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30 changes: 16 additions & 14 deletions tasks/task_02/doc/doxygen.md
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Expand Up @@ -225,35 +225,37 @@ The class contains the method to calculate the control signal by [PID](#class_p_

Members | Descriptions
--------------------------------|---------------------------------------------
`public `[`PID`](#class_p_i_d_1a46b78a3e055a6603d1b7980e9320ad81)`(double kp,double ki,double kd)` | The constructor of the [PID](#class_p_i_d) controller.
`public void `[`calculate`](#class_p_i_d_1ac35ae6197f0c54b7797a6e008b3cc31e)`(const std::vector< double > & error)` | The method to calculate the control signal by [PID](#class_p_i_d).
`public std::vector< double > `[`getControlSignals`](#class_p_i_d_1a0dcd91dc972ebf77ec88843565f0b632)`() const` | The method to get the control signals.
`public void `[`calculate`](#class_p_i_d_1ae89c0bb07b0d62a0ea2569ec3338a960)`(const double & w,const double & T0,const std::vector< double > & temps_linear)` | The method to calculate the control signal by [PID](#class_p_i_d).
`public std::vector< std::vector< double > > `[`getControlSignals`](#class_p_i_d_1a4f18b22156745f389a97f73ed4c91e39)`() const` | The method to get the control signals.

## Members

#### `public `[`PID`](#class_p_i_d_1a46b78a3e055a6603d1b7980e9320ad81)`(double kp,double ki,double kd)`
#### `public void `[`calculate`](#class_p_i_d_1ae89c0bb07b0d62a0ea2569ec3338a960)`(const double & w,const double & T0,const std::vector< double > & temps_linear)`

The constructor of the [PID](#class_p_i_d) controller.
The method to calculate the control signal by [PID](#class_p_i_d).

#### Parameters
* `kp` The coefficient P in the [PID](#class_p_i_d) controller.
* `error` The vector of errors.

* `ki` The coefficient I in the [PID](#class_p_i_d) controller.
The method calculates the control signal by [PID](#class_p_i_d) using the formulas: Uk = Uk_1 + delta_Uk delta_Uk = q0 * e0 + q1 * e1 + q2 * e2 q0 = K * (1 + TD / T0) q1 = -K * (1 + 2 * TD / T0 - T0 / T) q2 = K * TD / T0

* `kd` The coefficient D in the [PID](#class_p_i_d) controller.
#### Parameters
* `w` The desired value of the output signal.

#### `public void `[`calculate`](#class_p_i_d_1ac35ae6197f0c54b7797a6e008b3cc31e)`(const std::vector< double > & error)`
* `T0` The time step.

The method to calculate the control signal by [PID](#class_p_i_d).
* `temp` The vector of output signals.

#### Parameters
* `error` The vector of errors.

#### `public std::vector< double > `[`getControlSignals`](#class_p_i_d_1a0dcd91dc972ebf77ec88843565f0b632)`() const`
#### `public std::vector< std::vector< double > > `[`getControlSignals`](#class_p_i_d_1a4f18b22156745f389a97f73ed4c91e39)`() const`

The method to get the control signals.

#### Returns
The vector of control signals.

The method returns the vector of control signals.

#### Returns
The vector of control signals.

Generated by [Moxygen](https://sourcey.com/moxygen)
142 changes: 142 additions & 0 deletions tasks/task_02/doc/readme.md
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<p align="center">Ministry of Education of the Republic of Belarus</p>
<p align="center">Educational Institution</p>
<p align="center">“Brest State Technical University”</p>
<p align="center">Department of Information and Intelligent Technologies</p>
<br><br><br><br><br><br><br>
<p align="center">Laboratory work №2</p>
<p align="center">On the discipline “Theory and methods of automatic control”</p>
<p align="center">Topic: “PID controllers”</p>
<br><br><br><br><br>
<p align="right">Performed by:</p>
<p align="right">Student of the 3rd course</p>
<p align="right">Group AS-63</p>
<p align="right">Loginov G. O.</p>
<p align="right">Supervised by:</p>
<p align="right">Sitkovets J. S.</p>
<br><br><br><br><br>
<p align="center">Brest 2024</p>

---

## Task:

In C++, implement a program that simulates the PID controller discussed above. Use the mathematical model obtained in the previous work as the control object. To use OOP, the program must have at least 3 classes (+inheritance).

Add information about the developed program (class diagram, etc.) to the report using Doxygen (in .md format).

