A proportional-integral-derivative controller for speed and steering using defualt integral hold 更多...

#include <pid_controller.h>

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

apollo::control::PIDController 的协作图:

Public 成员函数
void	Init (const PidConf &pid_conf)
	initialize pid controller

void	SetPID (const PidConf &pid_conf)
	set pid controller coefficients for the proportional, integral, and derivative

void	Reset ()
	reset variables for pid controller

void	Reset_integral ()
	reset integral for pid controller

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

virtual	~PIDController ()=default

int	IntegratorSaturationStatus () const
	get saturation status

bool	IntegratorHold () const
	get status that if integrator is hold

void	SetIntegratorHold (bool hold)
	set whether to hold integrator component at its current value.

Protected 属性
double	kp_ = 0.0

double	ki_ = 0.0

double	kd_ = 0.0

double	kaw_ = 0.0

double	previous_error_ = 0.0

double	previous_output_ = 0.0

double	integral_ = 0.0

double	integrator_saturation_high_ = 0.0

double	integrator_saturation_low_ = 0.0

bool	first_hit_ = false

bool	integrator_enabled_ = false

bool	integrator_hold_ = false

int	integrator_saturation_status_ = 0

double	output_saturation_high_ = 0.0

double	output_saturation_low_ = 0.0

int	output_saturation_status_ = 0

详细描述

A proportional-integral-derivative controller for speed and steering using defualt integral hold

在文件 pid_controller.h 第 38 行定义.

构造及析构函数说明

◆ ~PIDController()

virtual apollo::control::PIDController::~PIDController ( )

virtualdefault

成员函数说明

◆ Control()

double apollo::control::PIDController::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 PID terms

被 apollo::control::PIDBCController , 以及 apollo::control::PIDICController 重载.

在文件 pid_controller.cc 第 26 行定义.

                                                                 {
  if (dt <= 0) {
    AWARN << "dt <= 0, will use the last output, dt: " << dt;
    return previous_output_;
  }
  double diff = 0;
  double output = 0;
 
  if (first_hit_) {
    first_hit_ = false;
  } else {
    diff = (error - previous_error_) / dt;
  }
  // integral hold
  if (!integrator_enabled_) {
    integral_ = 0;
  } else if (!integrator_hold_) {
    integral_ += error * dt * ki_;
    // apply Ki before integrating to avoid steps when change Ki at steady state
    if (integral_ > integrator_saturation_high_) {
      integral_ = integrator_saturation_high_;
      integrator_saturation_status_ = 1;
    } else if (integral_ < integrator_saturation_low_) {
      integral_ = integrator_saturation_low_;
      integrator_saturation_status_ = -1;
    } else {
      integrator_saturation_status_ = 0;
    }
  }
  previous_error_ = error;
  output = error * kp_ + integral_ + diff * kd_;  // Ki already applied
  previous_output_ = output;
  return output;
}

◆ Init()

void apollo::control::PIDController::Init ( const PidConf & pid_conf )

initialize pid controller

参数

pid_conf configuration for pid controller

在文件 pid_controller.cc 第 75 行定义.

                                                {
  previous_error_ = 0.0;
  previous_output_ = 0.0;
  integral_ = 0.0;
  first_hit_ = true;
  integrator_enabled_ = pid_conf.integrator_enable();
  integrator_saturation_high_ =
      std::fabs(pid_conf.integrator_saturation_level());
  integrator_saturation_low_ =
      -std::fabs(pid_conf.integrator_saturation_level());
  integrator_saturation_status_ = 0;
  integrator_hold_ = false;
  output_saturation_high_ = std::fabs(pid_conf.output_saturation_level());
  output_saturation_low_ = -std::fabs(pid_conf.output_saturation_level());
  output_saturation_status_ = 0;
  SetPID(pid_conf);
}

◆ IntegratorHold()

bool apollo::control::PIDController::IntegratorHold ( ) const

get status that if integrator is hold

返回: if integrator is hold return true

在文件 pid_controller.cc 第 104 行定义.

104{ return integrator_hold_; }

◆ IntegratorSaturationStatus()

int apollo::control::PIDController::IntegratorSaturationStatus ( ) const

get saturation status

返回: saturation status

在文件 pid_controller.cc 第 100 行定义.

                                                    {
  return integrator_saturation_status_;
}

◆ Reset()

void apollo::control::PIDController::Reset ( )

reset variables for pid controller

在文件 pid_controller.cc 第 66 行定义.

