mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-13 08:07:34 +08:00
Merge James's controllib bits into a separate library module.
Add a top-level mathlib header to avoid having to dig around for specific headers.
This commit is contained in:
px4dev
@@ -0,0 +1,486 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 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 blocks.cpp
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*
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* Controller library code
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*/
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#include <math.h>
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#include <stdio.h>
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#include "blocks.hpp"
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namespace control
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{
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int basicBlocksTest()
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{
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blockLimitTest();
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blockLimitSymTest();
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blockLowPassTest();
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blockHighPassTest();
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blockIntegralTest();
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blockIntegralTrapTest();
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blockDerivativeTest();
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blockPTest();
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blockPITest();
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blockPDTest();
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blockPIDTest();
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blockOutputTest();
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blockRandUniformTest();
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blockRandGaussTest();
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return 0;
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}
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float BlockLimit::update(float input)
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{
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if (input > getMax()) {
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input = _max.get();
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} else if (input < getMin()) {
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input = getMin();
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}
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return input;
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}
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int blockLimitTest()
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{
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printf("Test BlockLimit\t\t\t: ");
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BlockLimit limit(NULL, "TEST");
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// initial state
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ASSERT(equal(1.0f, limit.getMax()));
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ASSERT(equal(-1.0f, limit.getMin()));
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ASSERT(equal(0.0f, limit.getDt()));
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// update
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ASSERT(equal(-1.0f, limit.update(-2.0f)));
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ASSERT(equal(1.0f, limit.update(2.0f)));
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ASSERT(equal(0.0f, limit.update(0.0f)));
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printf("PASS\n");
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return 0;
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}
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float BlockLimitSym::update(float input)
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{
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if (input > getMax()) {
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input = _max.get();
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} else if (input < -getMax()) {
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input = -getMax();
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}
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return input;
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}
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int blockLimitSymTest()
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{
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printf("Test BlockLimitSym\t\t: ");
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BlockLimitSym limit(NULL, "TEST");
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// initial state
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ASSERT(equal(1.0f, limit.getMax()));
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ASSERT(equal(0.0f, limit.getDt()));
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// update
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ASSERT(equal(-1.0f, limit.update(-2.0f)));
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ASSERT(equal(1.0f, limit.update(2.0f)));
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ASSERT(equal(0.0f, limit.update(0.0f)));
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printf("PASS\n");
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return 0;
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}
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float BlockLowPass::update(float input)
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{
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float b = 2 * float(M_PI) * getFCut() * getDt();
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float a = b / (1 + b);
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setState(a * input + (1 - a)*getState());
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return getState();
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}
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int blockLowPassTest()
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{
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printf("Test BlockLowPass\t\t: ");
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BlockLowPass lowPass(NULL, "TEST_LP");
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// test initial state
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ASSERT(equal(10.0f, lowPass.getFCut()));
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ASSERT(equal(0.0f, lowPass.getState()));
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ASSERT(equal(0.0f, lowPass.getDt()));
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// set dt
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lowPass.setDt(0.1f);
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ASSERT(equal(0.1f, lowPass.getDt()));
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// set state
