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... | |
float32_t dcl_nlpid::Kp |
Linear proportional gain.
float32_t dcl_nlpid::Ki |
Linear integral gain.
float32_t dcl_nlpid::Kd |
Linear derivative gain.
float32_t dcl_nlpid::alpha_p |
P path non-linear exponent, default is 1.
float32_t dcl_nlpid::alpha_i |
I path non-linear exponent, default is 1.
float32_t dcl_nlpid::alpha_d |
D path non-linear exponent, default is 1.
float32_t dcl_nlpid::delta_p |
P path linearized range, default is 0.1.
float32_t dcl_nlpid::delta_i |
I path linearized range, default is 0.1.
float32_t dcl_nlpid::delta_d |
D path linearized range, default is 0.1.
float32_t dcl_nlpid::gamma_p |
P path gain limit, default is 1.
float32_t dcl_nlpid::gamma_i |
I path gain limit, default is 1.
float32_t dcl_nlpid::gamma_d |
D path gain limit, default is 1.
float32_t dcl_nlpid::c1 |
D path low-pass filter coefficient 1, default is 1.
float32_t dcl_nlpid::c2 |
D path low-pass filter coefficient 2, default is 0.
float32_t dcl_nlpid::Umax |
Upper saturation limit.
float32_t dcl_nlpid::Umin |
Lower saturation limit.
float32_t dcl_nlpid::d2 |
D path low-pass filter storage (Kd * c1)
float32_t dcl_nlpid::d3 |
D path low-pass filter storage (c2)
float32_t dcl_nlpid::i7 |
I path feedback storage.
float32_t dcl_nlpid::i16 |
Saturation multiplier, ranges between 1*lk ~ 0, where 0 means fully saturated.
float32_t dcl_nlpid::i18 |
No longer needed.
DCL_NLPID_SPS* dcl_nlpid::sps |
Pointer to shadow parameter structure.
DCL_CSS* dcl_nlpid::css |
Pointer to controller support structure.