A lead/lag controller for speed and steering using defualt integral hold 更多...

#include <leadlag_controller.h>

类 apollo::control::LeadlagController 继承关系图:

apollo::control::LeadlagController 的协作图:

Public 成员函数
void	Init (const LeadlagConf &leadlag_conf, const double dt)
	initialize lead/lag controller

void	SetLeadlag (const LeadlagConf &leadlag_conf)
	alpha, beta and tau

void	TransformC2d (const double dt)
	transfer lead/lag controller coefficients to the discrete-time form, with the bilinear transform (trapezoidal integration) method

void	Reset ()
	reset variables for lead/leg controller

virtual double	Control (const double error, const double dt)
	compute control value based on the error

int	InnerstateSaturationStatus () const
	get saturation status

Protected 属性
double	alpha_ = 0.0

double	beta_ = 0.0

double	tau_ = 0.0

double	Ts_ = 0.01

double	kn1_ = 0.0

double	kn0_ = 0.0

double	kd1_ = 0.0

double	kd0_ = 0.0

double	previous_output_ = 0.0

double	previous_innerstate_ = 0.0

double	innerstate_ = 0.0

double	innerstate_saturation_high_ = 0.0

double	innerstate_saturation_low_ = 0.0

int	innerstate_saturation_status_ = 0

bool	transfromc2d_enabled_ = false

详细描述

A lead/lag controller for speed and steering using defualt integral hold

在文件 leadlag_controller.h 第 38 行定义.

成员函数说明

◆ Control()

double apollo::control::LeadlagController::Control	(	const double	error,
		const double	dt
	)

virtual

compute control value based on the error

参数

error	error value, the difference between a desired value and a measured value
dt	sampling time interval

返回: control value based on Lead/Lag terms

在文件 leadlag_controller.cc 第 26 行定义.

                                                                     {
  // check if the c2d transform passed during the initilization
  if (!transfromc2d_enabled_) {
    TransformC2d(dt);
    if (!transfromc2d_enabled_) {
      AWARN << "C2d transform failed; will work as a unity compensator, dt: "
            << dt;
      return error;  // treat the Lead/Lag as a unity proportional controller
    }
  }
  // check if the current sampling time is valid
  if (dt <= 0.0) {
    AWARN << "dt <= 0, will use the last output, dt: " << dt;
    return previous_output_;
  }
  double output = 0.0;
 
  innerstate_ = (error - previous_innerstate_ * kd0_) / kd1_;  // calculate
  // the inner (intermedia) state under the Direct form II for the Lead / Lag
  // compensator factorization
  if (innerstate_ > innerstate_saturation_high_) {
    innerstate_ = innerstate_saturation_high_;
    innerstate_saturation_status_ = 1;
  } else if (innerstate_ < innerstate_saturation_low_) {
    innerstate_ = innerstate_saturation_low_;
    innerstate_saturation_status_ = -1;
  } else {
    innerstate_saturation_status_ = 0;
  }
 
  output = innerstate_ * kn1_ + previous_innerstate_ * kn0_;
  previous_innerstate_ = innerstate_;
  previous_output_ = output;
  return output;
}

◆ Init()

void apollo::control::LeadlagController::Init	(	const LeadlagConf &	leadlag_conf,
		const double	dt
	)

initialize lead/lag controller

参数

leadlag_conf	configuration for leadlag controller
dt	sampling time interval

在文件 leadlag_controller.cc 第 69 行定义.

                                                                             {
  previous_output_ = 0.0;
  previous_innerstate_ = 0.0;
  innerstate_ = 0.0;
  innerstate_saturation_high_ =
      std::fabs(leadlag_conf.innerstate_saturation_level());
  innerstate_saturation_low_ =
      -std::fabs(leadlag_conf.innerstate_saturation_level());
  innerstate_saturation_status_ = 0;
  SetLeadlag(leadlag_conf);
  TransformC2d(dt);
}

◆ InnerstateSaturationStatus()

int apollo::control::LeadlagController::InnerstateSaturationStatus ( ) const

get saturation status

返回: saturation status

在文件 leadlag_controller.cc 第 112 行定义.

                                                        {
  return innerstate_saturation_status_;
}

◆ Reset()

void apollo::control::LeadlagController::Reset ( )

reset variables for lead/leg controller

在文件 leadlag_controller.cc 第 62 行定义.

                              {
  previous_output_ = 0.0;
  previous_innerstate_ = 0.0;
  innerstate_ = 0.0;
  innerstate_saturation_status_ = 0;
}

◆ SetLeadlag()

void apollo::control::LeadlagController::SetLeadlag ( const LeadlagConf & leadlag_conf )

alpha, beta and tau

参数

leadlag_conf configuration for leadlag controller

在文件 leadlag_controller.cc 第 82 行定义.