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lowPass.setState(1.0f);
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ASSERT(equal(1.0f, lowPass.getState()));
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// test update
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ASSERT(equal(1.8626974f, lowPass.update(2.0f)));
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// test end condition
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for (int i = 0; i < 100; i++) {
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lowPass.update(2.0f);
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}
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ASSERT(equal(2.0f, lowPass.getState()));
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ASSERT(equal(2.0f, lowPass.update(2.0f)));
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printf("PASS\n");
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return 0;
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};
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float BlockHighPass::update(float input)
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{
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float b = 2 * float(M_PI) * getFCut() * getDt();
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float a = 1 / (1 + b);
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setY(a * (getY() + input - getU()));
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setU(input);
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return getY();
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}
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int blockHighPassTest()
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{
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printf("Test BlockHighPass\t\t: ");
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BlockHighPass highPass(NULL, "TEST_HP");
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// test initial state
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ASSERT(equal(10.0f, highPass.getFCut()));
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ASSERT(equal(0.0f, highPass.getU()));
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ASSERT(equal(0.0f, highPass.getY()));
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ASSERT(equal(0.0f, highPass.getDt()));
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// set dt
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highPass.setDt(0.1f);
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ASSERT(equal(0.1f, highPass.getDt()));
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// set state
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highPass.setU(1.0f);
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ASSERT(equal(1.0f, highPass.getU()));
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highPass.setY(1.0f);
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ASSERT(equal(1.0f, highPass.getY()));
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// test update
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ASSERT(equal(0.2746051f, highPass.update(2.0f)));
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// test end condition
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for (int i = 0; i < 100; i++) {
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highPass.update(2.0f);
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}
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ASSERT(equal(0.0f, highPass.getY()));
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ASSERT(equal(0.0f, highPass.update(2.0f)));
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printf("PASS\n");
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return 0;
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}
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float BlockIntegral::update(float input)
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{
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// trapezoidal integration
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setY(_limit.update(getY() + input * getDt()));
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return getY();
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}
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int blockIntegralTest()
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{
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printf("Test BlockIntegral\t\t: ");
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BlockIntegral integral(NULL, "TEST_I");
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// test initial state
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ASSERT(equal(1.0f, integral.getMax()));
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ASSERT(equal(0.0f, integral.getDt()));
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// set dt
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integral.setDt(0.1f);
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ASSERT(equal(0.1f, integral.getDt()));
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// set Y
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integral.setY(0.9f);
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ASSERT(equal(0.9f, integral.getY()));
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// test exceed max
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for (int i = 0; i < 100; i++) {
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integral.update(1.0f);
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}
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ASSERT(equal(1.0f, integral.update(1.0f)));
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// test exceed min
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integral.setY(-0.9f);
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ASSERT(equal(-0.9f, integral.getY()));
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for (int i = 0; i < 100; i++) {
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integral.update(-1.0f);
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}
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ASSERT(equal(-1.0f, integral.update(-1.0f)));
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// test update
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integral.setY(0.1f);
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ASSERT(equal(0.2f, integral.update(1.0)));
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ASSERT(equal(0.2f, integral.getY()));
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printf("PASS\n");
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return 0;
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}
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float BlockIntegralTrap::update(float input)
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{
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// trapezoidal integration
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setY(_limit.update(getY() +
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(getU() + input) / 2.0f * getDt()));
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setU(input);
