record
Control.PidParameters
Tuning for the shared sampled PID controller
Public declarations
Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.
| Role | Name | Type | Dimensions / attributes / default | Description |
|---|---|---|---|---|
| field | samplePeriod | Real | (unit="s", min=1.0e-9) = 0.02 | |
| field | kp | Real | = 0.0 | |
| field | ki | Real | = 0.0 | |
| field | kd | Real | = 0.0 | |
| field | integralLimit | Real | (min=0.0) = 1.0 | |
| field | commandMin | Real | = -1.0 | |
| field | commandMax | Real | = 1.0 | |
| field | trackingTime | Real | (unit="s", min=1.0e-9) = 0.1 | Applied-command anti-windup tracking time constant |
| field | derivativeCutoffHz | Real | (unit="Hz", min=0.0) = 0.0 | Positive cutoff enables first-order filtering; zero uses the raw derivative |
Modelica declarations and implementation
Show parameters, interfaces and source
Parameters, inputs, outputs, defaults and equations from the source file.
record PidParameters "Tuning for the shared sampled PID controller"
Real samplePeriod(unit="s", min=1.0e-9) = 0.02;
Real kp = 0.0;
Real ki = 0.0;
Real kd = 0.0;
Real integralLimit(min=0.0) = 1.0;
Real commandMin = -1.0;
Real commandMax = 1.0;
Real trackingTime(unit="s", min=1.0e-9) = 0.1
"Applied-command anti-windup tracking time constant";
Real derivativeCutoffHz(unit="Hz", min=0.0) = 0.0
"Positive cutoff enables first-order filtering; zero uses the raw derivative";
end PidParameters;