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Roy Vegard Ovesen:

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I've prepared a patch as suggested by Hans-Georg Wunder and Jeff McBride.

In addition I've removed the ability to completely leave out the integral
action by setting Ti to zero. The velocity form of the PID algorithm _needs_
the integral action.
This commit is contained in:
ehofman 2005-09-25 07:49:18 +00:00
parent fa2caf88dc
commit 111eff7ae0
1 changed files with 2 additions and 5 deletions
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7
src/Autopilot/xmlauto.cxx
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@ -306,9 +306,6 @@ void FGPIDController::update( double dt ) {
delta_u_n = Kp * ( (ep_n - ep_n_1) delta_u_n = Kp * ( (ep_n - ep_n_1)
+ ((Ts/Ti) * e_n) + ((Ts/Ti) * e_n)
+ ((Td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) ); + ((Td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
} else if ( Ti <= 0.0 ) {
delta_u_n = Kp * ( (ep_n - ep_n_1)
+ ((Td/Ts) * (edf_n - 2*edf_n_1 + edf_n_2)) );
} }
if ( debug ) { if ( debug ) {
@ -321,10 +318,10 @@ void FGPIDController::update( double dt ) {
// Integrator anti-windup logic: // Integrator anti-windup logic:
if ( delta_u_n > (u_max - u_n_1) ) { if ( delta_u_n > (u_max - u_n_1) ) {
delta_u_n = 0; delta_u_n = u_max - u_n_1;
if ( debug ) cout << " max saturation " << endl; if ( debug ) cout << " max saturation " << endl;
} else if ( delta_u_n < (u_min - u_n_1) ) { } else if ( delta_u_n < (u_min - u_n_1) ) {
delta_u_n = 0; delta_u_n = u_min - u_n_1;
if ( debug ) cout << " min saturation " << endl; if ( debug ) cout << " min saturation " << endl;
} }