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initial control allocation support
- control allocation module with multirotor, VTOL standard, and tiltrotor support - angular_velocity_controller - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Roman Bapst <bapstroman@gmail.com>
This commit is contained in:
Julien Lecoeur
committed by
Daniel Agar
Daniel Agar
parent
fc6b61dad1
commit
343cf5603e
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file AngularVelocityControl.cpp
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*/
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#include <AngularVelocityControl.hpp>
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#include <px4_platform_common/defines.h>
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using namespace matrix;
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void AngularVelocityControl::setGains(const Vector3f &P, const Vector3f &I, const Vector3f &D)
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{
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_gain_p = P;
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_gain_i = I;
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_gain_d = D;
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}
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void AngularVelocityControl::setSaturationStatus(const matrix::Vector<bool, 3> &saturation_positive,
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const matrix::Vector<bool, 3> &saturation_negative)
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{
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_saturation_positive = saturation_positive;
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_saturation_negative = saturation_negative;
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}
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void AngularVelocityControl::update(const Vector3f &angular_velocity, const Vector3f &angular_velocity_sp,
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const Vector3f &angular_acceleration, const float dt, const bool landed)
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{
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// angular rates error
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Vector3f angular_velocity_error = angular_velocity_sp - angular_velocity;
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// P + D control
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_angular_accel_sp = _gain_p.emult(angular_velocity_error) - _gain_d.emult(angular_acceleration);
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// I + FF control
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Vector3f torque_feedforward = _angular_velocity_int + _gain_ff.emult(angular_velocity_sp);
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// compute torque setpoint
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_torque_sp = _inertia * _angular_accel_sp + torque_feedforward + angular_velocity.cross(_inertia * angular_velocity);
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// update integral only if we are not landed
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if (!landed) {
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updateIntegral(angular_velocity_error, dt);
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}
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}
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void AngularVelocityControl::updateIntegral(Vector3f &angular_velocity_error, const float dt)
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{
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for (int i = 0; i < 3; i++) {
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// prevent further positive control saturation
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if (_saturation_positive(i)) {
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angular_velocity_error(i) = math::min(angular_velocity_error(i), 0.f);
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}
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// prevent further negative control saturation
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if (_saturation_negative(i)) {
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angular_velocity_error(i) = math::max(angular_velocity_error(i), 0.f);
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}
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// I term factor: reduce the I gain with increasing rate error.
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// This counteracts a non-linear effect where the integral builds up quickly upon a large setpoint
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// change (noticeable in a bounce-back effect after a flip).
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// The formula leads to a gradual decrease w/o steps, while only affecting the cases where it should:
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// with the parameter set to 400 degrees, up to 100 deg rate error, i_factor is almost 1 (having no effect),
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// and up to 200 deg error leads to <25% reduction of I.
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float i_factor = angular_velocity_error(i) / math::radians(400.f);
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i_factor = math::max(0.0f, 1.f - i_factor * i_factor);
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// Perform the integration using a first order method
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float angular_velocity_i = _angular_velocity_int(i) + i_factor * _gain_i(i) * angular_velocity_error(i) * dt;
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// do not propagate the result if out of range or invalid
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if (PX4_ISFINITE(angular_velocity_i)) {
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_angular_velocity_int(i) = math::constrain(angular_velocity_i, -_lim_int(i), _lim_int(i));
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}
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}
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}
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void AngularVelocityControl::reset()
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{
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_angular_velocity_int.zero();
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_torque_sp.zero();
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_angular_accel_sp.zero();
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}
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+149
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file AngularVelocityControl.hpp
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*
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* PID 3 axis angular velocity control.