                                                                  {
  alpha_ = leadlag_conf.alpha();
  beta_ = leadlag_conf.beta();
  tau_ = leadlag_conf.tau();
}

◆ TransformC2d()

void apollo::control::LeadlagController::TransformC2d ( const double dt )

transfer lead/lag controller coefficients to the discrete-time form, with the bilinear transform (trapezoidal integration) method

参数

dt	sampling time interval

在文件 leadlag_controller.cc 第 88 行定义.

                                                    {
  if (dt <= 0.0) {
    AWARN << "dt <= 0, continuous-discrete transformation failed, dt: " << dt;
    transfromc2d_enabled_ = false;
  } else {
    double a1 = alpha_ * tau_;
    double a0 = 1.00;
    double b1 = beta_ * tau_;
    double b0 = beta_;
    Ts_ = dt;
    kn1_ = 2 * b1 + Ts_ * b0;
    kn0_ = Ts_ * b0 - 2 * b1;
    kd1_ = 2 * a1 + Ts_ * a0;
    kd0_ = Ts_ * a0 - 2 * a1;
    if (kd1_ <= 0.0) {
      AWARN << "kd1 <= 0, continuous-discrete transformation failed, kd1: "
            << kd1_;
      transfromc2d_enabled_ = false;
    } else {
      transfromc2d_enabled_ = true;
    }
  }
}

类成员变量说明

◆ alpha_

double apollo::control::LeadlagController::alpha_ = 0.0

protected

在文件 leadlag_controller.h 第 82 行定义.

◆ beta_

double apollo::control::LeadlagController::beta_ = 0.0

protected

在文件 leadlag_controller.h 第 83 行定义.

◆ innerstate_

double apollo::control::LeadlagController::innerstate_ = 0.0

protected

在文件 leadlag_controller.h 第 94 行定义.

◆ innerstate_saturation_high_

double apollo::control::LeadlagController::innerstate_saturation_high_ = 0.0

protected

在文件 leadlag_controller.h 第 95 行定义.

◆ innerstate_saturation_low_

double apollo::control::LeadlagController::innerstate_saturation_low_ = 0.0

protected

在文件 leadlag_controller.h 第 96 行定义.

◆ innerstate_saturation_status_

int apollo::control::LeadlagController::innerstate_saturation_status_ = 0

protected

在文件 leadlag_controller.h 第 97 行定义.

◆ kd0_

double apollo::control::LeadlagController::kd0_ = 0.0

protected

在文件 leadlag_controller.h 第 90 行定义.

◆ kd1_

double apollo::control::LeadlagController::kd1_ = 0.0

protected

在文件 leadlag_controller.h 第 89 行定义.

◆ kn0_

double apollo::control::LeadlagController::kn0_ = 0.0

protected

在文件 leadlag_controller.h 第 88 行定义.

◆ kn1_

double apollo::control::LeadlagController::kn1_ = 0.0

protected

在文件 leadlag_controller.h 第 87 行定义.

◆ previous_innerstate_

double apollo::control::LeadlagController::previous_innerstate_ = 0.0

protected

在文件 leadlag_controller.h 第 93 行定义.

◆ previous_output_

double apollo::control::LeadlagController::previous_output_ = 0.0

protected

在文件 leadlag_controller.h 第 92 行定义.

◆ tau_

double apollo::control::LeadlagController::tau_ = 0.0

protected

在文件 leadlag_controller.h 第 84 行定义.

◆ transfromc2d_enabled_

bool apollo::control::LeadlagController::transfromc2d_enabled_ = false

protected

在文件 leadlag_controller.h 第 98 行定义.

◆ Ts_

double apollo::control::LeadlagController::Ts_ = 0.01

protected

在文件 leadlag_controller.h 第 85 行定义.

该类的文档由以下文件生成:

modules/control/control_component/controller_task_base/common/leadlag_controller.h
modules/control/control_component/controller_task_base/common/leadlag_controller.cc

Public 成员函数

Protected 属性

详细描述

成员函数说明

◆ Control()

◆ Init()

◆ InnerstateSaturationStatus()

◆ Reset()

◆ SetLeadlag()

◆ TransformC2d()

类成员变量说明

◆ alpha_

◆ beta_

◆ innerstate_

◆ innerstate_saturation_high_

◆ innerstate_saturation_low_

◆ innerstate_saturation_status_

◆ kd0_

◆ kd1_

◆ kn0_

◆ kn1_

◆ previous_innerstate_

◆ previous_output_

◆ tau_

◆ transfromc2d_enabled_

◆ Ts_