlpid::Ki

Linear integral gain.

◆ Kd

float32_t dcl_nlpid::Kd

Linear derivative gain.

◆ alpha_p

float32_t dcl_nlpid::alpha_p

P path non-linear exponent, default is 1.

◆ alpha_i

float32_t dcl_nlpid::alpha_i

I path non-linear exponent, default is 1.

◆ alpha_d

float32_t dcl_nlpid::alpha_d

D path non-linear exponent, default is 1.

◆ delta_p

float32_t dcl_nlpid::delta_p

P path linearized range, default is 0.1.

◆ delta_i

float32_t dcl_nlpid::delta_i

I path linearized range, default is 0.1.

◆ delta_d

float32_t dcl_nlpid::delta_d

D path linearized range, default is 0.1.

◆ gamma_p

float32_t dcl_nlpid::gamma_p

P path gain limit, default is 1.

◆ gamma_i

float32_t dcl_nlpid::gamma_i

I path gain limit, default is 1.

◆ gamma_d

float32_t dcl_nlpid::gamma_d

D path gain limit, default is 1.

◆ c1

float32_t dcl_nlpid::c1

D path low-pass filter coefficient 1, default is 1.

◆ c2

float32_t dcl_nlpid::c2

D path low-pass filter coefficient 2, default is 0.

◆ Umax

float32_t dcl_nlpid::Umax

Upper saturation limit.

◆ Umin

float32_t dcl_nlpid::Umin

Lower saturation limit.

◆ d2

float32_t dcl_nlpid::d2

D path low-pass filter storage (Kd * c1)

◆ d3

float32_t dcl_nlpid::d3

D path low-pass filter storage (c2)

◆ i7

float32_t dcl_nlpid::i7

I path feedback storage.

◆ i16

float32_t dcl_nlpid::i16

Saturation multiplier, ranges between 1*lk ~ 0, where 0 means fully saturated.

◆ i18

float32_t dcl_nlpid::i18

No longer needed.

◆ sps

DCL_NLPID_SPS* dcl_nlpid::sps

Pointer to shadow parameter structure.

◆ css

DCL_CSS* dcl_nlpid::css

Pointer to controller support structure.