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return getY();
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}
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int blockIntegralTrapTest()
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{
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printf("Test BlockIntegralTrap\t\t: ");
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BlockIntegralTrap integral(NULL, "TEST_I");
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// test initial state
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ASSERT(equal(1.0f, integral.getMax()));
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ASSERT(equal(0.0f, integral.getDt()));
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// set dt
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integral.setDt(0.1f);
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ASSERT(equal(0.1f, integral.getDt()));
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// set U
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integral.setU(1.0f);
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ASSERT(equal(1.0f, integral.getU()));
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// set Y
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integral.setY(0.9f);
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ASSERT(equal(0.9f, integral.getY()));
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// test exceed max
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for (int i = 0; i < 100; i++) {
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integral.update(1.0f);
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}
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ASSERT(equal(1.0f, integral.update(1.0f)));
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// test exceed min
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integral.setU(-1.0f);
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integral.setY(-0.9f);
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ASSERT(equal(-0.9f, integral.getY()));
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for (int i = 0; i < 100; i++) {
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integral.update(-1.0f);
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}
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ASSERT(equal(-1.0f, integral.update(-1.0f)));
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// test update
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integral.setU(2.0f);
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integral.setY(0.1f);
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ASSERT(equal(0.25f, integral.update(1.0)));
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ASSERT(equal(0.25f, integral.getY()));
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ASSERT(equal(1.0f, integral.getU()));
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printf("PASS\n");
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return 0;
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}
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float BlockDerivative::update(float input)
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{
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float output = _lowPass.update((input - getU()) / getDt());
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setU(input);
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return output;
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}
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int blockDerivativeTest()
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{
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printf("Test BlockDerivative\t\t: ");
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BlockDerivative derivative(NULL, "TEST_D");
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// test initial state
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ASSERT(equal(0.0f, derivative.getU()));
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ASSERT(equal(10.0f, derivative.getLP()));
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// set dt
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derivative.setDt(0.1f);
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ASSERT(equal(0.1f, derivative.getDt()));
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// set U
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derivative.setU(1.0f);
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ASSERT(equal(1.0f, derivative.getU()));
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// test update
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ASSERT(equal(8.6269744f, derivative.update(2.0f)));
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ASSERT(equal(2.0f, derivative.getU()));
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printf("PASS\n");
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return 0;
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}
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int blockPTest()
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{
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printf("Test BlockP\t\t\t: ");
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BlockP blockP(NULL, "TEST_P");
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// test initial state
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ASSERT(equal(0.2f, blockP.getKP()));
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ASSERT(equal(0.0f, blockP.getDt()));
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// set dt
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blockP.setDt(0.1f);
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ASSERT(equal(0.1f, blockP.getDt()));
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// test update
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ASSERT(equal(0.4f, blockP.update(2.0f)));
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printf("PASS\n");
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return 0;
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}
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int blockPITest()
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{
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printf("Test BlockPI\t\t\t: ");
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BlockPI blockPI(NULL, "TEST");
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// test initial state
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ASSERT(equal(0.2f, blockPI.getKP()));
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ASSERT(equal(0.1f, blockPI.getKI()));
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ASSERT(equal(0.0f, blockPI.getDt()));
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ASSERT(equal(1.0f, blockPI.getIntegral().getMax()));
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// set dt
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blockPI.setDt(0.1f);
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ASSERT(equal(0.1f, blockPI.getDt()));
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// set integral state