                          {
  previous_error_ = 0.0;
  previous_output_ = 0.0;
  integral_ = 0.0;
  first_hit_ = true;
  integrator_saturation_status_ = 0;
  output_saturation_status_ = 0;
}

◆ Reset_integral()

void apollo::control::PIDController::Reset_integral ( )

reset integral for pid controller

在文件 pid_controller.cc 第 61 行定义.

                                   {
  integral_ = 0.0;
  integrator_saturation_status_ = 0;
}

◆ SetIntegratorHold()

void apollo::control::PIDController::SetIntegratorHold ( bool hold )

set whether to hold integrator component at its current value.

参数

hold

在文件 pid_controller.cc 第 106 行定义.

106{ integrator_hold_ = hold; }

◆ SetPID()

void apollo::control::PIDController::SetPID ( const PidConf & pid_conf )

set pid controller coefficients for the proportional, integral, and derivative

参数

pid_conf configuration for pid controller

在文件 pid_controller.cc 第 93 行定义.

                                                  {
  kp_ = pid_conf.kp();
  ki_ = pid_conf.ki();
  kd_ = pid_conf.kd();
  kaw_ = pid_conf.kaw();
}

类成员变量说明

◆ first_hit_

bool apollo::control::PIDController::first_hit_ = false

protected

在文件 pid_controller.h 第 102 行定义.

◆ integral_

double apollo::control::PIDController::integral_ = 0.0

protected

在文件 pid_controller.h 第 99 行定义.

◆ integrator_enabled_

bool apollo::control::PIDController::integrator_enabled_ = false

protected

在文件 pid_controller.h 第 103 行定义.

◆ integrator_hold_

bool apollo::control::PIDController::integrator_hold_ = false

protected

在文件 pid_controller.h 第 104 行定义.

◆ integrator_saturation_high_

double apollo::control::PIDController::integrator_saturation_high_ = 0.0

protected

在文件 pid_controller.h 第 100 行定义.

◆ integrator_saturation_low_

double apollo::control::PIDController::integrator_saturation_low_ = 0.0

protected

在文件 pid_controller.h 第 101 行定义.

◆ integrator_saturation_status_

int apollo::control::PIDController::integrator_saturation_status_ = 0

protected

在文件 pid_controller.h 第 105 行定义.

◆ kaw_

double apollo::control::PIDController::kaw_ = 0.0

protected

在文件 pid_controller.h 第 96 行定义.

◆ kd_

double apollo::control::PIDController::kd_ = 0.0

protected

在文件 pid_controller.h 第 95 行定义.

◆ ki_

double apollo::control::PIDController::ki_ = 0.0

protected

在文件 pid_controller.h 第 94 行定义.

◆ kp_

double apollo::control::PIDController::kp_ = 0.0

protected

在文件 pid_controller.h 第 93 行定义.

◆ output_saturation_high_

double apollo::control::PIDController::output_saturation_high_ = 0.0

protected

在文件 pid_controller.h 第 107 行定义.

◆ output_saturation_low_

double apollo::control::PIDController::output_saturation_low_ = 0.0

protected

在文件 pid_controller.h 第 108 行定义.

◆ output_saturation_status_

int apollo::control::PIDController::output_saturation_status_ = 0

protected

在文件 pid_controller.h 第 109 行定义.

◆ previous_error_

double apollo::control::PIDController::previous_error_ = 0.0

protected

在文件 pid_controller.h 第 97 行定义.

◆ previous_output_

double apollo::control::PIDController::previous_output_ = 0.0

protected

在文件 pid_controller.h 第 98 行定义.

该类的文档由以下文件生成:

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

Public 成员函数

Protected 属性

详细描述

构造及析构函数说明

◆ ~PIDController()

成员函数说明

◆ Control()

◆ Init()

◆ IntegratorHold()

◆ IntegratorSaturationStatus()

◆ Reset()

◆ Reset_integral()

◆ SetIntegratorHold()

◆ SetPID()

类成员变量说明

◆ first_hit_

◆ integral_

◆ integrator_enabled_

◆ integrator_hold_

◆ integrator_saturation_high_

◆ integrator_saturation_low_

◆ integrator_saturation_status_

◆ kaw_

◆ kd_

◆ ki_

◆ kp_

◆ output_saturation_high_

◆ output_saturation_low_

◆ output_saturation_status_

◆ previous_error_

◆ previous_output_