A proportional-integral-derivative controller for speed and steering with integral-clamping-anti-windup 更多...

#include <pid_IC_controller.h>

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

apollo::control::PIDICController 的协作图:

Public 成员函数
virtual double	Control (const double error, const double dt)
	compute control value based on the error, with integral-clamping-anti-windup

virtual int	OutputSaturationStatus ()

Public 成员函数继承自 apollo::control::PIDController
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	~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.

额外继承的成员函数
Protected 属性继承自 apollo::control::PIDController
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 with integral-clamping-anti-windup

在文件 pid_IC_controller.h 第 40 行定义.

成员函数说明

◆ Control()

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

virtual

compute control value based on the error, with integral-clamping-anti-windup

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

重载 apollo::control::PIDController .

在文件 pid_IC_controller.cc 第 28 行定义.

                                                                   {
  if (dt <= 0) {
    AWARN << "dt <= 0, will use the last output";
    return previous_output_;
  }
  double diff = 0;
  double output = 0;
 
  if (first_hit_) {
    first_hit_ = false;
  } else {
    diff = (error - previous_error_) / dt;
  }
  // integral clamping
  if (!integrator_enabled_) {
    integral_ = 0;
  } else {
    double u = error * kp_ + integral_ + error * dt * ki_ + diff * kd_;
    if (((error * u) > 0) &&
        ((u > output_saturation_high_) || (u < output_saturation_low_))) {
    } else {
      // Only update integral then
      integral_ += error * dt * ki_;
    }
  }
 
  previous_error_ = error;
  output = error * kp_ + integral_ + diff * kd_;
 
  if (output >= output_saturation_high_) {
    output_saturation_status_ = 1;
  } else if (output <= output_saturation_low_) {
    output_saturation_status_ = -1;
  } else {
    output_saturation_status_ = 0;
  }
 
  output = common::math::Clamp(error * kp_ + integral_ + diff * kd_,
                               output_saturation_high_,
                               output_saturation_low_);  // Ki already applied
  previous_output_ = output;
  return output;
}

◆ OutputSaturationStatus()

int apollo::control::PIDICController::OutputSaturationStatus ( )

virtual

在文件 pid_IC_controller.cc 第 72 行定义.

                                            {
  return output_saturation_status_;
}

该类的文档由以下文件生成:

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

Public 成员函数

额外继承的成员函数

详细描述

成员函数说明

◆ Control()

◆ OutputSaturationStatus()