wecopttool.controllers.pid_controller

class pid_controller

PID controller object to be used in conjunction with a wecopttool.pto object.

__init__(ndof_pto, proportional=True, integral=False, derivative=False, saturation=None)

Parameters:

• ndof_pto (int)

• proportional (bool | None)

• integral (bool | None)

• derivative (bool | None)

• saturation (FloatOrArray | None)

Attributes

pid_controller.derivative	True if derivative control element used.
pid_controller.integral	True if integral control element used.
pid_controller.ndof	Number of degrees of freedom
pid_controller.ngains	Number of controller gains per dof
pid_controller.nstate	Total number of controller gains across all DOFs
pid_controller.proportional	True if proportional control element used.
pid_controller.saturation	Saturation values for control force.

Methods

force

Time history of PTO force