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*/
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#pragma once
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#include <matrix/matrix/math.hpp>
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#include <lib/mixer/MultirotorMixer/MultirotorMixer.hpp>
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class AngularVelocityControl
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{
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public:
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AngularVelocityControl() = default;
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~AngularVelocityControl() = default;
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/**
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* Set the control gains
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* @param P 3D vector of proportional gains for body x,y,z axis
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* @param I 3D vector of integral gains
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* @param D 3D vector of derivative gains
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*/
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void setGains(const matrix::Vector3f &P, const matrix::Vector3f &I, const matrix::Vector3f &D);
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/**
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* Set the mximum absolute value of the integrator for all axes
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* @param integrator_limit limit value for all axes x, y, z
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*/
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void setIntegratorLimit(const matrix::Vector3f &integrator_limit) { _lim_int = integrator_limit; };
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/**
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* Set direct angular velocity setpoint to torque feed forward gain
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* @see _gain_ff
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* @param FF 3D vector of feed forward gains for body x,y,z axis
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*/
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void setFeedForwardGain(const matrix::Vector3f &FF) { _gain_ff = FF; };
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/**
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* Set inertia matrix
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* @see _inertia
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* @param inertia inertia matrix
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*/
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void setInertiaMatrix(const matrix::Matrix3f &inertia) { _inertia = inertia; };
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/**
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* Set saturation status
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* @see _saturation_positive
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* @see _saturation_negative
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* @param saturation_positive positive saturation
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* @param saturation_negative negative saturation
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*/
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void setSaturationStatus(const matrix::Vector<bool, 3> &saturation_positive,
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const matrix::Vector<bool, 3> &saturation_negative);
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/**
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* Run one control loop cycle calculation
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* @param angular_velocity estimation of the current vehicle angular velocity
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* @param angular_velocity_sp desired vehicle angular velocity setpoint
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* @param angular_acceleration estimation of the current vehicle angular acceleration
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* @param dt elapsed time since last update
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* @param landed whether the vehicle is on the ground
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*/
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void update(const matrix::Vector3f &angular_velocity, const matrix::Vector3f &angular_velocity_sp,
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const matrix::Vector3f &angular_acceleration, const float dt, const bool landed);
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/**
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* Get the desired angular acceleration
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* @see _angular_accel_sp
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*/
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const matrix::Vector3f &getAngularAccelerationSetpoint() {return _angular_accel_sp;};
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/**
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* Get the torque vector to apply to the vehicle
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* @see _torque_sp
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*/
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const matrix::Vector3f &getTorqueSetpoint() {return _torque_sp;};
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/**
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* Get the integral term
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* @see _torque_sp
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*/
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const matrix::Vector3f &getIntegral() {return _angular_velocity_int;};
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/**
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* Set the integral term to 0 to prevent windup
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* @see _angular_velocity_int
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*/
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void resetIntegral() { _angular_velocity_int.zero(); }
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/**
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* ReSet the controller state
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*/
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void reset();
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private:
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void updateIntegral(matrix::Vector3f &angular_velocity_error, const float dt);
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// Gains
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matrix::Vector3f _gain_p; ///< proportional gain for all axes x, y, z
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matrix::Vector3f _gain_i; ///< integral gain
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matrix::Vector3f _gain_d; ///< derivative gain
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matrix::Vector3f _lim_int; ///< integrator term maximum absolute value
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matrix::Vector3f _gain_ff; ///< direct angular velocity to torque feed forward gain
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matrix::Matrix3f _inertia{matrix::eye<float, 3>()}; ///< inertia matrix
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// States
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matrix::Vector3f _angular_velocity_int;
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matrix::Vector<bool, 3> _saturation_positive;
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matrix::Vector<bool, 3> _saturation_negative;
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// Output
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matrix::Vector3f _angular_accel_sp; //< Angular acceleration setpoint computed using P and D gains
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matrix::Vector3f _torque_sp; //< Torque setpoint to apply to the vehicle
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};
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+45
@@ -0,0 +1,45 @@
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/****************************************************************************
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*
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* Copyright (C) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
|
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*
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||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
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||||
* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <AngularVelocityControl.hpp>
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using namespace matrix;
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TEST(AngularVelocityControlTest, AllZeroCase)
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{
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AngularVelocityControl control;
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control.update(Vector3f(), Vector3f(), Vector3f(), 0.f, false);
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Vector3f torque = control.getTorqueSetpoint();
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EXPECT_EQ(torque, Vector3f());
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}
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############################################################################
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#
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# Copyright (c) 2019 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_library(AngularVelocityControl
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AngularVelocityControl.cpp
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)
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target_compile_options(AngularVelocityControl PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
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target_include_directories(AngularVelocityControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
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target_link_libraries(AngularVelocityControl PRIVATE mathlib)
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px4_add_unit_gtest(SRC AngularVelocityControlTest.cpp LINKLIBS AngularVelocityControl)
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