89 lines
2.7 KiB
C++
89 lines
2.7 KiB
C++
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// pisimplecontroller.cxx - implementation of a simple PI controller
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//
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// Written by Torsten Dreyer
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// Based heavily on work created by Curtis Olson, started January 2004.
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//
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// Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
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// Copyright (C) 2010 Torsten Dreyer - Torsten (at) t3r (dot) de
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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//
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#include "pisimplecontroller.hxx"
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using namespace FGXMLAutopilot;
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PISimpleController::PISimpleController() :
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AnalogComponent(),
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_int_sum( 0.0 )
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{
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}
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bool PISimpleController::configure( const string& nodeName, SGPropertyNode_ptr configNode)
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{
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if( AnalogComponent::configure( nodeName, configNode ) )
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return true;
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if( nodeName == "config" ) {
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Component::configure( configNode );
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return true;
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}
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if (nodeName == "Kp") {
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_Kp.push_back( new InputValue(configNode) );
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return true;
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}
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if (nodeName == "Ki") {
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_Ki.push_back( new InputValue(configNode) );
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return true;
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}
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return false;
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}
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void PISimpleController::update( bool firstTime, double dt )
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{
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if ( firstTime ) {
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// we have just been enabled, zero out int_sum
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_int_sum = 0.0;
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}
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if ( _debug ) cout << "Updating " << get_name() << endl;
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double y_n = _valueInput.get_value();
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double r_n = _referenceInput.get_value();
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double error = r_n - y_n;
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if ( _debug ) cout << "input = " << y_n
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<< " reference = " << r_n
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<< " error = " << error
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<< endl;
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double prop_comp = clamp(error * _Kp.get_value());
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_int_sum += error * _Ki.get_value() * dt;
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double output = prop_comp + _int_sum;
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double clamped_output = clamp( output );
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if( output != clamped_output ) // anti-windup
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_int_sum = clamped_output - prop_comp;
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if ( _debug ) cout << "prop_comp = " << prop_comp
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<< " int_sum = " << _int_sum << endl;
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set_output_value( clamped_output );
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if ( _debug ) cout << "output = " << clamped_output << endl;
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}
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