control.pid.classes package

Submodules

control.pid.classes.EnergyController module

class control.pid.classes.EnergyController.EnergyController(upright_threshold=0.2, length=0.02)

Bases: object

Speed-Based Controller class for Furuta Pendulum

calculate_bar_mass(radius, height)

Calculate the mass of a steel cylinder

Parameters:

  • radius (float) – Radius of the cylinder

  • height (float) – Height of the cylinder

Returns:

Mass of the cylinder

Return type:

mass (float)

calculate_polar_inertia(mass, length)

Calculate the polar moment of inertia of a thin rod about its pivot

Parameters:

  • mass (float) – Mass of the rod

  • length (float) – Length of the rod

Returns:

Polar moment of inertia of the rod about its pivot

Return type:

polar_inertia (float)

control(angle, angular_velocity)

Compute Speed-Based control signal

Parameters:

  • angle (float) – Angle of the bar, in the range [-pi, pi]

  • angular_velocity (float) – Angular velocity of the bar, in the range [-10, 10]

Returns:

Motor speed control input

Return type:

control_input (float)

reset()

Reset Speed-Based controller

total_energy(angle, angular_velocity)

Calculate the total energy of the system

Parameters:

  • angle (float) – Angle of the bar, in the range [-pi, pi]

  • angular_velocity (float) – Angular velocity of the bar, in the range [-10, 10]

Returns:

Total energy of the system

Return type:

total_energy (float)

control.pid.classes.PIDController module

class control.pid.classes.PIDController.PIDController(Kp, Ki, Kd)

Bases: object

PID Controller class

compute(error)

Compute PID control signal

Parameters:

error (float) – Error signal

Returns:

PID control signal

Return type:

control_input (float)

reset()

Reset PID controller

Module contents