apollo::control::PIDPlusController类 参考

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

#include <pid_plus_controller.h>

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

apollo::control::PIDPlusController 的协作图:

Public 成员函数
void	InitPID ()
	initialize pid controller
void	SetPID (const PidPlusConf &pid_plus_conf)
	set pid controller coefficients for the proportional, integral, and derivative
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 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.

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 using defualt integral hold

在文件 pid_plus_controller.h 第 40 行定义.

成员函数说明

InitPID()

void apollo::control::PIDPlusController::InitPID

(

)

initialize pid controller

参数

pid_conf

configuration for pid controller

在文件 pid_plus_controller.cc 第 26 行定义.

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

SetPID()

void apollo::control::PIDPlusController::SetPID

(

const PidPlusConf &

pid_plus_conf

)

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

参数

Pidconf

and speed

在文件 pid_plus_controller.cc 第 36 行定义.

                                                               {
    kp_ = pid_plus_conf.pid_conf().kp();
    ki_ = pid_plus_conf.pid_conf().ki();
    kd_ = pid_plus_conf.pid_conf().kd();
    kaw_ = pid_plus_conf.pid_conf().kaw();
    integrator_enabled_ = pid_plus_conf.pid_conf().integrator_enable();
    integrator_saturation_high_ = std::fabs(pid_plus_conf.pid_conf().integrator_saturation_level());
    integrator_saturation_low_ = -std::fabs(pid_plus_conf.pid_conf().integrator_saturation_level());
    output_saturation_high_ = std::fabs(pid_plus_conf.pid_conf().output_saturation_level());
    output_saturation_low_ = -std::fabs(pid_plus_conf.pid_conf().output_saturation_level());
    ADEBUG << "kp: " << kp_ << " ki: " << ki_ << " kd: " << kd_ << " integrator_enabled: " << integrator_enabled_
           << " integrator_saturation_high: " << integrator_saturation_high_;
}

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该类的文档由以下文件生成:

• modules/control/control_task_base_extend/common/pid_plus_controller.h
• modules/control/control_task_base_extend/common/pid_plus_controller.cc