From ffc3d393c6678a3251653eadeb06f54775bdbc7a Mon Sep 17 00:00:00 2001 From: Amerik Singh Date: Tue, 1 Oct 2024 21:05:03 +0200 Subject: [PATCH] BF: PID Controller (SISO) #1048 --- src/mlpro/bf/control/controllers/pid_controller.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/src/mlpro/bf/control/controllers/pid_controller.py b/src/mlpro/bf/control/controllers/pid_controller.py index 4b0a5aef2..04890854b 100644 --- a/src/mlpro/bf/control/controllers/pid_controller.py +++ b/src/mlpro/bf/control/controllers/pid_controller.py @@ -23,7 +23,7 @@ from mlpro.bf.math.basics import Log,Set from mlpro.bf.mt import Log, Task from mlpro.bf.systems import Action -from mlpro.bf.control.basics import CTRLError, Controller +from mlpro.bf.control.basics import ControlError, Controller from mlpro.bf.systems.basics import ActionElement from mlpro.bf.various import Log from datetime import datetime, timedelta @@ -76,12 +76,13 @@ def set_parameter(self, **p_param): self.Ti = p_param.get('Ti',self.Ti) #set Tv value p_param.get('Tv',self.Tv) - - +## ------------------------------------------------------------------------------------------------- + def get_parameter_values(self)-> np.ndarray: + return np.array([self.Kp,self.Ti,self.Tv]) ## ------------------------------------------------------------------------------------------------- - def _compute_action(self, p_ctrl_error: CTRLError, p_action_element: ActionElement, p_ctrl_id: int = 0, p_ae_id: int = 0): + def _compute_action(self, p_ctrl_error: ControlError, p_action_element: ActionElement, p_ctrl_id: int = 0, p_ae_id: int = 0): """ Custom method to compute and an action based on an incoming control error. The result needs