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130 lines
4.7 KiB
C++
130 lines
4.7 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2022 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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#include <gtest/gtest.h>
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#include <PID.hpp>
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TEST(PIDTest, AllZeroCase)
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{
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PID pid;
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.f, false), 0.f);
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}
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TEST(PIDTest, OutputLimit)
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{
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PID pid;
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pid.setOutputLimit(.01f);
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pid.setGains(.1f, 0.f, 0.f);
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pid.setSetpoint(1.f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.f, false), .01f);
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EXPECT_FLOAT_EQ(pid.update(.9f, 0.f, false), .01f);
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EXPECT_NEAR(pid.update(.95f, 0.f, false), .005f, 1e-6f);
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EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, false), 0.f);
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EXPECT_NEAR(pid.update(1.05f, 0.f, false), -.005f, 1e-6f);
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EXPECT_FLOAT_EQ(pid.update(1.1f, 0.f, false), -.01f);
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EXPECT_FLOAT_EQ(pid.update(1.15f, 0.f, false), -.01f);
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EXPECT_FLOAT_EQ(pid.update(2.f, 0.f, false), -.01f);
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}
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TEST(PIDTest, ProportinalOnly)
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{
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PID pid;
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pid.setOutputLimit(1.f);
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pid.setGains(.1f, 0.f, 0.f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.f, false), 0.f);
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pid.setSetpoint(1.f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.f, false), .1f);
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EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, false), 0.f);
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float plant = 0.f;
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float output = 10000.f;
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int i; // need function scope to check how many steps
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for (i = 1000; i > 0; i--) {
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const float output_new = pid.update(plant, 0.f, false);
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plant += output_new;
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// expect the output to get smaller with each iteration
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if (output_new >= output) {
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break;
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}
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output = output_new;
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}
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EXPECT_FLOAT_EQ(plant, 1.f);
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EXPECT_GT(i, 0); // it shouldn't have taken longer than an iteration timeout to converge
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}
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TEST(PIDTest, InteralOpenLoop)
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{
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PID pid;
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pid.setOutputLimit(1.f);
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pid.setGains(0.f, .1f, 0.f);
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pid.setIntegralLimit(.05f);
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pid.setSetpoint(1.f);
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// Zero error
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EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, true), 0.f);
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EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, true), 0.f);
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EXPECT_FLOAT_EQ(pid.update(1.f, 0.f, true), 0.f);
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// Open loop ramp up
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), 0.f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .01f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .02f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .03f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .04f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .05f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .05f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .05f);
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// Open loop ramp down
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pid.setSetpoint(-1.f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .05f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .04f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .03f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), .02f);
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EXPECT_NEAR(pid.update(0.f, 0.1f, true), .01f, 1e-6f);
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EXPECT_NEAR(pid.update(0.f, 0.1f, true), 0.f, 1e-6f);
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EXPECT_NEAR(pid.update(0.f, 0.1f, true), -.01f, 1e-6f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.02f);
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EXPECT_NEAR(pid.update(0.f, 0.1f, true), -.03f, 1e-6f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.04f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.05f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.05f);
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.05f);
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pid.resetIntegral();
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EXPECT_FLOAT_EQ(pid.update(0.f, 0.1f, true), -.01f);
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}
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