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pid lib update

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This commit is contained in:
Anton Babushkin 2013-11-25 23:19:27 +04:00
parent f1fece2bb6
commit 310de1df96
5 changed files with 71 additions and 101 deletions
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4
src/modules/multirotor_att_control/multirotor_attitude_control.c
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@ -194,8 +194,8 @@ void multirotor_control_attitude(const struct vehicle_attitude_setpoint_s *att_s
parameters_init(&h);
parameters_update(&h, &p);
pid_init(&pitch_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, PID_MODE_DERIVATIV_SET, 0.0f);
pid_init(&roll_controller, p.att_p, p.att_i, p.att_d, 1000.0f, 1000.0f, PID_MODE_DERIVATIV_SET, 0.0f);
pid_init(&pitch_controller, PID_MODE_DERIVATIV_SET, 0.0f);
pid_init(&roll_controller, PID_MODE_DERIVATIV_SET, 0.0f);
initialized = true;
}

6
src/modules/multirotor_att_control/multirotor_rate_control.c
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@ -161,9 +161,9 @@ void multirotor_control_rates(const struct vehicle_rates_setpoint_s *rate_sp,
parameters_update(&h, &p);
initialized = true;
pid_init(&pitch_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
pid_init(&roll_rate_controller, p.attrate_p, p.attrate_i, p.attrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
pid_init(&yaw_rate_controller, p.yawrate_p, p.yawrate_i, p.yawrate_d, 1.0f, 1.0f, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
pid_init(&pitch_rate_controller, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
pid_init(&roll_rate_controller, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
pid_init(&yaw_rate_controller, PID_MODE_DERIVATIV_CALC_NO_SP, 0.003f);
}
/* load new parameters with lower rate */

6
src/modules/multirotor_pos_control/multirotor_pos_control.c
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@ -246,11 +246,11 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
for (int i = 0; i < 2; i++) {
pid_init(&(xy_pos_pids[i]), params.xy_p, 0.0f, params.xy_d, 1.0f, 0.0f, PID_MODE_DERIVATIV_SET, 0.02f);
pid_init(&(xy_vel_pids[i]), params.xy_vel_p, params.xy_vel_i, params.xy_vel_d, 1.0f, params.tilt_max, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
pid_init(&(xy_pos_pids[i]), PID_MODE_DERIVATIV_SET, 0.02f);
pid_init(&(xy_vel_pids[i]), PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
}
pid_init(&z_pos_pid, params.z_p, 0.0f, params.z_d, 1.0f, params.z_vel_max, PID_MODE_DERIVATIV_SET, 0.02f);
pid_init(&z_pos_pid, PID_MODE_DERIVATIV_SET, 0.02f);
thrust_pid_init(&z_vel_pid, params.z_vel_p, params.z_vel_i, params.z_vel_d, -params.thr_max, -params.thr_min, PID_MODE_DERIVATIV_CALC_NO_SP, 0.02f);
while (!thread_should_exit) {

