public double CalculateResult(double inputValue, double dt, EmelentP p, ElementI i, ElementD d, int iteration, double maxOutputValue, double minOutputValue)
{
double proportionalElementResult = p.CalculateResult(inputValue);
inputSum += inputValue;
double integratingElementValue = i.CalculateResult(inputValue, p, dt, inputSum);
double derivativeElementValue = 0d;
if (iteration != 0)
{
derivativeElementValue = d.CalculateResult(inputValue, p, dt, lastInputValue);
}
double controllerOutputValue = proportionalElementResult + integratingElementValue + derivativeElementValue;
lastInputValue = inputValue;
if (controllerOutputValue > maxOutputValue)
{
return(maxOutputValue);
}
if (controllerOutputValue < minOutputValue)
{
return(minOutputValue);
}
return(controllerOutputValue);
}
public double CalculateResult(double inputValue, EmelentP p, double dt, double inputSum)
{
if (Ki == 0)
{
return(0);
}
return(p.Kp * dt / Ki * inputSum);
}
public double CalculateResult(double inputValue, EmelentP P, double dt, double lastInputValue)
{
if (Kd == 0)
{
return(0);
}
else
{
return(1d / dt * P.Kp * Kd * (inputValue - lastInputValue));
}
}