## Example of program output:

``` bash
Input choice (0 - exit, 1 - start)
Input choice: 1
Enter the algorithm of the system functioning
Input w(t): 3
Enter the step
Input T0: 20
Fill in the data for the Linear model
Input A: 0.2
Input B: 0.4
Input current_temperature: 0.1
Input warm: 0.9
Fill in the data for the Nonlinear model
Input A: 0.45
Input B: 0.998
Input C: 0.876
Input D: 1.2
Input current_temperature: 1.1
Input warm: 0.8

RESULTS

Linear model

TIME (T0) DEVIATION (e) OUTPUT VARIABLE (Yt) CONTROLLING INFLUENCE (Uk)
=====================================================================================
1 2.62 0.38 91.7
2 2.564 0.436 5264.24
3 2.5528 0.4472 10393.2
4 2.55056 0.44944 15499
5 2.55011 0.449888 20600.2
6 2.55002 0.449978 25700.4
7 2.55 0.449996 30800.5
8 2.55 0.449999 35900.5
9 2.55 0.45 41000.5
10 2.55 0.45 46100.5
11 2.55 0.45 51200.5
12 2.55 0.45 56300.5
13 2.55 0.45 61400.5
14 2.55 0.45 66500.5
15 2.55 0.45 71600.5
16 2.55 0.45 76700.5
17 2.55 0.45 81800.5
18 2.55 0.45 86900.5
19 2.55 0.45 92000.5
20 2.55 0.45 97100.5

RESULTS

Nonlinear model

TIME (T0) DEVIATION (e) OUTPUT VARIABLE (Yt) CONTROLLING INFLUENCE (Uk)
=====================================================================================
1 0.943373 2.05663 33.018
2 1.72047 1.27953 1923.38
3 5.08384 -2.08384 5462.61
4 4.01002 -1.01002 15508.6
5 6.22659 -3.22659 23633.1
6 3.90844 -0.908444 35949.7
7 12.2372 -9.23724 44116.1
8 6.41875 -3.41875 68178.7
9 88.1327 -85.1327 84021.6
10 51.4126 -48.4126 256959
11 7256.31 -7253.31 612874
12 5604.52 -5601.52 1.48876e+07
13 5.25078e+07 -5.25078e+07 1.86372e+09
14 5.49428e+07 -5.49428e+07 1.05652e+11
15 2.75156e+15 -2.75156e+15 9.63047e+16
16 4.25087e+15 -4.25087e+15 5.5831e+18
17 7.55592e+30 -7.55592e+30 2.64457e+32
18 2.14339e+31 -2.14339e+31 1.56731e+34
19 5.69777e+61 -5.69777e+61 1.99422e+63
20 4.84134e+62 -4.84134e+62 1.29476e+65
```

### Input error handling has also been added:
``` bash
Input choice (0 - exit, 1 - start)
Input choice: 1
Enter the algorithm of the system functioning
Input w(t): h

***Input value is not correct***

Input w(t): 5
Enter the step
Input T0: g

***Input value is not correct***
```

## Graphs

### A graph for a linear model
![](../images/Linear_model.png)

### A graph for a nonlinear model
![](../images/Nonlinear_model.png)

## Documents
Information about the developed program, created using [Doxygen](https://doxygen.nl/) to generate XML and [Moxygen](https://github.com/sourcey/moxygen) to turn XML into Markdown.

The resulting file is [doxygen.md](doxygen.md)

## The source code

#### The source code is located in the [src folder](/trunk/as0006315/task_01/src).

- [CMakeLists.txt](/trunk/as0006315/task_01/src/CMakeLists.txt) - this is a file that contains CMake commands to control the project build process.
- [models.h](/trunk/as0006315/task_01/src/models.h) - header file, contains functions declarations for linear and nonlinear models simulation.
- [models.cpp](/trunk/as0006315/task_01/src/models.cpp) - source file, contains functions definitions for linear and nonlinear models simulation.
- [main.cpp](/trunk/as0006315/task_01/src/main.cpp) - source file, contains the main function that controls the program execution.
- [PID.h](/trunk/as0006315/task_01/src/PID.h) - header file, contains the declaration of the `PID` class, which is used to control the system by the PID algorithm.
- [PID.cpp](/trunk/as0006315/task_01/src/PID.cpp) - source file, contains the definition of the `PID` class, which is used to control the system by the PID algorithm.
13 changes: 12 additions & 1 deletion tasks/task_02/src/PID.cpp
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Expand Up @@ -16,7 +16,16 @@
/**
* @brief The method to calculate the control signal by PID.
*
* @param error The vector of errors.
* The method calculates the control signal by PID using the formulas:
* Uk = Uk_1 + delta_Uk
* delta_Uk = q0 * e0 + q1 * e1 + q2 * e2
* q0 = K * (1 + TD / T0)
* q1 = -K * (1 + 2 * TD / T0 - T0 / T)
* q2 = K * TD / T0
*
* @param w The desired value of the output signal.
* @param T0 The time step.
* @param temp The vector of output signals.
*/
void PID::calculate(const double& w, const double& T0, const std::vector<double>& temp) {
double q0;
Expand Down Expand Up @@ -45,6 +54,8 @@ void PID::calculate(const double& w, const double& T0, const std::vector<double>
/**
* @brief The method to get the control signals.
*
* The method returns the vector of control signals.
*
* @return The vector of control signals.
*/
std::vector<std::vector<double>> PID::getControlSignals() const {
Expand Down
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