115
src/modules/systemlib/pid/pid.c
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@ -39,7 +39,7 @@
/**
* @file pid.c
*
* Implementation of generic PID control interface.
* Implementation of generic PID controller.
*
* @author Laurens Mackay <mackayl@student.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
@ -53,24 +53,21 @@
#define SIGMA 0.000001f
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax,
float limit, uint8_t mode, float dt_min)
__EXPORT void pid_init(PID_t *pid, uint8_t mode, float dt_min)
{
pid->kp = kp;
pid->ki = ki;
pid->kd = kd;
pid->intmax = intmax;
pid->limit = limit;
pid->mode = mode;
pid->dt_min = dt_min;
pid->count = 0.0f;
pid->saturated = 0.0f;
pid->last_output = 0.0f;
pid->sp = 0.0f;
pid->error_previous = 0.0f;
pid->kp = 0.0f;
pid->ki = 0.0f;
pid->kd = 0.0f;
pid->integral = 0.0f;
pid->integral_limit = 0.0f;
pid->output_limit = 0.0f;
pid->error_previous = 0.0f;
pid->last_output = 0.0f;
}
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit)
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float integral_limit, float output_limit)
{
int ret = 0;
@ -95,15 +92,15 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
ret = 1;
}
if (isfinite(intmax)) {
pid->intmax = intmax;
if (isfinite(integral_limit)) {
pid->integral_limit = integral_limit;
} else {
ret = 1;
}
if (isfinite(limit)) {
pid->limit = limit;
if (isfinite(output_limit)) {
pid->output_limit = output_limit;
} else {
ret = 1;
@ -112,42 +109,18 @@ __EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float
return ret;
}
//void pid_set(PID_t *pid, float sp)
//{
// pid->sp = sp;
// pid->error_previous = 0;
// pid->integral = 0;
//}
/**
*
* @param pid
* @param val
* @param dt
* @return
*/
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt)
{
/* error = setpoint - actual_position
integral = integral + (error*dt)
derivative = (error - previous_error)/dt
output = (Kp*error) + (Ki*integral) + (Kd*derivative)
previous_error = error
wait(dt)
goto start
*/
if (!isfinite(sp) || !isfinite(val) || !isfinite(val_dot) || !isfinite(dt)) {
return pid->last_output;
}
float i, d;
pid->sp = sp;
// Calculated current error value
float error = pid->sp - val;
/* current error value */
float error = sp - val;
// Calculate or measured current error derivative
/* current error derivative */
if (pid->mode == PID_MODE_DERIVATIV_CALC) {
d = (error - pid->error_previous) / fmaxf(dt, pid->dt_min);
pid->error_previous = error;
@ -167,39 +140,39 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
d = 0.0f;
}
if (pid->ki > 0.0f) {
// Calculate the error integral and check for saturation
i = pid->integral + (error * dt);
/* calculate PD output */
float output = (error * pid->kp) + (d * pid->kd);
if ((pid->limit > SIGMA && (fabsf((error * pid->kp) + (i * pid->ki) + (d * pid->kd)) > pid->limit)) ||
fabsf(i) > pid->intmax) {
i = pid->integral; // If saturated then do not update integral value
pid->saturated = 1;
if (pid->ki > SIGMA) {
/* calculate error integral and check for saturation */
float i = pid->integral + (error * dt);
} else {
if (!isfinite(i)) {
i = 0.0f;
}
pid->integral = i;
pid->saturated = 0;
/* fail-safe */
if (!isfinite(i)) {
i = 0.0f;
}
} else {
i = 0.0f;
pid->saturated = 0;
if ((pid->output_limit > SIGMA && (fabsf(output + (i * pid->ki)) > pid->output_limit)) ||
fabsf(i) > pid->integral_limit) {
/* saturated, do not update integral value */
i = pid->integral;
} else {
pid->integral = i;
}
/* add I component to output */
output += i * pid->ki;
}
// Calculate the output. Limit output magnitude to pid->limit
float output = (error * pid->kp) + (i * pid->ki) + (d * pid->kd);
/* limit output */
if (isfinite(output)) {
if (pid->limit > SIGMA) {
if (output > pid->limit) {
output = pid->limit;
if (pid->output_limit > SIGMA) {
if (output > pid->output_limit) {
output = pid->output_limit;
} else if (output < -pid->limit) {
output = -pid->limit;
} else if (output < -pid->output_limit) {
output = -pid->output_limit;
}
}
@ -212,5 +185,5 @@ __EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, flo
__EXPORT void pid_reset_integral(PID_t *pid)
{
pid->integral = 0;
pid->integral = 0.0f;
}

41
src/modules/systemlib/pid/pid.h
View File

@ -39,7 +39,7 @@
/**
* @file pid.h
*
* Definition of generic PID control interface.
* Definition of generic PID controller.
*
* @author Laurens Mackay <mackayl@student.ethz.ch>
* @author Tobias Naegeli <naegelit@student.ethz.ch>
@ -55,38 +55,35 @@
__BEGIN_DECLS
/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error
* val_dot in pid_calculate() will be ignored */
#define PID_MODE_DERIVATIV_CALC 0
/* PID_MODE_DERIVATIV_CALC_NO_SP calculates discrete derivative from previous value, setpoint derivative is ignored
* val_dot in pid_calculate() will be ignored */
#define PID_MODE_DERIVATIV_CALC_NO_SP 1
/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
#define PID_MODE_DERIVATIV_SET 2
// Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID)
#define PID_MODE_DERIVATIV_NONE 9
typedef enum PID_MODE {
/* Use PID_MODE_DERIVATIV_NONE for a PI controller (vs PID) */
PID_MODE_DERIVATIV_NONE = 0,
/* PID_MODE_DERIVATIV_CALC calculates discrete derivative from previous error,
* val_dot in pid_calculate() will be ignored */
PID_MODE_DERIVATIV_CALC,
/* PID_MODE_DERIVATIV_CALC_NO_SP calculates discrete derivative from previous value,
* setpoint derivative will be ignored, val_dot in pid_calculate() will be ignored */
PID_MODE_DERIVATIV_CALC_NO_SP,
/* Use PID_MODE_DERIVATIV_SET if you have the derivative already (Gyros, Kalman) */
PID_MODE_DERIVATIV_SET
} pid_mode_t;
typedef struct {
pid_mode_t mode;
float dt_min;
float kp;
float ki;
float kd;
float intmax;
float sp;
float integral;
float integral_limit;
float output_limit;
float error_previous;
float last_output;
float limit;
float dt_min;
uint8_t mode;
uint8_t count;
uint8_t saturated;
} PID_t;
__EXPORT void pid_init(PID_t *pid, float kp, float ki, float kd, float intmax, float limit, uint8_t mode, float dt_min);
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float intmax, float limit);
//void pid_set(PID_t *pid, float sp);
__EXPORT void pid_init(PID_t *pid, pid_mode_t mode, float dt_min);
__EXPORT int pid_set_parameters(PID_t *pid, float kp, float ki, float kd, float integral_limit, float output_limit);
__EXPORT float pid_calculate(PID_t *pid, float sp, float val, float val_dot, float dt);
__EXPORT void pid_reset_integral(PID_t *pid);
__END_DECLS