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blockPI.getIntegral().setY(0.1f);
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ASSERT(equal(0.1f, blockPI.getIntegral().getY()));
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// test update
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// 0.2*2 + 0.1*(2*0.1 + 0.1) = 0.43
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ASSERT(equal(0.43f, blockPI.update(2.0f)));
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printf("PASS\n");
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return 0;
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}
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int blockPDTest()
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{
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printf("Test BlockPD\t\t\t: ");
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BlockPD blockPD(NULL, "TEST");
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// test initial state
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ASSERT(equal(0.2f, blockPD.getKP()));
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ASSERT(equal(0.01f, blockPD.getKD()));
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ASSERT(equal(0.0f, blockPD.getDt()));
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ASSERT(equal(10.0f, blockPD.getDerivative().getLP()));
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// set dt
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blockPD.setDt(0.1f);
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ASSERT(equal(0.1f, blockPD.getDt()));
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// set derivative state
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blockPD.getDerivative().setU(1.0f);
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ASSERT(equal(1.0f, blockPD.getDerivative().getU()));
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// test update
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// 0.2*2 + 0.1*(0.1*8.626...) = 0.486269744
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ASSERT(equal(0.486269744f, blockPD.update(2.0f)));
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printf("PASS\n");
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return 0;
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}
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int blockPIDTest()
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{
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printf("Test BlockPID\t\t\t: ");
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BlockPID blockPID(NULL, "TEST");
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// test initial state
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ASSERT(equal(0.2f, blockPID.getKP()));
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ASSERT(equal(0.1f, blockPID.getKI()));
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ASSERT(equal(0.01f, blockPID.getKD()));
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ASSERT(equal(0.0f, blockPID.getDt()));
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ASSERT(equal(10.0f, blockPID.getDerivative().getLP()));
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ASSERT(equal(1.0f, blockPID.getIntegral().getMax()));
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// set dt
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blockPID.setDt(0.1f);
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ASSERT(equal(0.1f, blockPID.getDt()));
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// set derivative state
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blockPID.getDerivative().setU(1.0f);
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||||
ASSERT(equal(1.0f, blockPID.getDerivative().getU()));
|
||||
// set integral state
|
||||
blockPID.getIntegral().setY(0.1f);
|
||||
ASSERT(equal(0.1f, blockPID.getIntegral().getY()));
|
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// test update
|
||||
// 0.2*2 + 0.1*(2*0.1 + 0.1) + 0.1*(0.1*8.626...) = 0.5162697
|
||||
ASSERT(equal(0.5162697f, blockPID.update(2.0f)));
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printf("PASS\n");
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return 0;
|
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}
|
||||
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||||
int blockOutputTest()
|
||||
{
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printf("Test BlockOutput\t\t: ");
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||||
BlockOutput blockOutput(NULL, "TEST");
|
||||
// test initial state
|
||||
ASSERT(equal(0.0f, blockOutput.getDt()));
|
||||
ASSERT(equal(0.5f, blockOutput.get()));
|
||||
ASSERT(equal(-1.0f, blockOutput.getMin()));
|
||||
ASSERT(equal(1.0f, blockOutput.getMax()));
|
||||
// test update below min
|
||||
blockOutput.update(-2.0f);
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||||
ASSERT(equal(-1.0f, blockOutput.get()));
|
||||
// test update above max
|
||||
blockOutput.update(2.0f);
|
||||
ASSERT(equal(1.0f, blockOutput.get()));
|
||||
// test trim
|
||||
blockOutput.update(0.0f);
|
||||
ASSERT(equal(0.5f, blockOutput.get()));
|
||||
printf("PASS\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
int blockRandUniformTest()
|
||||
{
|
||||
srand(1234);
|
||||
printf("Test BlockRandUniform\t\t: ");
|
||||
BlockRandUniform blockRandUniform(NULL, "TEST");
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||||
// test initial state
|
||||
ASSERT(equal(0.0f, blockRandUniform.getDt()));
|
||||
ASSERT(equal(-1.0f, blockRandUniform.getMin()));
|
||||
ASSERT(equal(1.0f, blockRandUniform.getMax()));
|
||||
// test update
|
||||
int n = 10000;
|
||||
float mean = blockRandUniform.update();
|
||||
|
||||
// recursive mean algorithm from Knuth
|
||||
for (int i = 2; i < n + 1; i++) {
|
||||
float val = blockRandUniform.update();
|
||||
mean += (val - mean) / i;
|
||||
ASSERT(val <= blockRandUniform.getMax());
|
||||
ASSERT(val >= blockRandUniform.getMin());
|
||||
}
|
||||
|
||||
ASSERT(equal(mean, (blockRandUniform.getMin() +
|
||||
blockRandUniform.getMax()) / 2, 1e-1));
|
||||
printf("PASS\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
int blockRandGaussTest()
|
||||
{
|
||||
srand(1234);
|
||||
printf("Test BlockRandGauss\t\t: ");
|
||||
BlockRandGauss blockRandGauss(NULL, "TEST");
|
||||
// test initial state
|
||||
ASSERT(equal(0.0f, blockRandGauss.getDt()));
|
||||
ASSERT(equal(1.0f, blockRandGauss.getMean()));
|
||||
ASSERT(equal(2.0f, blockRandGauss.getStdDev()));
|
||||
// test update
|
||||
int n = 10000;
|
||||
float mean = blockRandGauss.update();
|
||||
float sum = 0;
|
||||
|
||||
// recursive mean, stdev algorithm from Knuth
|
||||
for (int i = 2; i < n + 1; i++) {
|
||||
float val = blockRandGauss.update();
|
||||
float newMean = mean + (val - mean) / i;
|
||||
sum += (val - mean) * (val - newMean);
|
||||
mean = newMean;
|
||||
}
|
||||
|
||||
float stdDev = sqrt(sum / (n - 1));
|
||||
ASSERT(equal(mean, blockRandGauss.getMean(), 1e-1));
|
||||
ASSERT(equal(stdDev, blockRandGauss.getStdDev(), 1e-1));
|
||||
printf("PASS\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
} // namespace control
|
||||
Reference in New Issue
Block a user